diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 662df347bc..b080592564 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -9,8 +9,8 @@ jobs:
   build-pdf:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.9
         cache: 'pip'
@@ -25,7 +25,7 @@ jobs:
       run: |
         make latexpdf
     - name: Archive PDF
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         name: frc-docs-pdf
         path: build/latex/firstroboticscompetition.pdf
@@ -34,8 +34,8 @@ jobs:
   build-html:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.9
         cache: 'pip'
@@ -50,7 +50,7 @@ jobs:
       run: |
         make html
     - name: Archive HTML
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         name: frc-docs-html
         path: build/html/
@@ -59,16 +59,16 @@ jobs:
   build-html-translation:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         repository: wpilibsuite/frc-docs-translations
     - name: Delete old submodule
       run: |
         rm -rf ./frc-docs
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         path: frc-docs
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.9
         cache: 'pip'
@@ -89,13 +89,13 @@ jobs:
     # Changes have been made.
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Get changed files
         id: changed-files
-        uses: tj-actions/changed-files@v35
-      - uses: actions/setup-python@v4
+        uses: tj-actions/changed-files@v41
+      - uses: actions/setup-python@v5
         with:
           python-version: 3.9
       - name: Install Dependencies
@@ -118,8 +118,8 @@ jobs:
   check-linting:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.9
     - name: Install Dependencies
@@ -132,8 +132,8 @@ jobs:
   check-image-size:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.9
     - name: Install Dependencies
@@ -146,7 +146,7 @@ jobs:
   check-spelling:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: misspell
         uses: reviewdog/action-misspell@v1
         with:
@@ -156,11 +156,11 @@ jobs:
   check-redirects:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Checkout main
       run: |
         git fetch origin main --depth=1
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.9
     - name: Install Dependencies
@@ -176,8 +176,8 @@ jobs:
   check-formatting:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.9
     - name: Install Python Dependencies
diff --git a/.github/workflows/base-branch.yml b/.github/workflows/base-branch.yml
index 3b4837dd99..f16217d08c 100644
--- a/.github/workflows/base-branch.yml
+++ b/.github/workflows/base-branch.yml
@@ -10,9 +10,8 @@ jobs:
   check-base-branch:
     runs-on: ubuntu-latest
     steps:
-      - uses: wpilibsuite/check-base-branch-action@v1.1
-        with:
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          protected-branches: stable
-          default-branch: main
-          update-branch: true
+      - name: Base Branch
+        run: | 
+          echo "::error ::Base branch of PR is stable. It should be main. Please retarget the base branch of the PR." 
+          exit 1
+
diff --git a/.github/workflows/inspector.json b/.github/workflows/inspector.json
index 9ede255d2b..591a55aef5 100644
--- a/.github/workflows/inspector.json
+++ b/.github/workflows/inspector.json
@@ -3,28 +3,28 @@
     {
       "baseUrl": "https://raw.githubusercontent.com/wpilibsuite/allwpilib/",
       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion": "v2024.1.1-beta-3"
+      "latestVersion": "v2024.3.2"
     },
     {
       "baseUrl": "https://github.com/wpilibsuite/allwpilib/raw/",
       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion": "v2024.1.1-beta-3"
+      "latestVersion": "v2024.3.2"
     },
     {
       "baseUrl": "https://raw.githubusercontent.com/robotpy/examples/",
       "versionScheme": "\\d{4}\\.\\d\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion": "2023.4.3.0"
+      "latestVersion": "d89b0587a1e1111239728140466c7dc4324d4005"
     },
     {
       "baseUrl": "https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/",
       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion":"v2024.1.1-beta-2"
+      "latestVersion":"v2024.3.2"
     },
     {
       "baseUrl": "https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/",
       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion":"3b64aadee717c9f0566497a40fd0be7d0eaed96d"
+      "latestVersion":"6a5b6352807a8759bd0f012e57695c47f7ef7324"
     }
   ],
-  "ignoredFiles": ["source/docs/software/commandbased/command-scheduler.rst"]
+  "ignoredFiles": ["source/docs/software/commandbased/command-scheduler.rst", "source/docs/software/hardware-apis/pneumatics/pressure.rst", "source/docs/software/hardware-apis/pneumatics/solenoids.rst", "source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst", "source/docs/software/commandbased/profilepid-subsystems-commands.rst", "source/docs/software/commandbased/subsystems.rst", "source/docs/software/telemetry/writing-sendable-classes.rst", "source/docs/software/advanced-controls/trajectories/troubleshooting.rst", "source/docs/software/hardware-apis/motors/wpi-drive-classes.rst", "source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst", "source/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.rst", "source/docs/software/pathplanning/trajectory-tutorial/entering-constants.rst"]
 }
diff --git a/.github/workflows/link-check.yml b/.github/workflows/link-check.yml
index 5d5b554d2e..3f1ea260f3 100644
--- a/.github/workflows/link-check.yml
+++ b/.github/workflows/link-check.yml
@@ -10,13 +10,13 @@ env:
 
 jobs:
   check-links:
-    if: github.repository_owner	== 'wpilibsuite'
+    if: github.repository_owner == 'wpilibsuite'
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
-        python-version: 3.9
+        python-version: 3.11
     - name: Install Dependencies
       run: pip install -r source/requirements.txt
     - name: Check Links
diff --git a/.github/workflows/publish_stable.yml b/.github/workflows/publish_stable.yml
index b499f98038..f4610d7098 100644
--- a/.github/workflows/publish_stable.yml
+++ b/.github/workflows/publish_stable.yml
@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     if: ${{ github.repository_owner == 'wpilibsuite' }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Merge
@@ -33,8 +33,5 @@ jobs:
           git merge --ff-only main
 
       - name: Push
-        if: env.PUBLISH_STABLE == 'true' || github.event.action == 'workflow_dispatch'
-        env:
-          PUBLISH_STABLE: ${{ secrets.PUBLISH_STABLE }}
         run: |
           git push origin stable
diff --git a/.github/workflows/update-rli-commands.yml b/.github/workflows/update-rli-commands.yml
index 67bb1db9ea..1a41a00cf8 100644
--- a/.github/workflows/update-rli-commands.yml
+++ b/.github/workflows/update-rli-commands.yml
@@ -11,7 +11,7 @@ jobs:
       # ---- Find Trigger States ----
       # Run Inspector autofix on everything
       - name: Trigger-Check
-        uses: shanegenschaw/pull-request-comment-trigger@v2
+        uses: shanegenschaw/pull-request-comment-trigger@v3.0.0
         id: trigger-check-all
         with:
           trigger: '\inspector check all'
@@ -22,7 +22,7 @@ jobs:
 
       # Run Inspector autofix only on files changed by the PR
       - name: Trigger-Diff
-        uses: shanegenschaw/pull-request-comment-trigger@v2
+        uses: shanegenschaw/pull-request-comment-trigger@v3.0.0
         id: trigger-diff
         with:
           trigger: '\inspector fix diff'
@@ -33,7 +33,7 @@ jobs:
 
       # Run Inspector autofix on everything
       - name: Trigger-All
-        uses: shanegenschaw/pull-request-comment-trigger@v2
+        uses: shanegenschaw/pull-request-comment-trigger@v3.0.0
         id: trigger-all
         with:
           trigger: '\inspector fix all'
@@ -48,7 +48,7 @@ jobs:
         run: exit 1
 
       - name: Checkout [Common]
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Checkout PR [Comment]
         run: gh pr checkout $NUMBER
@@ -100,7 +100,7 @@ jobs:
 
       # ---- Common - Post Report ----
       - name: Find Comment
-        uses: peter-evans/find-comment@v2
+        uses: peter-evans/find-comment@v3
         id: fc
         with:
           issue-number: ${{ github.event.issue.number }}
@@ -110,14 +110,14 @@ jobs:
 
       - name: Create comment
         if: ${{ steps.fc.outputs.comment-id == 0 }}
-        uses: peter-evans/create-or-update-comment@v2
+        uses: peter-evans/create-or-update-comment@v4
         with:
           body: ${{ env.REPORT }}
           issue-number: ${{ github.event.issue.number }}
 
       - name: Update comment
         if: ${{ steps.fc.outputs.comment-id != 0 }}
-        uses: peter-evans/create-or-update-comment@v2
+        uses: peter-evans/create-or-update-comment@v4
         with:
           body: |
             ${{ env.REPORT }}
diff --git a/Makefile b/Makefile
index 5a12527fbe..74b0e64099 100644
--- a/Makefile
+++ b/Makefile
@@ -6,7 +6,7 @@ SPHINXOPTS    = -W --keep-going -q -T
 SPHINXBUILD   = sphinx-build
 SOURCEDIR     = source
 BUILDDIR      = build
-LINTER        = doc8
+LINTER        = python3 scripts/doc8_redown.py
 LINTEROPTS    = --ignore D001 # D001 is linelength
 SIZECHECKER   = python3 -m scripts.imagesizechecker
 CONFEXCLUDE   = --exclude-file source/conf.py
diff --git a/make.bat b/make.bat
index 5f3389dcf2..fe1c304f13 100644
--- a/make.bat
+++ b/make.bat
@@ -10,7 +10,7 @@ if "%SPHINXBUILD%" == "" (
 set SOURCEDIR=source
 set BUILDDIR=build
 set SPHINXOPTS=-W --keep-going -q -T
-set LINTER=doc8
+set LINTER=python scripts/doc8_redown.py
 set LINTEROPTS=--ignore D001 --ignore D004
 set SIZECHECKER=python -m scripts.imagesizechecker
 set CONFEXCLUDE=--exclude-file source/conf.py
diff --git a/poetry.lock b/poetry.lock
index 61441bb691..60b38128cb 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
 
 [[package]]
 name = "alabaster"
@@ -72,6 +72,9 @@ files = [
     {file = "Babel-2.13.1.tar.gz", hash = "sha256:33e0952d7dd6374af8dbf6768cc4ddf3ccfefc244f9986d4074704f2fbd18900"},
 ]
 
+[package.dependencies]
+setuptools = {version = "*", markers = "python_version >= \"3.12\""}
+
 [package.extras]
 dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
 
@@ -95,36 +98,33 @@ lxml = ["lxml"]
 
 [[package]]
 name = "black"
-version = "23.1.0"
+version = "24.4.2"
 description = "The uncompromising code formatter."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "black-23.1.0-cp310-cp310-macosx_10_16_arm64.whl", hash = "sha256:b6a92a41ee34b883b359998f0c8e6eb8e99803aa8bf3123bf2b2e6fec505a221"},
-    {file = "black-23.1.0-cp310-cp310-macosx_10_16_universal2.whl", hash = "sha256:57c18c5165c1dbe291d5306e53fb3988122890e57bd9b3dcb75f967f13411a26"},
-    {file = "black-23.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:9880d7d419bb7e709b37e28deb5e68a49227713b623c72b2b931028ea65f619b"},
-    {file = "black-23.1.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e6663f91b6feca5d06f2ccd49a10f254f9298cc1f7f49c46e498a0771b507104"},
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+    {file = "black-24.4.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ef703f83fc32e131e9bcc0a5094cfe85599e7109f896fe8bc96cc402f3eb4b6e"},
+    {file = "black-24.4.2-cp39-cp39-win_amd64.whl", hash = "sha256:b9176b9832e84308818a99a561e90aa479e73c523b3f77afd07913380ae2eab7"},
+    {file = "black-24.4.2-py3-none-any.whl", hash = "sha256:d36ed1124bb81b32f8614555b34cc4259c3fbc7eec17870e8ff8ded335b58d8c"},
+    {file = "black-24.4.2.tar.gz", hash = "sha256:c872b53057f000085da66a19c55d68f6f8ddcac2642392ad3a355878406fbd4d"},
 ]
 
 [package.dependencies]
@@ -134,11 +134,11 @@ packaging = ">=22.0"
 pathspec = ">=0.9.0"
 platformdirs = ">=2"
 tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
-typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
+typing-extensions = {version = ">=4.0.1", markers = "python_version < \"3.11\""}
 
 [package.extras]
 colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.7.4)"]
+d = ["aiohttp (>=3.7.4)", "aiohttp (>=3.7.4,!=3.9.0)"]
 jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
 uvloop = ["uvloop (>=0.15.2)"]
 
@@ -296,13 +296,13 @@ redis = ["redis (>=2.10.5)"]
 
 [[package]]
 name = "certifi"
-version = "2023.7.22"
+version = "2024.7.4"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "certifi-2023.7.22-py3-none-any.whl", hash = "sha256:92d6037539857d8206b8f6ae472e8b77db8058fec5937a1ef3f54304089edbb9"},
-    {file = "certifi-2023.7.22.tar.gz", hash = "sha256:539cc1d13202e33ca466e88b2807e29f4c13049d6d87031a3c110744495cb082"},
+    {file = "certifi-2024.7.4-py3-none-any.whl", hash = "sha256:c198e21b1289c2ab85ee4e67bb4b4ef3ead0892059901a8d5b622f24a1101e90"},
+    {file = "certifi-2024.7.4.tar.gz", hash = "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b"},
 ]
 
 [[package]]
@@ -692,13 +692,53 @@ typing = ["typing-extensions (>=4.8)"]
 
 [[package]]
 name = "fonttools"
-version = "4.33.3"
+version = "4.43.0"
 description = "Tools to manipulate font files"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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-    {file = "fonttools-4.33.3.zip", hash = "sha256:c0fdcfa8ceebd7c1b2021240bd46ef77aa8e7408cf10434be55df52384865f8e"},
+    {file = "fonttools-4.43.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:ab80e7d6bb01316d5fc8161a2660ca2e9e597d0880db4927bc866c76474472ef"},
+    {file = "fonttools-4.43.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:82d8e687a42799df5325e7ee12977b74738f34bf7fde1c296f8140efd699a213"},
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+    {file = "fonttools-4.43.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:812142a0e53cc853964d487e6b40963df62f522b1b571e19d1ff8467d7880ceb"},
+    {file = "fonttools-4.43.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:ace51902ab67ef5fe225e8b361039e996db153e467e24a28d35f74849b37b7ce"},
+    {file = "fonttools-4.43.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:8dfd8edfce34ad135bd69de20c77449c06e2c92b38f2a8358d0987737f82b49e"},
+    {file = "fonttools-4.43.0-cp39-cp39-win32.whl", hash = "sha256:e5d53eddaf436fa131042f44a76ea1ead0a17c354ab9de0d80e818f0cb1629f1"},
+    {file = "fonttools-4.43.0-cp39-cp39-win_amd64.whl", hash = "sha256:93c5b6d77baf28f306bc13fa987b0b13edca6a39dc2324eaca299a74ccc6316f"},
+    {file = "fonttools-4.43.0-py3-none-any.whl", hash = "sha256:e4bc589d8da09267c7c4ceaaaa4fc01a7908ac5b43b286ac9279afe76407c384"},
+    {file = "fonttools-4.43.0.tar.gz", hash = "sha256:b62a53a4ca83c32c6b78cac64464f88d02929779373c716f738af6968c8c821e"},
 ]
 
 [package.dependencies]
@@ -707,7 +747,7 @@ brotlicffi = {version = ">=0.8.0", optional = true, markers = "platform_python_i
 zopfli = {version = ">=0.1.4", optional = true, markers = "extra == \"woff\""}
 
 [package.extras]
-all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=14.0.0)", "xattr", "zopfli (>=0.1.4)"]
+all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=15.0.0)", "xattr", "zopfli (>=0.1.4)"]
 graphite = ["lz4 (>=1.7.4.2)"]
 interpolatable = ["munkres", "scipy"]
 lxml = ["lxml (>=4.0,<5)"]
@@ -717,7 +757,7 @@ repacker = ["uharfbuzz (>=0.23.0)"]
 symfont = ["sympy"]
 type1 = ["xattr"]
 ufo = ["fs (>=2.2.0,<3)"]
-unicode = ["unicodedata2 (>=14.0.0)"]
+unicode = ["unicodedata2 (>=15.0.0)"]
 woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
 
 [[package]]
@@ -773,20 +813,20 @@ smmap = ">=3.0.1,<6"
 
 [[package]]
 name = "gitpython"
-version = "3.1.40"
+version = "3.1.41"
 description = "GitPython is a Python library used to interact with Git repositories"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "GitPython-3.1.40-py3-none-any.whl", hash = "sha256:cf14627d5a8049ffbf49915732e5eddbe8134c3bdb9d476e6182b676fc573f8a"},
-    {file = "GitPython-3.1.40.tar.gz", hash = "sha256:22b126e9ffb671fdd0c129796343a02bf67bf2994b35449ffc9321aa755e18a4"},
+    {file = "GitPython-3.1.41-py3-none-any.whl", hash = "sha256:c36b6634d069b3f719610175020a9aed919421c87552185b085e04fbbdb10b7c"},
+    {file = "GitPython-3.1.41.tar.gz", hash = "sha256:ed66e624884f76df22c8e16066d567aaa5a37d5b5fa19db2c6df6f7156db9048"},
 ]
 
 [package.dependencies]
 gitdb = ">=4.0.1,<5"
 
 [package.extras]
-test = ["black", "coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre-commit", "pytest", "pytest-cov", "pytest-instafail", "pytest-subtests", "pytest-sugar"]
+test = ["black", "coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre-commit", "pytest (>=7.3.1)", "pytest-cov", "pytest-instafail", "pytest-mock", "pytest-sugar", "sumtypes"]
 
 [[package]]
 name = "html5lib"
@@ -811,13 +851,13 @@ lxml = ["lxml"]
 
 [[package]]
 name = "idna"
-version = "3.4"
+version = "3.7"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
 python-versions = ">=3.5"
 files = [
-    {file = "idna-3.4-py3-none-any.whl", hash = "sha256:90b77e79eaa3eba6de819a0c442c0b4ceefc341a7a2ab77d7562bf49f425c5c2"},
-    {file = "idna-3.4.tar.gz", hash = "sha256:814f528e8dead7d329833b91c5faa87d60bf71824cd12a7530b5526063d02cb4"},
+    {file = "idna-3.7-py3-none-any.whl", hash = "sha256:82fee1fc78add43492d3a1898bfa6d8a904cc97d8427f683ed8e798d07761aa0"},
+    {file = "idna-3.7.tar.gz", hash = "sha256:028ff3aadf0609c1fd278d8ea3089299412a7a8b9bd005dd08b9f8285bcb5cfc"},
 ]
 
 [[package]]
@@ -870,13 +910,13 @@ testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)",
 
 [[package]]
 name = "jinja2"
-version = "3.1.2"
+version = "3.1.4"
 description = "A very fast and expressive template engine."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "Jinja2-3.1.2-py3-none-any.whl", hash = "sha256:6088930bfe239f0e6710546ab9c19c9ef35e29792895fed6e6e31a023a182a61"},
-    {file = "Jinja2-3.1.2.tar.gz", hash = "sha256:31351a702a408a9e7595a8fc6150fc3f43bb6bf7e319770cbc0db9df9437e852"},
+    {file = "jinja2-3.1.4-py3-none-any.whl", hash = "sha256:bc5dd2abb727a5319567b7a813e6a2e7318c39f4f487cfe6c89c6f9c7d25197d"},
+    {file = "jinja2-3.1.4.tar.gz", hash = "sha256:4a3aee7acbbe7303aede8e9648d13b8bf88a429282aa6122a993f0ac800cb369"},
 ]
 
 [package.dependencies]
@@ -1160,13 +1200,12 @@ python-dateutil = ">=2.7"
 
 [[package]]
 name = "modern-sphinx-version-warning"
-version = "1.1.4"
+version = "1.1.6"
 description = "Sphinx extension to add a warning banner"
 optional = false
 python-versions = "*"
 files = [
-    {file = "modern-sphinx-version-warning-1.1.4.tar.gz", hash = "sha256:946e364b8544d85be8f7182468e06ce153cd9b16404cfb5c5e0804b52a2f1816"},
-    {file = "modern_sphinx_version_warning-1.1.4-py3-none-any.whl", hash = "sha256:4503501f7d174966bc196b1326bd7824ba950a431ce535ea0c3f649d91ec399a"},
+    {file = "modern_sphinx_version_warning-1.1.6-py3-none-any.whl", hash = "sha256:59e7b47e7af929363f7395c1de88f305c09d93bdc2c874d9a654adbd74d788c2"},
 ]
 
 [package.dependencies]
@@ -1343,70 +1382,89 @@ files = [
 
 [[package]]
 name = "pillow"
-version = "10.1.0"
+version = "10.3.0"
 description = "Python Imaging Library (Fork)"
 optional = false
 python-versions = ">=3.8"
 files = [
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-    {file = "Pillow-10.1.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a5f63b5a68daedc54c7c3464508d8c12075e56dcfbd42f8c1bf40169061ae666"},
-    {file = "Pillow-10.1.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c0949b55eb607898e28eaccb525ab104b2d86542a85c74baf3a6dc24002edec2"},
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 [package.extras]
 docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-removed-in", "sphinxext-opengraph"]
+fpx = ["olefile"]
+mic = ["olefile"]
 tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+typing = ["typing-extensions"]
+xmp = ["defusedxml"]
 
 [[package]]
 name = "platformdirs"
@@ -1478,13 +1536,13 @@ six = ">=1.5"
 
 [[package]]
 name = "requests"
-version = "2.31.0"
+version = "2.32.3"
 description = "Python HTTP for Humans."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 ]
 
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@@ -1562,7 +1620,7 @@ files = [
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+    {file = "ruamel.yaml.clib-0.2.8-cp37-cp37m-manylinux_2_24_aarch64.whl", hash = "sha256:77159f5d5b5c14f7c34073862a6b7d34944075d9f93e681638f6d753606c6ce6"},
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@@ -1570,7 +1628,7 @@ files = [
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+    {file = "ruamel.yaml.clib-0.2.8-cp38-cp38-manylinux_2_24_aarch64.whl", hash = "sha256:305889baa4043a09e5b76f8e2a51d4ffba44259f6b4c72dec8ca56207d9c6fe1"},
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@@ -1578,7 +1636,7 @@ files = [
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-    {file = "ruamel.yaml.clib-0.2.8-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:9eb5dee2772b0f704ca2e45b1713e4e5198c18f515b52743576d196348f374d3"},
+    {file = "ruamel.yaml.clib-0.2.8-cp39-cp39-manylinux_2_24_aarch64.whl", hash = "sha256:a1a45e0bb052edf6a1d3a93baef85319733a888363938e1fc9924cb00c8df24c"},
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@@ -1629,6 +1687,22 @@ dev = ["click", "cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy", "pycodestyl
 doc = ["jupytext", "matplotlib (>2)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (==0.9.0)", "sphinx (!=4.1.0)", "sphinx-design (>=0.2.0)"]
 test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
 
+[[package]]
+name = "setuptools"
+version = "72.1.0"
+description = "Easily download, build, install, upgrade, and uninstall Python packages"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "setuptools-72.1.0-py3-none-any.whl", hash = "sha256:5a03e1860cf56bb6ef48ce186b0e557fdba433237481a9a625176c2831be15d1"},
+    {file = "setuptools-72.1.0.tar.gz", hash = "sha256:8d243eff56d095e5817f796ede6ae32941278f542e0f941867cc05ae52b162ec"},
+]
+
+[package.extras]
+core = ["importlib-metadata (>=6)", "importlib-resources (>=5.10.2)", "jaraco.text (>=3.7)", "more-itertools (>=8.8)", "ordered-set (>=3.1.1)", "packaging (>=24)", "platformdirs (>=2.6.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.11.*)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (<0.4)", "pytest-ruff (>=0.2.1)", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+
 [[package]]
 name = "shutilwhich"
 version = "1.1.0"
@@ -1737,6 +1811,24 @@ docs = ["furo (>=2023.7.26)", "sphinx (>=7.1.2)"]
 numpy = ["nptyping (>=2.5)"]
 testing = ["covdefaults (>=2.3)", "coverage (>=7.3)", "diff-cover (>=7.7)", "pytest (>=7.4)", "pytest-cov (>=4.1)", "sphobjinv (>=2.3.1)", "typing-extensions (>=4.7.1)"]
 
+[[package]]
+name = "sphinx-copybutton"
+version = "0.5.2"
+description = "Add a copy button to each of your code cells."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "sphinx-copybutton-0.5.2.tar.gz", hash = "sha256:4cf17c82fb9646d1bc9ca92ac280813a3b605d8c421225fd9913154103ee1fbd"},
+    {file = "sphinx_copybutton-0.5.2-py3-none-any.whl", hash = "sha256:fb543fd386d917746c9a2c50360c7905b605726b9355cd26e9974857afeae06e"},
+]
+
+[package.dependencies]
+sphinx = ">=1.8"
+
+[package.extras]
+code-style = ["pre-commit (==2.12.1)"]
+rtd = ["ipython", "myst-nb", "sphinx", "sphinx-book-theme", "sphinx-examples"]
+
 [[package]]
 name = "sphinx-design"
 version = "0.5.0"
@@ -1830,13 +1922,13 @@ Sphinx = ">=7.0.0,<8.0.0"
 
 [[package]]
 name = "sphinx-rtd-theme"
-version = "2.0.0rc2"
+version = "2.0.0"
 description = "Read the Docs theme for Sphinx"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "sphinx_rtd_theme-2.0.0rc2-py2.py3-none-any.whl", hash = "sha256:f04df9213acf421c3b42f4f39005c8bc68fc4696c5b4ed4ef13d1678369713f7"},
-    {file = "sphinx_rtd_theme-2.0.0rc2.tar.gz", hash = "sha256:d1270effe620df9164b1cd2d617909472a63531e21a716fd22d0fbcedf9d24ff"},
+    {file = "sphinx_rtd_theme-2.0.0-py2.py3-none-any.whl", hash = "sha256:ec93d0856dc280cf3aee9a4c9807c60e027c7f7b461b77aeffed682e68f0e586"},
+    {file = "sphinx_rtd_theme-2.0.0.tar.gz", hash = "sha256:bd5d7b80622406762073a04ef8fadc5f9151261563d47027de09910ce03afe6b"},
 ]
 
 [package.dependencies]
@@ -2096,18 +2188,18 @@ sphinx = ">=4.0"
 
 [[package]]
 name = "sphinxext-photofinish"
-version = "0.1.9"
+version = "0.1.11"
 description = "Sphinx Extension that creates responsive images."
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
-    {file = "sphinxext-photofinish-0.1.9.tar.gz", hash = "sha256:d84b98b9b255e73ce7e421222877c791a12aa60a176ca93bcabadb3e0da4f278"},
-    {file = "sphinxext_photofinish-0.1.9-py3-none-any.whl", hash = "sha256:e0fe74c935b3ebaaed25b7d77987cd45b021322252798535632d2b6acec3aff9"},
+    {file = "sphinxext_photofinish-0.1.11-py3-none-any.whl", hash = "sha256:25c1098ce9e7a0c17ceee27d6432940f4c2f32b8efa7f391384023a4364f7578"},
+    {file = "sphinxext_photofinish-0.1.11.tar.gz", hash = "sha256:175f8a1522f2decc59b34daa974c7ff92d037b0820f4af4f6218df967b68ebfa"},
 ]
 
 [package.dependencies]
 beautifulsoup4 = ">=4"
-pillow = ">=8"
+pillow = ">=10.0.1"
 sphinx = ">=2.0"
 tinycss2 = ">=1.1.1"
 
@@ -2249,13 +2341,13 @@ files = [
 
 [[package]]
 name = "urllib3"
-version = "1.26.18"
+version = "1.26.19"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
 files = [
-    {file = "urllib3-1.26.18-py2.py3-none-any.whl", hash = "sha256:34b97092d7e0a3a8cf7cd10e386f401b3737364026c45e622aa02903dffe0f07"},
-    {file = "urllib3-1.26.18.tar.gz", hash = "sha256:f8ecc1bba5667413457c529ab955bf8c67b45db799d159066261719e328580a0"},
+    {file = "urllib3-1.26.19-py2.py3-none-any.whl", hash = "sha256:37a0344459b199fce0e80b0d3569837ec6b6937435c5244e7fd73fa6006830f3"},
+    {file = "urllib3-1.26.19.tar.gz", hash = "sha256:3e3d753a8618b86d7de333b4223005f68720bcd6a7d2bcb9fbd2229ec7c1e429"},
 ]
 
 [package.extras]
@@ -2276,18 +2368,18 @@ files = [
 
 [[package]]
 name = "zipp"
-version = "3.17.0"
+version = "3.19.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
-    {file = "zipp-3.17.0.tar.gz", hash = "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"},
+    {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"},
+    {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [[package]]
 name = "zopfli"
@@ -2364,5 +2456,5 @@ test = ["pytest"]
 
 [metadata]
 lock-version = "2.0"
-python-versions = ">=3.9,<3.12"
-content-hash = "10f5d132b57f924a957628ef5fe60b58fe5bad424aa4f195f60972cc4315f8aa"
+python-versions = ">=3.9,<3.13"
+content-hash = "cb130333d0f1d710b95e9dbab883bd4a5bb84797d1727a901330a7de6bd299de"
diff --git a/pyproject.toml b/pyproject.toml
index 6b6594b65c..5d701fb146 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -5,11 +5,11 @@ description = ""
 authors = []
 
 [tool.poetry.dependencies]
-black = "==23.1.0"
-python = ">=3.9,<3.12"
+black = "==24.4.2"
+python = ">=3.9,<3.13"
 doc8 = "==0.11.2"
 docutils = "==0.18.1"
-fonttools = {version = "==4.33.3", extras = ["woff"]}
+fonttools = {version = "==4.43.0", extras = ["woff"]}
 jsmin = "==3.0.1"
 latex = "==0.7.0"
 markdown2 = "==2.4.6"
@@ -17,12 +17,13 @@ packaging = "==22.0"
 scipy = ">=1.9.0, <2.0.0"
 sphinx = "==7.2.6"
 sphinx_design= "==0.5.0"
+sphinx_copybutton = "==0.5.2"
 sphinx-hoverxref = "==1.3.0"
 sphinx-notfound-page = "==1.0.0"
-sphinx-rtd-theme = "2.0.0rc2"
+sphinx-rtd-theme = "2.0.0"
 sphinx-tabs = "==3.4.4"
 sphinx-toolbox = "==3.5.0"
-modern-sphinx-version-warning = "==1.1.4"
+modern-sphinx-version-warning = "==1.1.6"
 sphinxcontrib-htmlhelp = "==2.0.4"
 sphinxcontrib-serializinghtml = "==1.1.9"
 sphinxcontrib-svg2pdfconverter = "==1.2.2"
@@ -30,7 +31,7 @@ sphinxext-delta = "==0.2.0"
 sphinxext-linkcheckdiff = "==0.1.0"
 sphinxext-mimic = "==0.1.1"
 sphinxext-opengraph = "==0.9.0"
-sphinxext-photofinish = "==0.1.9"
+sphinxext-photofinish = "==0.1.11"
 sphinxext-presentations = "==0.2.2"
 sphinxext-rediraffe = "==0.2.7"
 sphinxext-remoteliteralinclude = "==0.4.0"
diff --git a/scripts/doc8_redown.py b/scripts/doc8_redown.py
new file mode 100644
index 0000000000..15fcce7d6d
--- /dev/null
+++ b/scripts/doc8_redown.py
@@ -0,0 +1,21 @@
+from doc8 import main, parser
+import sys
+from pathlib import Path
+
+sys.path.append((Path(__file__).parent / "../source/_extensions").as_posix())
+
+from redown import redown
+
+old_setattr = parser.ParsedFile.__setattr__
+
+
+def new_setattr(self, name, value):
+    if name == "_raw_content" and value is not None:
+        value = redown(value.decode("utf-8").replace("\r", "")).encode("utf-8")
+        # Path(self.filename).with_suffix(".rd").write_text(value.decode("utf-8"))
+    old_setattr(self, name, value)
+
+
+parser.ParsedFile.__setattr__ = new_setattr
+
+sys.exit(main.main())
diff --git a/source/404.rst b/source/404.rst
index d33115dbc1..184979446b 100644
--- a/source/404.rst
+++ b/source/404.rst
@@ -1,12 +1,11 @@
 :orphan:
 
-The Requested Page Was Not Found
-================================
+# The Requested Page Was Not Found
 
-The page you were searching for does not exist. If you feel like this may be an issue, open a request at the `frc-docs repository <https://github.com/wpilibsuite/frc-docs/issues>`__.
+The page you were searching for does not exist. If you feel like this may be an issue, open a request at the [frc-docs repository](https://github.com/wpilibsuite/frc-docs/issues).
 
 .. image:: assets/first_design.png
    :align: center
    :alt: https://xkcd.com/689/
 
-Image credit to `XKCD <https://xkcd.com/689/>`__.
+Image credit to [XKCD](https://xkcd.com/689/).
diff --git a/source/_extensions/controls_js_sim/__init__.py b/source/_extensions/controls_js_sim/__init__.py
index cc9a1b109c..dae67826e6 100644
--- a/source/_extensions/controls_js_sim/__init__.py
+++ b/source/_extensions/controls_js_sim/__init__.py
@@ -6,7 +6,7 @@
 from sphinx.application import Sphinx
 
 # Handle custom javascript
-# Groups, sorts, merges, and minifies the JS files assocated with
+# Groups, sorts, merges, and minifies the JS files associated with
 # the controls documentation
 
 debugJS = False  # flip to true to make the output js more readable
diff --git a/source/_extensions/default_latex_image_settings.py b/source/_extensions/default_latex_image_settings.py
new file mode 100644
index 0000000000..1025792343
--- /dev/null
+++ b/source/_extensions/default_latex_image_settings.py
@@ -0,0 +1,43 @@
+from typing import Any, Dict
+
+from docutils import nodes
+
+from sphinx.transforms.post_transforms import SphinxPostTransform
+from sphinx.application import Sphinx
+
+
+class DefaultLaTeXImageSettingsTransform(SphinxPostTransform):
+    """
+    Set a default image width for images which do not have a width attribute
+    manually set. Also center images which are not centered. This only applies
+    to LaTeX builds.
+    """
+
+    default_priority = 100  # chosen arbitrarily
+
+    def run(self, **kwargs: Any) -> None:
+        if not self.app.tags.has("latex"):
+            return
+
+        width = self.app.config["default_latex_image_width"]
+
+        for node in self.document.findall(nodes.image):
+            if "width" not in node.attributes:
+                node.attributes["width"] = width
+
+            if (
+                self.app.config["default_latex_image_centered"]
+                and "align" not in node.attributes
+            ):
+                node.attributes["align"] = "center"
+
+
+def setup(app: Sphinx) -> Dict[str, Any]:
+    app.add_config_value("default_latex_image_width", "25em", True)
+    app.add_config_value("default_latex_image_centered", True, True)
+    app.add_post_transform(DefaultLaTeXImageSettingsTransform)
+
+    return {
+        "parallel_read_safe": True,
+        "parallel_write_safe": True,
+    }
diff --git a/source/_extensions/redown.py b/source/_extensions/redown.py
new file mode 100644
index 0000000000..de40c94a51
--- /dev/null
+++ b/source/_extensions/redown.py
@@ -0,0 +1,170 @@
+"""
+Cai, a noite sobre o nosso amor
+Cai, e agora só restou do amor
+
+Uma palavra
+Adeus
+Adeus
+Adeus
+Mas tendo de ir embora
+"""
+
+import re
+
+from pathlib import Path
+from sphinx.application import Sphinx
+from dataclasses import dataclass
+
+
+LINK_CORE = r"""
+    \[ (?P<text>[^\[\]]*?) \]    # link brackets + text w/o brackets - allows spaces in text
+    \(
+    (?P<link>
+        \S+?                     # link start
+        (?:
+            \( [^()\s]*? \)      # nested parens + text w/o parens - matches `initialize(boolean)`
+                [^()\s]*?        # more text - matches `initialize(boolean)abc`
+        )*?                      # allow none (or multiple?)
+    )
+    \)
+    """
+
+ROLE_LINK_RE = re.compile(
+    r"""
+    (?<!\w)                      # not alphanum - prevents matching inline code ``initialize[0](0)``
+    (?P<role>
+        :(?:.\w+?:)+?            # role(s) - matches :py:func: or :mod: or :class:
+    )
+    """
+    + LINK_CORE,
+    re.VERBOSE,  # whitespace and comments are ignored
+)
+
+LINK_RE = re.compile(
+    r"""
+    (?<!\w)                      # not alphanum - prevents matching inline code ``initialize[0](0)``
+    (?<!:)                       # no colon before - prevents matching roles
+    """
+    + LINK_CORE,
+    re.VERBOSE,  # whitespace and comments are ignored
+)
+
+
+def redown(text: str) -> str:
+    """21"""
+
+    # replace md code blocks with reST code blocks
+    "redown, redown, redown, redown"
+    find = r"(?P<start>^|\n)(?P<btindent> *?)(?P<ticks>```+)(?P<lang>\S+) *?(?:\n\s*?)+(?P<cindent> *?)(?P<code>.*?)(?P=ticks) *?(?P<end>\n|$|\Z)"
+
+    def replace(match: re.Match) -> str:
+        start = match.group("start")
+        btindent = match.group("btindent")
+        lang = match.group("lang")
+        cindent = match.group("cindent")
+        code = match.group("code")
+        end = match.group("end")
+
+        ret = ""
+        ret += start
+        ret += btindent + f".. code-block:: {lang}\n\n"
+        cindent = 3 * " "
+
+        for line in code.splitlines(keepends=True):
+            if line.strip() == "":
+                ret += "\n"
+            else:
+                ret += cindent + line
+
+        return ret
+
+    code = lambda: re.sub(find, replace, text, flags=re.DOTALL)
+    text = code()
+
+    # find rst code block ranges
+    "redown, redown, redown, redown"
+
+    @dataclass
+    class Chunk:
+        is_code: bool
+        text: str = ""
+
+    chunks: list[Chunk] = []
+
+    for line in text.splitlines(keepends=True):
+        in_code_block = chunks and chunks[-1].is_code
+        is_code_block_directive = re.match(r"^\s*\.\. code-block::", line)
+
+        if not in_code_block and is_code_block_directive:
+            chunks.append(Chunk(is_code=True))
+        elif in_code_block:
+            indent = len(re.match(r"^(\s*)", line).group(1).rstrip("\n"))
+            code_block_indent = len(
+                re.match(r"^(\s*)", chunks[-1].text).group(1).rstrip("\n")
+            )
+            if len(line.strip()) and indent <= code_block_indent:
+                if is_code_block_directive:
+                    chunks.append(Chunk(is_code=True))
+                else:
+                    chunks.append(Chunk(is_code=False))
+
+        if not chunks:
+            chunks.append(Chunk(is_code=False))
+        chunks[-1].text += line  # existing block
+
+    # dont operate on code blocks
+    for chunk in chunks:
+        if chunk.is_code:
+            continue
+        text = chunk.text
+
+        "redown, redown, redown, redown"
+        heading = lambda prefix, underfix: re.sub(
+            rf"(^|\n){prefix} +(.+?)(?:$|\n|\Z)",
+            lambda m: f"{m.group(1)}{m.group(2)}\n{underfix * len(m.group(2))}\n",
+            text,
+        )
+
+        text = heading("#", "=")
+        text = heading("##", "-")
+        text = heading("###", "^")
+        text = heading("####", "~")
+
+        "redown, redown, redown, redown"
+        role_links = lambda: ROLE_LINK_RE.sub(
+            lambda m: f"{m.group('role')}`{(t:=m.group('text'))}{' ' if len(t) else ''}<{m.group('link')}>`",
+            text,
+        )
+        text = role_links()
+
+        "redown, redown, redown, redown"
+        links = lambda: LINK_RE.sub(
+            lambda m: f"`{(t:=m.group('text'))}{' ' if len(t) else ''}<{m.group('link')}>`__",
+            text,
+        )
+        text = links()
+
+        "redown, redown, redown, redown"
+        math = lambda: re.sub(
+            r"(\b|\s|^)\$([^$\n]+)\$(\b|\s|[^\w]|$)", r"\1:math:`\2`\3", text
+        )
+        text = math()
+
+        chunk.text = text
+
+    text = "".join(chunk.text for chunk in chunks)
+
+    return text
+
+
+def setup(app: Sphinx):
+    @(lambda breadcrumb: app.connect("source-read", breadcrumb))
+    def _(app, docname, content):
+        content[0] = redown(content[0])
+        # Path(app.srcdir, docname).with_suffix(".rd").write_text(content[0], encoding="utf8")
+
+    return {
+        "version": "builtin",
+        "parallel_read_safe": True,
+        "parallel_write_safe": True,
+    }
diff --git a/source/_extensions/wpilib_release.py b/source/_extensions/wpilib_release.py
index 0ffd2f951a..e0949c061e 100644
--- a/source/_extensions/wpilib_release.py
+++ b/source/_extensions/wpilib_release.py
@@ -3,6 +3,7 @@
 from typing import Any, Dict, Iterable, List
 
 import markdown2
+from bs4 import BeautifulSoup
 from docutils import nodes
 from docutils.parsers.rst import directives
 from docutils.statemachine import StringList
@@ -25,31 +26,26 @@ def run(self) -> List[nodes.Node]:
         release_json = requests.get(release_url)
         release: Dict = release_json.json()
 
-        artifactory_folder = f"https://frcmaven.wpi.edu/api/storage/installer/{version}"
-
-        win_folder = f"{artifactory_folder}/Win64"
-        win_file = requests.get(win_folder).json()["children"][0]["uri"]
-        win = requests.get(win_folder + win_file).json()
-
-        win_size = int(win["size"])
-        win_download_url = win["uri"].replace("/storage/", "/download/")
-
-        mac_intel_folder = f"{artifactory_folder}/macOS"
-        mac_intel_file = requests.get(mac_intel_folder).json()["children"][0]["uri"]
-        mac_intel = requests.get(mac_intel_folder + mac_intel_file).json()
-
-        mac_intel_size = int(mac_intel["size"])
-        mac_intel_download_url = mac_intel["uri"].replace("/storage/", "/download/")
+        cf_folder = f"https://packages.wpilib.workers.dev/installer/{version}"
+        artifactory_folder = (
+            f"https://frcmaven.wpi.edu/api/download/installer/{version}"
+        )
 
-        mac_arm_folder = f"{artifactory_folder}/macOSArm"
-        mac_arm_file = requests.get(mac_arm_folder).json()["children"][0]["uri"]
-        mac_arm = requests.get(mac_arm_folder + mac_arm_file).json()
+        def get_url_size(osname):
+            soup = BeautifulSoup(
+                requests.get(f"{cf_folder}/{osname}/").text, "html.parser"
+            )
+            file = str(soup.find_all("tr")[-1].contents[0].string)
+            size = str(soup.find_all("tr")[-1].contents[2].string)
+            url_part = f"/{osname}/{file}"
+            return url_part, size
 
-        mac_arm_size = int(mac_arm["size"])
-        mac_arm_download_url = mac_arm["uri"].replace("/storage/", "/download/")
+        win_download_url_part, win_size = get_url_size("Win64")
+        mac_intel_download_url_part, mac_intel_size = get_url_size("macOS")
+        mac_arm_download_url_part, mac_arm_size = get_url_size("macOSArm")
 
         # There's something weird going where the hashes are all printed on one line.
-        # This works aroung that.
+        # This works around that.
         release_notes = release["body"].replace("\r", "")
 
         r2 = release_notes.split("```")
@@ -87,16 +83,23 @@ def run(self) -> List[nodes.Node]:
         addEventListener('DOMContentLoaded', async (event) => {{
             let dlbutton = document.getElementsByClassName("wpilibrelease-dl-button")[0];
             let ua = await navigator.userAgentData.getHighEntropyValues(['architecture', 'bitness', 'mobile', 'platform', 'platformVersion']);
+            let baseUrl;
+            try {{
+                await fetch("https://packages.wpilib.workers.dev/", {{ mode: "no-cors" }});
+                baseUrl = "{cf_folder}";
+            }} catch (e) {{
+                baseUrl = "{artifactory_folder}";
+            }}
             if (ua['platform'] == 'Windows') {{
-                dlbutton.href = '{win_download_url}';
-                dlbutton.text = 'Download for Windows - {win_size / 1e9 : .2f} GB';
+                dlbutton.href = `${{baseUrl}}{win_download_url_part}`;
+                dlbutton.text = 'Download for Windows - {win_size}';
             }} else if (ua['platform'] == 'macOS') {{
                 if (ua['architecture'] == 'x86') {{
-                    dlbutton.href = '{mac_intel_download_url}';
-                    dlbutton.text = 'Download for macOS Intel - {mac_intel_size / 1e9 : .2f} GB';
+                    dlbutton.href = `${{baseUrl}}{mac_intel_download_url_part}`;
+                    dlbutton.text = 'Download for macOS Intel - {mac_intel_size}';
                 }} else if (ua['architecture'].includes('arm')) {{
-                    dlbutton.href = '{mac_arm_download_url}';
-                    dlbutton.text = 'Download for macOS Arm | Apple Silicon - {mac_arm_size / 1e9 : .2f} GB';
+                    dlbutton.href = `${{baseUrl}}{mac_arm_download_url_part}`;
+                    dlbutton.text = 'Download for macOS Arm | Apple Silicon - {mac_arm_size}';
                 }}
             }}
         }});
diff --git a/source/_static/css/frc-rtd.css b/source/_static/css/frc-rtd.css
index f82d64a946..a68c7a53df 100644
--- a/source/_static/css/frc-rtd.css
+++ b/source/_static/css/frc-rtd.css
@@ -96,6 +96,10 @@
 	background: #003974;
 }
 
+.wy-menu-vertical li button.toctree-expand {
+	color: #d9d9d9
+}
+
 /* Hide color bar on mobile */
 @media screen and (max-width: 768px) {
 	.header-bar {
@@ -154,4 +158,8 @@ summary {
     font-weight: bold;
     margin: -.5em -.5em 0;
     padding: .5em;
+}
+
+code.py-class, code.py-func, code.py-meth {
+    all: unset!important;
 }
\ No newline at end of file
diff --git a/source/_static/wpilibDocsLogo_1050.png b/source/_static/wpilibDocsLogo_1050.png
index d59dade52e..95f5667edf 100644
Binary files a/source/_static/wpilibDocsLogo_1050.png and b/source/_static/wpilibDocsLogo_1050.png differ
diff --git a/source/_static/wpilibDocsLogo_1050.webp b/source/_static/wpilibDocsLogo_1050.webp
index 3c3982d7c4..b9fd009eb8 100644
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diff --git a/source/_static/wpilibDocsLogo_300.png b/source/_static/wpilibDocsLogo_300.png
index 4f7d6aadf8..38362b9aed 100644
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diff --git a/source/_static/wpilibDocsLogo_300.webp b/source/_static/wpilibDocsLogo_300.webp
index 8c3472da7b..ca1486f7ce 100644
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diff --git a/source/_static/wpilibDocsLogo_500.png b/source/_static/wpilibDocsLogo_500.png
index b278113681..86426bfad6 100644
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diff --git a/source/_static/wpilibDocsLogo_500.webp b/source/_static/wpilibDocsLogo_500.webp
index 9401318243..1f62159fd0 100644
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diff --git a/source/_static/wpilibDocsLogo_700.png b/source/_static/wpilibDocsLogo_700.png
index f2aa9d11d7..d48b3f5292 100644
Binary files a/source/_static/wpilibDocsLogo_700.png and b/source/_static/wpilibDocsLogo_700.png differ
diff --git a/source/_static/wpilibDocsLogo_700.webp b/source/_static/wpilibDocsLogo_700.webp
index 38e94b5d18..9161430198 100644
Binary files a/source/_static/wpilibDocsLogo_700.webp and b/source/_static/wpilibDocsLogo_700.webp differ
diff --git a/source/assets/FIRSTRobotics_IconVert_RGB_reverse.png b/source/assets/FIRSTRobotics_IconVert_RGB_reverse.png
index 11c6914f86..f9f896f142 100644
Binary files a/source/assets/FIRSTRobotics_IconVert_RGB_reverse.png and b/source/assets/FIRSTRobotics_IconVert_RGB_reverse.png differ
diff --git a/source/assets/first_design.png b/source/assets/first_design.png
index c6af805ef4..52c9cc98eb 100644
Binary files a/source/assets/first_design.png and b/source/assets/first_design.png differ
diff --git a/source/assets/wpilibDocsLogo.png b/source/assets/wpilibDocsLogo.png
index e1fe0aeeaf..95f5667edf 100644
Binary files a/source/assets/wpilibDocsLogo.png and b/source/assets/wpilibDocsLogo.png differ
diff --git a/source/conf.py b/source/conf.py
index af43621a6f..35b884c475 100644
--- a/source/conf.py
+++ b/source/conf.py
@@ -24,7 +24,7 @@
 # -- Project information -----------------------------------------------------
 
 project = "FIRST Robotics Competition"
-copyright = "2023, FIRST and other WPILib Contributors. This work is licensed under a Creative Commons Attribution 4.0 International License"
+copyright = "2024, FIRST and other WPILib Contributors. This work is licensed under a Creative Commons Attribution 4.0 International License"
 author = "WPILib"
 version = "2024"
 
@@ -39,6 +39,7 @@
     "sphinx.ext.mathjax",
     "sphinx.ext.todo",
     "sphinx.ext.autosectionlabel",
+    "sphinx.ext.intersphinx",
     "sphinxcontrib.rsvgconverter",
     "sphinxext.delta",
     "sphinxext.opengraph",
@@ -55,6 +56,7 @@
     "sphinx.ext.viewcode",
     "sphinx-prompt",
     "sphinx_toolbox.collapse",
+    "sphinx_copybutton",
 ]
 
 local_extensions = [
@@ -63,6 +65,8 @@
     "_extensions.localization",
     "_extensions.controls_js_sim",
     "_extensions.wpilib_release",
+    "_extensions.default_latex_image_settings",
+    "_extensions.redown",
 ]
 
 extensions += local_extensions
@@ -108,9 +112,7 @@
 # Configure OpenGraph support
 ogp_site_url = "https://docs.wpilib.org/en/stable/"
 ogp_site_name = "FIRST Robotics Competition Documentation"
-ogp_image = (
-    "https://raw.githubusercontent.com/wpilibsuite/branding/main/png/wpilib-128.png"
-)
+ogp_image = "https://raw.githubusercontent.com/wpilibsuite/branding/main/export/png/wpilib-icon-256.png"
 
 # Configure photofinish ci mode
 photofinish_ci_only = True
@@ -127,6 +129,7 @@
 
 # Enable hover content on glossary term
 hoverxref_roles = ["term"]
+hoverxref_role_types = {"term": "tooltip"}
 
 # TODO Directives omit a warning
 todo_emit_warnings = False
@@ -135,21 +138,29 @@
 todo_include_todos = False
 
 # Disable following anchors in URLS for linkcheck
-linkcheck_anchors = False
+linkcheck_anchors = True
 
 # Linkcheck Exclusions
 linkcheck_ignore = [
-    r".*kauailabs.com.*",
+    #    r".*kauailabs.com.*",
     r".*wpilibpi.local.*",
-    r".*andymark.com.*",
-    r".*ti.com/lit/an/spma033a/spma033a.pdf.*",
-    r".*java.com/en/download/help/locale.xml.*",
+    #    r".*andymark.com.*",
+    #    r".*ti.com/lit/an/spma033a/spma033a.pdf.*",
+    r".*java.com.*",
     r".*playingwithfusion.com/contactus.php.*",
-    r".*github.com/wpilibsuite/BetaTest.*",
-    r".*vexrobotics.com/docs/.*",
+    #    r".*vexrobotics.com/docs/.*",
     r".*forums.firstinspires.org.*",
     r".*digikey.com.*",
     r".*chiefdelphi.com.*",
+    r".*raspberrypi.com.*",
+    r".*stackoverflow.com.*",
+    r".*allaboutcircuits.com.*",
+    r".*knowledge.ni.com.*",
+]
+
+linkcheck_anchors_ignore_for_url = [
+    r".*github.com.*",
+    r".*ni.com/en/support/downloads/drivers/download.frc-game-tools.html.*",
 ]
 
 # Sets linkcheck timeout in seconds
@@ -158,7 +169,7 @@
 linkcheck_workers = 1
 
 # Specify a standard user agent, as Sphinx default is blocked on some sites
-user_agent = "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/118.0.0.0 Safari/537.36"
+user_agent = "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/121.0.0.0 Safari/537.36"
 
 # Autosection labels prefix document path and filename
 autosectionlabel_prefix_document = True
@@ -171,8 +182,7 @@
 # This pattern also affects html_static_path and html_extra_path.
 exclude_patterns = [
     "docs/yearly-overview/2020-Game-Data.rst",
-    "docs/software/wpilib-tools/axon/**",
-    "docs/software/vision-processing/grip/**",
+    "docs/beta/*",
 ]
 
 # Specify the master doc file, AKA our homepage
@@ -217,7 +227,7 @@
 html_baseurl = "https://docs.wpilib.org/en/stable/"
 
 html_theme_options = {
-    "collapse_navigation": True,
+    "collapse_navigation": False,
     "sticky_navigation": False,
     "titles_only": True,
 }
@@ -249,6 +259,14 @@ def setup(app):
     app.add_js_file("js/version-2014.js")
 
 
+html_context = {
+    "display_github": True,  # Integrate GitHub
+    "github_user": "wpilibsuite",  # Username
+    "github_repo": "frc-docs",  # Repo name
+    "github_version": "main",  # Version
+    "conf_py_path": "/source/",  # Path in the checkout to the docs root
+}
+
 # -- Options for latex generation --------------------------------------------
 
 latex_engine = "xelatex"
@@ -323,3 +341,19 @@ def new_send(self, data):
 
 
 http.client.HTTPConnection.send = new_send
+
+intersphinx_mapping = {
+    "robotpy": ("https://robotpy.readthedocs.io/projects/robotpy/en/stable/", None),
+    "commands2": (
+        "https://robotpy.readthedocs.io/projects/commands-v2/en/stable/",
+        None,
+    ),
+}
+
+# We recommend adding the following config value.
+# Sphinx defaults to automatically resolve *unresolved* labels using all your Intersphinx mappings.
+# This behavior has unintended side-effects, namely that documentations local references can
+# suddenly resolve to an external location.
+# See also:
+# https://www.sphinx-doc.org/en/master/usage/extensions/intersphinx.html#confval-intersphinx_disabled_reftypes
+intersphinx_disabled_reftypes = ["*"]
diff --git a/source/docs/beta/beta-getting-started/images/accessing-the-beta-project/login.png b/source/docs/beta/beta-getting-started/images/accessing-the-beta-project/login.png
index 5b7796ebf4..68dbd02dbf 100644
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diff --git a/source/docs/beta/beta-getting-started/images/accessing-the-beta-project/project-home.png b/source/docs/beta/beta-getting-started/images/accessing-the-beta-project/project-home.png
index ab26c7b3f0..a4ac087ba8 100644
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diff --git a/source/docs/beta/beta-getting-started/images/monitoring-via-email-notifications/subscribe.png b/source/docs/beta/beta-getting-started/images/monitoring-via-email-notifications/subscribe.png
index a5a6ea6e63..0d610525d4 100644
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diff --git a/source/docs/beta/beta-getting-started/images/monitoring-via-email-notifications/watch.png b/source/docs/beta/beta-getting-started/images/monitoring-via-email-notifications/watch.png
index 42a3c6b087..bc11f6a263 100644
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diff --git a/source/docs/beta/beta-getting-started/images/reporting-progress/forum-summary.png b/source/docs/beta/beta-getting-started/images/reporting-progress/forum-summary.png
index 75b7c3e491..3b4430429f 100644
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diff --git a/source/docs/beta/beta-getting-started/images/reporting-progress/post-report.png b/source/docs/beta/beta-getting-started/images/reporting-progress/post-report.png
index 7252fa9513..dc6c1fa274 100644
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diff --git a/source/docs/beta/beta-getting-started/images/reporting-progress/task-reports.png b/source/docs/beta/beta-getting-started/images/reporting-progress/task-reports.png
index 723a93a0ad..c31335e7c7 100644
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diff --git a/source/docs/beta/beta-getting-started/images/trackers-reporting-bugs/github-issues.png b/source/docs/beta/beta-getting-started/images/trackers-reporting-bugs/github-issues.png
index d2eb45899b..97bf18f839 100644
Binary files a/source/docs/beta/beta-getting-started/images/trackers-reporting-bugs/github-issues.png and b/source/docs/beta/beta-getting-started/images/trackers-reporting-bugs/github-issues.png differ
diff --git a/source/docs/beta/beta-getting-started/images/trackers-reporting-bugs/report-bug.png b/source/docs/beta/beta-getting-started/images/trackers-reporting-bugs/report-bug.png
index 0204623a09..30f8651bdd 100644
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diff --git a/source/docs/contributing/frc-docs/build-instructions.rst b/source/docs/contributing/frc-docs/build-instructions.rst
index 910db8401f..4753a57b2d 100644
--- a/source/docs/contributing/frc-docs/build-instructions.rst
+++ b/source/docs/contributing/frc-docs/build-instructions.rst
@@ -1,35 +1,31 @@
-Build Instructions
-==================
+# Build Instructions
 
-This document contains information on how to build the HTML, PDF, and EPUB versions of the frc-docs site. frc-docs uses Sphinx as the documentation generator. This document also assumes you have basic knowledge of `Git <https://git-scm.com/>`__ and console commands.
+This document contains information on how to build the HTML, PDF, and EPUB versions of the frc-docs site. frc-docs uses Sphinx as the documentation generator. This document also assumes you have basic knowledge of [Git](https://git-scm.com/) and console commands.
 
-Prerequisites
--------------
+## Prerequisites
 
-Ensure that `Git <https://git-scm.com/>`__ is installed and that the frc-docs repository is cloned by using ``git clone https://github.com/wpilibsuite/frc-docs.git``.
+Ensure that [Git](https://git-scm.com/) is installed and that the frc-docs repository is cloned by using ``git clone https://github.com/wpilibsuite/frc-docs.git``.
 
-Text Editors / IDE
-^^^^^^^^^^^^^^^^^^
+### Text Editors / IDE
 
-For development, we recommend that you use VS Code along with the `reStructuredText extension <https://marketplace.visualstudio.com/items?itemName=lextudio.restructuredtext>`_. However, any text editor will work.
+For development, we recommend that you use VS Code along with the [reStructuredText extension](https://marketplace.visualstudio.com/items?itemName=lextudio.restructuredtext). However, any text editor will work.
 
 By default, the reStructuredText extension enables linting with all doc8 features enabled. As frc-docs does not follow the line length lint, add the following to your VS Code ``settings.json`` to disable line length linting.
 
-.. code-block:: json
+```json
+"restructuredtext.linter.doc8.extraArgs": [
+   "--ignore D001"
+]
+```
 
-   "restructuredtext.linter.doc8.extraArgs": [
-      "--ignore D001"
-   ]
-
-Windows
-^^^^^^^
+### Windows
 
 .. note:: MikTeX and ``rsvg-convert`` are not required for building HTML, they are only required for Windows PDF builds.
 
-- `Python 3.9 <https://www.python.org/downloads/>`__
-- `Perl <https://strawberryperl.com/>`__
-- `MiKTeX <https://miktex.org/download>`__ (Only needed for PDF builds)
-- `rsvg-convert <https://community.chocolatey.org/packages/rsvg-convert>`__ (Only needed for PDF builds)
+- [Python 3.9](https://www.python.org/downloads/)
+- [Perl](https://strawberryperl.com/)
+- [MiKTeX](https://miktex.org/download) (Only needed for PDF builds)
+- [rsvg-convert](https://community.chocolatey.org/packages/rsvg-convert) (Only needed for PDF builds)
 
 Ensure that Python is in your Path by selecting the **Add Python to PATH** toggle when installing Python.
 
@@ -40,56 +36,49 @@ Once Python is installed, open up Powershell. Then navigate to the frc-docs dire
 
 Install the missing MikTex packages by navigating to the frc-docs directory, then running the following command from Powershell: ``miktex --verbose packages require --package-id-file miktex-packages.txt``
 
-Linux (Ubuntu)
-^^^^^^^^^^^^^^
-
-.. code-block:: console
+### Linux (Ubuntu)
 
-    $ sudo apt update
-    $ sudo apt install python3 python3-pip
-    $ python3 -m pip install -U pip setuptools wheel
-    $ python3 -m pip install -r source/requirements.txt
-    $ sudo apt install -y texlive-latex-recommended texlive-fonts-recommended texlive-latex-extra latexmk texlive-lang-greek texlive-luatex texlive-xetex texlive-fonts-extra dvipng librsvg2-bin
+```console
+$ sudo apt update
+$ sudo apt install python3 python3-pip
+$ python3 -m pip install -U pip setuptools wheel
+$ python3 -m pip install -r source/requirements.txt
+$ sudo apt install -y texlive-latex-recommended texlive-fonts-recommended texlive-latex-extra latexmk texlive-lang-greek texlive-luatex texlive-xetex texlive-fonts-extra dvipng librsvg2-bin
+```
 
-Building
---------
+## Building
 
 Open up a Powershell Window or terminal and navigate to the frc-docs directory that was cloned.
 
-.. code-block:: console
-
-    PS > cd "%USERPROFILE%\Documents"
-    PS C:\Users\Example\Documents> git clone https://github.com/wpilibsuite/frc-docs.git
-    Cloning into 'frc-docs'...
-    remote: Enumerating objects: 217, done.
-    remote: Counting objects: 100% (217/217), done.
-    remote: Compressing objects: 100% (196/196), done.
-    remote: Total 2587 (delta 50), reused 68 (delta 21), pack-reused 2370
-    Receiving objects: 100% (2587/2587), 42.68MiB | 20.32 MiB/s, done.
-    Receiving deltas: 100% (1138/1138), done/
-    PS C:\Users\Example\Documents> cd frc-docs
-    PS C:\Users\Example\Documents\frc-docs>
-
+```console
+PS > cd "%USERPROFILE%\Documents"
+PS C:\Users\Example\Documents> git clone https://github.com/wpilibsuite/frc-docs.git
+Cloning into 'frc-docs'...
+remote: Enumerating objects: 217, done.
+remote: Counting objects: 100% (217/217), done.
+remote: Compressing objects: 100% (196/196), done.
+remote: Total 2587 (delta 50), reused 68 (delta 21), pack-reused 2370
+Receiving objects: 100% (2587/2587), 42.68MiB | 20.32 MiB/s, done.
+Receiving deltas: 100% (1138/1138), done/
+PS C:\Users\Example\Documents> cd frc-docs
+PS C:\Users\Example\Documents\frc-docs>
+```
 
-Lint Check
-^^^^^^^^^^
+### Lint Check
 
-.. note:: Lint Check will not check line endings on Windows due to a bug with line endings. See `this issue <https://bugs.launchpad.net/doc8/+bug/1756704>`__ for more information.
+.. note:: Lint Check will not check line endings on Windows due to a bug with line endings. See [this issue](https://bugs.launchpad.net/doc8/+bug/1756704) for more information.
 
 It's encouraged to check any changes you make with the linter. This **will** fail the buildbot if it does not pass. To check, run ``.\make lint``
 
-Link Check
-^^^^^^^^^^
+### Link Check
 
 The link checker makes sure that all links in the documentation resolve. This **will** fail the buildbot if it does not pass. To check, run ``.\make linkcheck``
 
-Image Size Check
-^^^^^^^^^^^^^^^^
+### Image Size Check
 
 Please run ``.\make sizecheck`` to verify that all images are below 500KB. This check **will** fail CI if it fails. Exclusions are allowed on a case by case basis and are added to the ``IMAGE_SIZE_EXCLUSIONS`` list in the configuration file.
 
-Redirect Check
-^^^^^^^^^^^^^^
+### Redirect Check
 
 Files that have been moved or renamed must have their new location (or replaced with 404) in the ``redirects.txt`` file in ``source``.
 
@@ -99,48 +88,40 @@ The redirect writer will automatically add renamed/moved files to the redirects
 
 The redirect checker makes sure that there are valid redirects for all files. This **will** fail the buildbot if it does not pass. To check, run ``.\make rediraffecheckdiff`` to verify all files are redirected. Additionally, an HTML build may need to be ran to ensure that all files redirect properly.
 
-Building HTML
-^^^^^^^^^^^^^
+### Building HTML
 
 Type the command ``.\make html`` to generate HTML content. The content is located in the ``build/html`` directory at the root of the repository.
 
-Building PDF
-------------
+## Building PDF
 
 .. warning:: Please note that PDF build on Windows may result in distorted images for SVG content. This is due to a lack of librsvg2-bin support on Windows.
 
 Type the command ``.\make latexpdf`` to generate PDF content. The PDF is located in the ``build/latex`` directory at the root of the repository.
 
-Building EPUB
--------------
+## Building EPUB
 
 Type the command ``.\make epub`` to generate EPUB content. The EPUB is located in the ``build/epub`` directory at the root of the repository.
 
-Adding Python Third-Party libraries
------------------------------------
+## Adding Python Third-Party libraries
 
 .. important:: After modifying frc-docs dependencies in any way, ``requirements.txt`` must be regenerated by running ``poetry export -f requirements.txt --output source/requirements.txt --without-hashes`` from the root of the repo.
 
-frc-docs uses `Poetry <https://python-poetry.org/>`__ to manage its dependencies to make sure builds are reproducible.
+frc-docs uses [Poetry](https://python-poetry.org/) to manage its dependencies to make sure builds are reproducible.
 
 .. note:: Poetry is **not** required to build and contribute to frc-docs content. It is *only* used for dependency management.
 
-Installing Poetry
-^^^^^^^^^^^^^^^^^
+### Installing Poetry
 
 Ensure that Poetry is installed. Run the following command: ``pip install poetry``.
 
-Adding a Dependency
-^^^^^^^^^^^^^^^^^^^
+### Adding a Dependency
 
 Add the dependency to the ``[tool.poetry.dependencies]`` section of ``pyproject.toml``. Make sure to specify an exact version. Then, run the following command: ``poetry lock --no-update``.
 
-Updating a Top-Level Dependency
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Updating a Top-Level Dependency
 
 Update the dependency's version in the ``[tool.poetry.dependencies]`` section of ``pyproject.toml``. Then, run the following command: ``poetry lock --no-update``.
 
-Updating Hidden Dependencies
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Updating Hidden Dependencies
 
 Run the following command: ``poetry lock``.
diff --git a/source/docs/contributing/frc-docs/contribution-guidelines.rst b/source/docs/contributing/frc-docs/contribution-guidelines.rst
index fa82af88d0..a1c67bc2f9 100644
--- a/source/docs/contributing/frc-docs/contribution-guidelines.rst
+++ b/source/docs/contributing/frc-docs/contribution-guidelines.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Contribution Guidelines
-=======================
+# Contribution Guidelines
 
-Welcome to the contribution guidelines for the frc-docs project. If you are unfamiliar to writing in the reStructuredText format, please read up on it `here <https://thomas-cokelaer.info/tutorials/sphinx/rest_syntax.html>`__.
+Welcome to the contribution guidelines for the frc-docs project. If you are unfamiliar to writing in the reStructuredText format, please read up on it [here](https://sphinx-tutorial.readthedocs.io/cheatsheet/).
 
-.. important:: *FIRST*\ |reg| retains all rights to documentation and images provided. Credit for articles/updates will be in the `GitHub commit history. <https://github.com/wpilibsuite/frc-docs/graphs/commit-activity>`_
+.. important:: *FIRST*\ |reg| retains all rights to documentation and images provided. Credit for articles/updates will be in the [GitHub commit history.](https://github.com/wpilibsuite/frc-docs/graphs/commit-activity)
 
-Mission Statement
------------------
+## Mission Statement
 
 The WPILib Mission is to enable *FIRST* Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language.
 
@@ -20,8 +18,7 @@ These docs serve to provide a learning ground for all *FIRST* Robotics Competiti
 
 Please see the :ref:`docs/contributing/frc-docs/style-guide:Style Guide` for information on styling your documentation.
 
-Release Process
----------------
+## Release Process
 
 frc-docs uses a special release process for handling the main site ``/stable/`` and the development site ``/latest/``. This flow is detailed below.
 
@@ -42,37 +39,32 @@ Off-Season:
 
   - Only updates ``/latest/`` on the documentation site
 
-Creating a PR
--------------
+## Creating a PR
 
-PRs should be made to the `frc-docs <https://github.com/wpilibsuite/frc-docs>`__ repo on GitHub. They should point to the ``main`` branch and *not* ``stable``.
+PRs should be made to the [frc-docs](https://github.com/wpilibsuite/frc-docs) repo on GitHub. They should point to the ``main`` branch and *not* ``stable``.
 
-Creating New Content
---------------------
+## Creating New Content
 
-Thanks for contributing to the `frc-docs <https://github.com/wpilibsuite/frc-docs>`__ project! There are a couple things you should know before getting started!
+Thanks for contributing to the [frc-docs](https://github.com/wpilibsuite/frc-docs) project! There are a couple things you should know before getting started!
 
-Where to place articles?
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Where to place articles?
 
 The location for new articles can be a pretty opinionated subject. Standalone articles that fall well into an already subject category should be placed into mentioned subject category (documentation on something about simulation should be placed into the simulation section). However, things can get pretty complicated when an article combines or references two separate existing sections. In this situation, we advise the author to open an issue on the repository to get discussion going before opening the PR.
 
 .. note:: All new articles will undergo a review process before being merged into the repository. This review process will be done by members of the WPILib team. New Articles must be on official *FIRST* supported Software and Hardware. Documentation on unofficial libraries or sensors *will not* be accepted. This process may take some time to review, please be patient.
 
-Where to place sections?
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Where to place sections?
 
-Sections are quite tricky, as they contain a large amount of content. We advise the author to open an `issue <https://github.com/wpilibsuite/frc-docs/issues>`__ to gather discussion before opening up a PR.
+Sections are quite tricky, as they contain a large amount of content. We advise the author to open an [issue](https://github.com/wpilibsuite/frc-docs/issues) to gather discussion before opening up a PR.
 
-Linking Other Articles
-^^^^^^^^^^^^^^^^^^^^^^
+### Linking Other Articles
 
 In the instance that the article references content that is described in another article, the author should make best effort to link to that article upon the first reference.
 
 Imagine we have the following content in a drivetrain tutorial:
 
-.. code-block:: text
-
-   Teams may often need to test their robot code outside of a competition. :ref:`Simulation <link-to-simulation:simulation>` is a means to achieve this. Simulation offers teams a way to unit test and test their robot code without ever needing a robot.
+```text
+Teams may often need to test their robot code outside of a competition. :ref:`Simulation <link-to-simulation:simulation>` is a means to achieve this. Simulation offers teams a way to unit test and test their robot code without ever needing a robot.
+```
 
 Notice how only the first instance of Simulation is linked. This is the structure the author should follow. There are times where a linked article has different topics of content. If you reference the different types of content in the article, you should link to each new reference once (except in situations where the author has deemed it appropriate otherwise).
diff --git a/source/docs/contributing/frc-docs/drawio-saving-instructions.rst b/source/docs/contributing/frc-docs/drawio-saving-instructions.rst
index 22a0842292..325ad1c56c 100644
--- a/source/docs/contributing/frc-docs/drawio-saving-instructions.rst
+++ b/source/docs/contributing/frc-docs/drawio-saving-instructions.rst
@@ -1,14 +1,13 @@
-Draw.io Saving Instructions
-===========================
+# Draw.io Saving Instructions
 
 .. warning:: Make sure you don't modify any file that is in a ``diagrams`` folder, or ends in ``.drawio.svg`` in any program other than draw.io; otherwise you might risk breaking the metadata of the file, making it uneditable.
 
-Draw.io (also known as `diagrams.net <https://app.diagrams.net/>`__) are supported when saved as ``svg`` files, with embedded XML metadata for the draw.io source file (normally stored as ``.drawio``).
+Draw.io (also known as [diagrams.net](https://app.diagrams.net/)) are supported when saved as ``svg`` files, with embedded XML metadata for the draw.io source file (normally stored as ``.drawio``).
 This allows these images to both act as source files for the diagrams that can be edited in the future, and be rendered as normal ``svg`` files.
 
 There are a few methods to save a diagram with the embedded metadata, but using the export menu is preferred because it allows us to embed any images in the diagram; otherwise they might not render properly on the docs.
 
-This method is applicable to both draw.io desktop and the web version at `diagrams.net <https://app.diagrams.net/>`__.
+This method is applicable to both draw.io desktop and the web version at [diagrams.net](https://app.diagrams.net/).
 
 To export go to ``File - Export as - SVG...``. Make sure ``Include a copy of my diagram`` is enabled to embed the diagram metadata, and that ``Embed Images`` is enabled so image files in the diagram are embedded so they render in the docs. Additionally, mark the ``Transparent Background`` option to make sure the background is displayed correctly.
 
diff --git a/source/docs/contributing/frc-docs/images/python-path.png b/source/docs/contributing/frc-docs/images/python-path.png
index a5e32e1755..a1fd9972ed 100644
Binary files a/source/docs/contributing/frc-docs/images/python-path.png and b/source/docs/contributing/frc-docs/images/python-path.png differ
diff --git a/source/docs/contributing/frc-docs/images/svg-export.png b/source/docs/contributing/frc-docs/images/svg-export.png
index 0f781297c1..54cfd75c56 100644
Binary files a/source/docs/contributing/frc-docs/images/svg-export.png and b/source/docs/contributing/frc-docs/images/svg-export.png differ
diff --git a/source/docs/contributing/frc-docs/index.rst b/source/docs/contributing/frc-docs/index.rst
index fccb12eb19..85baee1e81 100644
--- a/source/docs/contributing/frc-docs/index.rst
+++ b/source/docs/contributing/frc-docs/index.rst
@@ -1,5 +1,4 @@
-Contributing to frc-docs
-========================
+# Contributing to frc-docs
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/contributing/frc-docs/style-guide.rst b/source/docs/contributing/frc-docs/style-guide.rst
index b3ab0c01db..ae42c302cc 100644
--- a/source/docs/contributing/frc-docs/style-guide.rst
+++ b/source/docs/contributing/frc-docs/style-guide.rst
@@ -1,12 +1,10 @@
 .. include:: <isonum.txt>
 
-Style Guide
-===========
+# Style Guide
 
-This document contains the various RST/Sphinx specific guidelines for the frc-docs project. For guidelines related to the various WPILib code projects, see `the WPILib GitHub <https://github.com/wpilibsuite/styleguide>`__
+This document contains the various MD and RST/Sphinx specific guidelines for the frc-docs project. For guidelines related to the various WPILib code projects, see [the WPILib GitHub](https://github.com/wpilibsuite/styleguide)
 
-Filenames
----------
+## Filenames
 
 Use only lowercase alphanumeric characters and ``-`` (minus) symbol.
 
@@ -14,10 +12,9 @@ For documents that will have an identical software/hardware name, append "Hardwa
 
 Suffix filenames with the ``.rst`` extension.
 
-.. note:: If you are having issues editing files with the ``.rst`` extension, the recommended text editor is VS Code with the rST extension.
+.. note:: If you are having issues editing files with the ``.rst`` extension, the recommended text editor is VS Code with the [reStructuredText extension](https://marketplace.visualstudio.com/items?itemName=lextudio.restructuredtext).
 
-Text
-----
+## Text
 
 All text content should be on the same line. If you need readability, use the word-wrap function of your editor.
 
@@ -32,163 +29,150 @@ Use the following case for these terms:
 - Linux (not linux)
 - Java (not java)
 
-Use the ASCII character set for English text. For special characters (e.g. Greek symbols) use the `standard character entity sets <https://docutils.sourceforge.io/docs/ref/rst/definitions.html#character-entity-sets>`_.
+Use the ASCII character set for English text. For special characters (e.g. Greek symbols) use the [standard character entity sets](https://docutils.sourceforge.io/docs/ref/rst/definitions.html#character-entity-sets).
 
-Use ``.. math::`` for standalone equations and ``:math:`` for inline equations.  A useful LaTeX equation cheat sheet can be found `here <https://www.reed.edu/academic_support/pdfs/qskills/latexcheatsheet.pdf>`_.
+Use ``.. math::`` for standalone equations and ``:math:`` for inline equations.  A useful LaTeX equation cheat sheet can be found [here](https://www.reed.edu/academic_support/pdfs/qskills/latexcheatsheet.pdf).
 
 Use literals for filenames, function, and variable names.
 
-Use of the registered trademarks *FIRST*\ |reg| and FRC\ |reg| should follow the Policy from `this page <https://www.firstinspires.org/brand>`__. Specifically, where possible (i.e. not nested inside other markup or in a document title), the first use of the trademarks should have the |reg| symbol and all instances of *FIRST* should be italicized. The |reg| symbol can be added by using ``.. include:: <isonum.txt>`` at the top of the document and then using ``*FIRST*\ |reg|`` or ``FRC\ |reg|``.
+Use of the registered trademarks *FIRST*\ |reg| and FRC\ |reg| should follow the Policy from [this page](https://www.firstinspires.org/brand). Specifically, where possible (i.e. not nested inside other markup or in a document title), the first use of the trademarks should have the |reg| symbol and all instances of *FIRST* should be italicized. The |reg| symbol can be added by using ``.. include:: <isonum.txt>`` at the top of the document and then using ``*FIRST*\ |reg|`` or ``FRC\ |reg|``.
 
 Commonly used terms should be added to the :ref:`docs/software/frc-glossary:FRC Glossary`.  You can reference items in the glossary by using ``:term:`deprecated```.
 
-Whitespace
-----------
+## Whitespace
 
-Indentation
-^^^^^^^^^^^
+### Indentation
 
 Indentation should *always* match the previous level of indentation *unless* you are creating a new content block.
 
 Indentation of content directives as new line ``.. toctree::``  should be `3` spaces.
 
-Blank Lines
-^^^^^^^^^^^
+### Blank Lines
 
 There should be ``1`` blank line separating basic text blocks and section titles. There *should* be ``1`` blank line separating text blocks *and* content directives.
 
-Interior Whitespace
-^^^^^^^^^^^^^^^^^^^
+### Interior Whitespace
 
 Use one space between sentences.
 
-Headings
---------
+## Headings
 
-Headings should be in the following structure. Heading underlines should match the same number of characters as the heading itself.
+Headings should be in the following structure.
 
-1. ``=`` for document titles. *Do not* use this more than *once* per article.
-2. ``-`` for document sections
-3. ``^`` for document sub-sections
-4. ``~`` for document sub-sub-sections
+1. ``#`` for document titles. *Do not* use this more than *once* per article.
+2. ``##`` for document sections
+3. ``###`` for document sub-sections
+4. ``####`` for document sub-sub-sections
 5. If you need to use any lower levels of structure, you're doing things wrong.
 
 Use title case for headings.
 
-Lists
------
+## Lists
 
 Lists should have a new line in between each indent level. The highest indent should have ``0`` indentation, and subsequent sublists should have an indentation starting at the first character of the previous indentation.
 
-.. code-block:: ReST
+```ReST
+- Block one
+- Block two
+- Block three
+  - Sub 1
+  - Sub 2
+- Block four
+```
 
-   - Block one
-   - Block two
-   - Block three
+## Code blocks
 
-     - Sub 1
-     - Sub 2
-
-   - Block four
+All code blocks should have a language specified.
 
-Code blocks
------------
+````md
+```python
+print("Hello!")
 
-All code blocks should have a language specified.
+import antigravity
+```
+````
 
 1. Exception: Content where formatting must be preserved and has no language. Instead use ``text``.
 
-Follow the `WPILib style guide <https://github.com/wpilibsuite/styleguide/>`_ for C++ and Java example code. For example, use two spaces for indentation in C++ and Java.
+Follow the [WPILib style guide](https://github.com/wpilibsuite/styleguide/) for C++ and Java example code. For example, use two spaces for indentation in C++ and Java.
 
-RLI (Remote Literal Include)
-----------------------------
+## RLI (Remote Literal Include)
 
 When possible, instead of using code blocks, an RLI should be used.  This pulls code lines directly from GitHub, most commonly using the example programs.  This automatically keeps the code up to date with any changes that are made.  The format of an RLI is:
 
-.. code-block:: ReST
-
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
-      :language: java
-      :lines: 44-61
-      :linenos:
-      :lineno-start: 44
-
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
-      :language: cpp
-      :lines: 18-30
-      :linenos:
-      :lineno-start: 18
+```ReST
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
+   :language: java
+   :lines: 44-61
+   :linenos:
+   :lineno-start: 44
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
+   :language: c++
+   :lines: 18-30
+   :linenos:
+   :lineno-start: 18
+```
 
 Make sure to link to the raw version of the file on GitHub. There is a handy ``Raw`` button in the top right corner of the page.
 
-Tabs
-----
-To create code tabs in an article, you can use the ``.. tab-set-code::`` directive.  You can use ``code-block`` and ``rli`` directives inside. The format is:
+.. note:: RLIs should use a tag instead of main to ensure the documentation isn't broken the next time there is a change to the RLIed code. If a tag hasn't been created, use the full (40 character) commit hash.
 
-.. code-block:: ReST
-
-   .. tab-set-code::
-
-            .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
-               :language: java
-               :lines: 44-61
-               :linenos:
-               :lineno-start: 44
-
-
-            .. code-block:: cpp
-               // Start the timer.
-               m_timer.Start();
-
-               // Send Field2d to SmartDashboard.
-               frc::SmartDashboard::PutData(&m_field);
-
-               // Reset the drivetrain's odometry to the starting pose of the trajectory.
-               m_drive.ResetOdometry(m_trajectory.InitialPose());
-
-               // Send our generated trajectory to Field2d.
-               m_field.GetObject("traj")->SetTrajectory(m_trajectory);
-            }
+## Tabs
+To create code tabs in an article, you can use the ``.. tab-set-code::`` directive.  You can use md style \`\`\` codeblocks and ``rli`` directives inside. The format is:
 
+````ReST
+.. tab-set-code::
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
+      :language: java
+      :lines: 44-61
+      :linenos:
+      :lineno-start: 44
+   
+   ```c++
+   // Start the timer.
+   m_timer.Start();
+   // Send Field2d to SmartDashboard.
+   frc::SmartDashboard::PutData(&m_field);
+   // Reset the drivetrain's odometry to the starting pose of the trajectory.
+   m_drive.ResetOdometry(m_trajectory.InitialPose());
+   // Send our generated trajectory to Field2d.
+   m_field.GetObject("traj")->SetTrajectory(m_trajectory);
+   ```
+````
 
 If you need to use more than one tab per language, multiple RLIs per language, or text tabs, you can use the ``.. tab-set::`` and ``.. tab-item::`` directive.  The format is:
 
-.. code-block:: ReST
-
-   .. tab-set::
-
-      ..tab-item:: Title
-        :sync: sync-id
-
-            Content
+```ReST
+.. tab-set::
+   .. tab-item:: Title
+      :sync: sync-id
+         Content
+```
 
 This example uses the sync argument to allow all of the tabs with the same key to be synced together.  This means that when you click on a tab, all of the tabs with the same key will open.
 
 If you have a mix of ``tab-set`` and ``tab-set-code`` directives on a page, you can sync them by setting the sync id on the ``tab-item`` directives to ``tabcode-LANGUAGE``. For example, a java tab would have a sync id of ``tabcode-java``.
 
-Admonitions
------------
+## Admonitions
 
-Admonitions (list `here <https://docutils.sourceforge.io/docs/ref/rst/directives.html#admonitions>`__) should have their text on the same line as the admonition itself. There are exceptions to this rule, however, when having multiple sections of content inside of an admonition. Generally having multiple sections of content inside of an admonition is not recommended.
+Admonitions (list [here](https://docutils.sourceforge.io/docs/ref/rst/directives.html#admonitions)) should have their text on the same line as the admonition itself. There are exceptions to this rule, however, when having multiple sections of content inside of an admonition. Generally having multiple sections of content inside of an admonition is not recommended.
 
 Use
 
-.. code-block:: ReST
-
-   .. warning:: This is a warning!
+```ReST
+.. warning:: This is a warning!
+```
 
 NOT
 
-.. code-block:: ReST
+```ReST
+.. warning::
+   This is a warning!
+```
 
-   .. warning::
-      This is a warning!
+## Links
 
-Links
------
-
-Internal Links
-^^^^^^^^^^^^^^
+### Internal Links
 
 Internal Links will be auto-generated based on the ReStructuredText filename and section title.
 
@@ -202,37 +186,47 @@ Use this format to reference the top-level of a document. You can use relative p
 
 When using ``:ref:`` or ``:doc:`` you may customize the displayed text by surrounding the actual link with angle brackets ``<>`` and adding the custom text between the first backtick ````` and the first angle bracket ``<``. For example ``:ref:`custom text <docs/software/hardware-apis/sensors/ultrasonics-software:Analog ultrasonics>``` renders to :ref:`custom text <docs/software/hardware-apis/sensors/ultrasonics-software:Analog ultrasonics>`.
 
-External Links
-^^^^^^^^^^^^^^
-
-It is preferred to format external links as anonymous hyperlinks. The important thing to note is the **two** underscores appending the text. In the situation that only one underscore is used, issues may arise when compiling the document.
+### External Links
 
-.. code-block:: ReST
+It is preferred to format external links as md style hyperlinks.
 
-   Hi there, `this is a link <https://example.com>`__ and it's pretty cool!
+```md
+Hi there, [this is a link](https://example.com) and it's pretty cool!
+```
 
 However, in some cases where the same link must be referenced multiple times, the syntax below is accepted.
 
-.. code-block:: ReST
+```ReST
+Hi there, `this is a link`_ and it's pretty cool!
+..  _this is a link: https://example.com
+```
+
+### Python API Links
+
+Links to the RobotPY API documentation should use the following sphinx [python syntax](https://www.sphinx-doc.org/en/master/usage/domains/python.html) (example linking to the DriverStation API docs).
+
+```ReST
+:external:py:class:`Python <robotpy:wpilib.DriverStation>`
+```
 
-   Hi there, `this is a link`_ and it's pretty cool!
+This expands to be equivalent to:
 
-   ..  _this is a link: https://example.com
+```ReST
+[Python](https://robotpy.readthedocs.io/projects/robotpy/en/stable/wpilib/DriverStation.html#wpilib.DriverStation)
+```
 
-Images
-------
+## Images
 
 Images should be created with ``1`` new line separating content and directive.
 
 All images (including vectors) should be less than ``500`` kilobytes in size. Please make use of a smaller resolution and more efficient compression algorithms.
 
-.. code-block:: ReST
+```ReST
+.. image:: images/my-article/my-image.png
+   :alt: Always add alt text here describing the image.
+```
 
-   .. image:: images/my-article/my-image.png
-      :alt: Always add alt text here describing the image.
-
-Image Files
-^^^^^^^^^^^
+### Image Files
 
 Image files should be stored in the document directory, sub-directory of ``document-name/images``.
 
@@ -242,13 +236,12 @@ They should be of the ``.png`` or ``.jpg`` image extension. ``.gif`` is unaccept
 
 .. note:: Accessibility is important! Images should be marked with a ``:alt:`` directive.
 
-          .. code-block:: ReST
-
-             .. image:: images/my-document/my-image.png
-                :alt: An example image
+   ```ReST
+   .. image:: images/my-document/my-image.png
+      :alt: An example image
+   ```
 
-Vector Images
-^^^^^^^^^^^^^
+### Vector Images
 
 SVG files are supported through the ``svg2pdfconverter`` Sphinx extension.
 
@@ -256,25 +249,23 @@ Simply use them as you would with any other image.
 
 .. note:: Ensure that any embedded images in the vector do not bloat the vector to exceed the 500KB limit.
 
-.. code-block:: ReST
-
-   .. image:: images/my-document/my-image.svg
-      :alt: Always add alt text here describing the image.
+```ReST
+.. image:: images/my-document/my-image.svg
+   :alt: Always add alt text here describing the image.
+```
 
-Draw.io Diagrams
-^^^^^^^^^^^^^^^^
+### Draw.io Diagrams
 
-Draw.io (also known as `diagrams.net <https://app.diagrams.net/>`__) diagrams are supported through ``svg`` files with embedded ``.drawio`` metadata, allowing the ``svg`` file to act as a source file of the diagrams, and to be rendered like a normal vector graphics file.
+Draw.io (also known as [diagrams.net](https://app.diagrams.net/)) diagrams are supported through ``svg`` files with embedded ``.drawio`` metadata, allowing the ``svg`` file to act as a source file of the diagrams, and to be rendered like a normal vector graphics file.
 
 Simply use them like you would any other vector image, or any other image.
 
-.. code-block:: ReST
+```ReST
+.. image:: diagrams/my-document/diagram-1.drawio.svg
+   :alt: Always add alt text here describing the image.
+```
 
-   .. image:: diagrams/my-document/diagram-1.drawio.svg
-      :alt: Always add alt text here describing the image.
-
-Draw.io Files
-~~~~~~~~~~~~~
+#### Draw.io Files
 
 Draw.io files follow almost the same naming scheme as normal images. To keep track of files that have the embedded ``.drawio`` metadata, append a ``.drawio`` to the end of the file name, before the extension, meaning the name of the file should be ``document-title-1.drawio.svg`` and so on. Additionally, diagrams should be stored in the document directory in a sub-folder named ``diagrams``.
 
@@ -282,48 +273,40 @@ For the specifics of saving a diagram as a ``.svg`` with metadata, take a look a
 
 .. warning:: Make sure you don't modify any file that is in a ``diagrams`` folder, or ends in ``.drawio.svg`` in any program other than draw.io, otherwise you might risk breaking the metadata of the file, making it uneditable.
 
-File Extensions
----------------
+## File Extensions
 
 File extensions should use code formatting. For example, use:
 
-.. code-block:: text
-
-   ``.png``
+```text
+``.png``
+```
 
 instead of:
 
-.. code-block:: text
+```text
+.png
+".png"
+"``.png``"
+```
 
-   .png
-   ".png"
-   "``.png``"
-
-Table of Contents (TOC)
------------------------
+## Table of Contents (TOC)
 
 Each category should contain an ``index.rst``. This index file should contain a ``maxdepth`` of ``1``. Sub-categories are acceptable, with a ``maxdepth`` of 1.
 
 The category ``index.rst`` file can then be added to the root index file located at ``source/index.rst``.
 
-Examples
---------
-
-.. code-block:: ReST
-
-   Title
-   =====
-   This is an example article
-
-   .. code-block:: java
-
-      System.out.println("Hello World");
+## Examples
 
-   Section
-   -------
-   This is a section!
+````ReST
+# Title
+This is an example article
+```java
+System.out.println("Hello World");
+```
+## Section
+This is a section!
+````
 
-Important Note!
----------------
+## Important Note!
 
 This list is not exhaustive and administrators reserve the right to make changes. Changes will be reflected in this document.
diff --git a/source/docs/contributing/frc-docs/top-translators.rst b/source/docs/contributing/frc-docs/top-translators.rst
index 1bb2ed4569..88ba468eb7 100644
--- a/source/docs/contributing/frc-docs/top-translators.rst
+++ b/source/docs/contributing/frc-docs/top-translators.rst
@@ -1,40 +1,34 @@
-Top Translators
-===============
+# Top Translators
 
-Chinese
-^^^^^^^
+### Chinese
 
 .. toptranslators:: wpilibsuite/frc-docs-translations
    :locale: zh_CN
    :limit: 20
    :hide_contributions: true
 
-French
-^^^^^^
+### French
 
 .. toptranslators:: wpilibsuite/frc-docs-translations
    :locale: fr
    :limit: 20
    :hide_contributions: true
 
-Portuguese
-^^^^^^^^^^
+### Portuguese
 
 .. toptranslators:: wpilibsuite/frc-docs-translations
    :locale: pt
    :limit: 20
    :hide_contributions: true
 
-Spanish
-^^^^^^^
+### Spanish
 
 .. toptranslators:: wpilibsuite/frc-docs-translations
    :locale: es
    :limit: 20
    :hide_contributions: true
 
-Turkish
-^^^^^^^
+### Turkish
 
 .. toptranslators:: wpilibsuite/frc-docs-translations
    :locale: tr
@@ -42,8 +36,7 @@ Turkish
    :order: numerical
    :hide_contributions: true
 
-Hebrew
-^^^^^^
+### Hebrew
 
 .. toptranslators:: wpilibsuite/frc-docs-translations
    :locale: he
diff --git a/source/docs/contributing/frc-docs/translations.rst b/source/docs/contributing/frc-docs/translations.rst
index 4363d3689f..e9267fb9c5 100644
--- a/source/docs/contributing/frc-docs/translations.rst
+++ b/source/docs/contributing/frc-docs/translations.rst
@@ -1,47 +1,42 @@
-Translations
-============
+# Translations
 
-frc-docs supports translations using the web-based `Transifex <https://www.transifex.com>`__ utility. frc-docs has been translated into Spanish - Mexico (es_MX), French - Canada (fr_CA) and Turkish - Turkey (tr_TR). Chinese - China (zh_CN), Hebrew - Israel (he_IL), and Portuguese - Brazil  (pt_BR) have translations in progress. Translators that are fluent in *both* English and one of the specified languages would be greatly appreciated to contribute to the translations. Even once a translation is complete, it needs to be updated to keep up with changes in frc-docs.
+frc-docs supports translations using the web-based [Transifex](https://www.transifex.com) utility. frc-docs has been translated into Spanish - Mexico (es_MX), French - Canada (fr_CA) and Turkish - Turkey (tr_TR). Chinese - China (zh_CN), Hebrew - Israel (he_IL), and Portuguese - Brazil  (pt_BR) have translations in progress. Translators that are fluent in *both* English and one of the specified languages would be greatly appreciated to contribute to the translations. Even once a translation is complete, it needs to be updated to keep up with changes in frc-docs.
 
-Workflow
---------
+## Workflow
 
 Here are some steps to follow for translating frc-docs.
 
-1. Sign up for `Transifex <https://www.transifex.com/>`__ and ask to join the `frc-docs project <https://www.transifex.com/wpilib/frc-docs>`__, and request access to the language you'd like to contribute to.
-2. Join GitHub `discussions <https://github.com/wpilibsuite/allwpilib/discussions>`__! This is a direct means of communication with the WPILib team. You can use this to ask us questions in a fast and streamlined fashion.
+1. Sign up for [Transifex](https://www.transifex.com/) and ask to join the [frc-docs project](https://www.transifex.com/wpilib/frc-docs), and request access to the language you'd like to contribute to.
+2. Join GitHub [discussions](https://github.com/wpilibsuite/allwpilib/discussions)! This is a direct means of communication with the WPILib team. You can use this to ask us questions in a fast and streamlined fashion.
 3. You may be contacted and asked questions involving contributing languages before being granted access to the frc-docs translation project.
 4. Translate your language!
 
-Links
------
+## Links
 
 Links must be preserved in their original syntax. To translate a link, you can replace the TRANSLATE ME text (this will be replaced with the English title) with the appropriate translation.
 
 An example of the original text may be
 
-.. code-block:: text
-
-   For complete wiring instructions/diagrams, please see the :doc:`Wiring the FRC Control System Document <Wiring the FRC Control System document>`.
+```text
+For complete wiring instructions/diagrams, please see the :doc:`Wiring the FRC Control System Document <Wiring the FRC Control System document>`.
+```
 
 where the ``Wiring the FRC Control System Document`` then gets translated.
 
-.. code-block:: text
-
-   For complete wiring instructions/diagrams, please see the :doc:`TRANSLATED TEXT <Wiring the FRC Control System document>`.
+```text
+For complete wiring instructions/diagrams, please see the :doc:`TRANSLATED TEXT <Wiring the FRC Control System document>`.
+```
 
 Another example is below
 
-.. code-block:: text
-
-  For complete wiring instructions/diagrams, please see the :ref:`TRANSLATED TEXT <docs/zero-to-robot/step-1/how-to-wire-a-simple-robot:How to Wire an FRC Robot>`
+```text
+For complete wiring instructions/diagrams, please see the :ref:`TRANSLATED TEXT <docs/zero-to-robot/step-1/how-to-wire-a-simple-robot:How to Wire an FRC Robot>`
+```
 
-Publishing Translations
------------------------
+## Publishing Translations
 
 Translations are pulled from Transifex and published automatically each day.
 
-Accuracy
---------
+## Accuracy
 
-Translations should be accurate to the original text. If improvements to the English text can be made, open a PR or issue on the `frc-docs <https://github.com/wpilibsuite/frc-docs>`__ repository. These can then get translated on merge.
+Translations should be accurate to the original text. If improvements to the English text can be made, open a PR or issue on the [frc-docs](https://github.com/wpilibsuite/frc-docs) repository. These can then get translated on merge.
diff --git a/source/docs/contributing/wpilib/index.rst b/source/docs/contributing/wpilib/index.rst
index e12cdc7621..dcf4de2af3 100644
--- a/source/docs/contributing/wpilib/index.rst
+++ b/source/docs/contributing/wpilib/index.rst
@@ -1,24 +1,21 @@
 .. include:: <isonum.txt>
 
-Developing with allwpilib
-=========================
+# Developing with allwpilib
 
 .. important:: This document contains information for developers *of* WPILib. This is not for programming FRC\ |reg| robots.
 
-This is a list of links to the various documentation for the `allwpilib <https://github.com/wpilibsuite/allwpilib>`__ repository.
+This is a list of links to the various documentation for the [allwpilib](https://github.com/wpilibsuite/allwpilib) repository.
 
-Quick Start
------------
+## Quick Start
 
 Below is a list of instructions that guide you through cloning, building, publishing and using local allwpilib binaries in a robot project. This quick start is not intended as a replacement for the information that is further listed in this document.
 
 * Clone the repository with ``git clone https://github.com/wpilibsuite/allwpilib.git``
 * Build the repository with ``./gradlew build`` or ``./gradlew build --build-cache`` if you have an internet connection
 * Publish the artifacts locally by running ``./gradlew publish``
-* `Update your robot project's <https://github.com/wpilibsuite/allwpilib/blob/main/DevelopmentBuilds.md>`__ ``build.gradle`` `to use the artifacts <https://github.com/wpilibsuite/allwpilib/blob/main/DevelopmentBuilds.md>`__
+* [Update your robot project's](https://github.com/wpilibsuite/allwpilib/blob/main/DevelopmentBuilds.md) ``build.gradle`` [to use the artifacts](https://github.com/wpilibsuite/allwpilib/blob/main/DevelopmentBuilds.md)
 
-Core Repository
----------------
+## Core Repository
 .. toctree::
    :maxdepth: 1
 
@@ -29,11 +26,9 @@ Core Repository
    Maven Artifacts <https://github.com/wpilibsuite/allwpilib/blob/main/MavenArtifacts.md>
    Contributor Guidelines <https://github.com/wpilibsuite/allwpilib/blob/main/CONTRIBUTING.md>
 
-NetworkTables
--------------
+## NetworkTables
 
 .. toctree::
    :maxdepth: 1
 
    NetworkTables 4 Protocol Spec <https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc>
-   NetworkTables 3 Protocol Spec <https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables3.adoc>
diff --git a/source/docs/controls-overviews/control-system-hardware.rst b/source/docs/controls-overviews/control-system-hardware.rst
index 7dc16e0162..97875016f0 100644
--- a/source/docs/controls-overviews/control-system-hardware.rst
+++ b/source/docs/controls-overviews/control-system-hardware.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Hardware Component Overview
-===========================
+# Hardware Component Overview
 
 The goal of this document is to provide a brief overview of the hardware components that make up the FRC\ |reg| Control System. Each component will contain a brief description of the component function and a link to more documentation.
 
 .. note:: For wiring instructions/diagrams, please see the :doc:`Wiring the FRC Control System </docs/zero-to-robot/step-1/intro-to-frc-robot-wiring>` document.
 
-Overview of Control System
---------------------------
+## Overview of Control System
 
 .. tab-set::
     .. tab-item:: REV
@@ -29,8 +27,7 @@ Overview of Control System
 
         Diagram courtesy of FRC\ |reg| Team 3161 and Stefen Acepcion.
 
-NI roboRIO
-----------
+## NI roboRIO
 
 .. image:: images/control-system-hardware/roborio.png
   :alt: NI roboRIO
@@ -38,73 +35,65 @@ NI roboRIO
 
 The :ref:`NI-roboRIO <docs/software/roborio-info/roborio-introduction:roboRIO Introduction>` is the main robot controller used for FRC. The roboRIO serves as the "brain" for the robot running team-generated code that commands all of the other hardware.
 
-CTRE Power Distribution Panel
------------------------------
+## CTRE Power Distribution Panel
 
 .. image:: images/control-system-hardware/power-distribution-panel.png
   :alt: CTRE Power Distribution Panel
   :width: 500
 
-The :ref:`CTRE Power Distribution Panel <docs/software/can-devices/power-distribution-module:Power Distribution Module>` (PDP) is designed to distribute power from a 12VDC battery to various robot components through auto-resetting circuit breakers and a small number of special function fused connections. The PDP provides 8 output pairs rated for 40A continuous current and 8 pairs rated for 30A continuous current. The PDP provides dedicated 12V connectors for the roboRIO, as well as connectors for the Voltage Regulator Module and Pneumatics Control Module. It also includes a CAN interface for logging current, temperature, and battery voltage. For more detailed information, see the `PDP User Manual <https://store.ctr-electronics.com/content/user-manual/PDP%20User%27s%20Guide.pdf>`__.
+The :ref:`CTRE Power Distribution Panel <docs/software/can-devices/power-distribution-module:Power Distribution Module>` (PDP) is designed to distribute power from a 12VDC battery to various robot components through auto-resetting circuit breakers and a small number of special function fused connections. The PDP provides 8 output pairs rated for 40A continuous current and 8 pairs rated for 30A continuous current. The PDP provides dedicated 12V connectors for the roboRIO, as well as connectors for the Voltage Regulator Module and Pneumatics Control Module. It also includes a CAN interface for logging current, temperature, and battery voltage. For more detailed information, see the [PDP User Manual](https://store.ctr-electronics.com/content/user-manual/PDP%20User%27s%20Guide.pdf).
 
-REV Power Distribution Hub
---------------------------
+## REV Power Distribution Hub
 
 .. image:: images/control-system-hardware/power-distribution-hub.png
   :alt: REV Power Distribution Hub
   :width: 500
 
-The `REV Power Distribution Hub <https://docs.revrobotics.com/rev-11-1850/>`__ (PDH) is designed to distribute power from a 12VDC battery to various robot components.  The PDH features 20 high-current (40A max) channels, 3 low-current (15A max), and 1 switchable low-current channel. The Power Distribution Hub features toolless latching WAGO terminals, an LED voltage display, and the ability to connect over CAN or USB-C to the REV Hardware Client for real-time telemetry.
+The [REV Power Distribution Hub](https://docs.revrobotics.com/rev-11-1850/) (PDH) is designed to distribute power from a 12VDC battery to various robot components.  The PDH features 20 high-current (40A max) channels, 3 low-current (15A max), and 1 switchable low-current channel. The Power Distribution Hub features toolless latching WAGO terminals, an LED voltage display, and the ability to connect over CAN or USB-C to the REV Hardware Client for real-time telemetry.
 
-CTRE Voltage Regulator Module
------------------------------
+## CTRE Voltage Regulator Module
 
 .. image:: images/control-system-hardware/voltage-regulator-module.png
   :alt: CTRE Voltage Regulator Module
   :width: 500
 
-The CTRE Voltage Regulator Module (VRM) is an independent module that is powered by 12 volts. The device is wired to a dedicated connector on the PDP. The module has multiple regulated 12V and 5V outputs. The purpose of the VRM is to provide regulated power for the robot radio, custom circuits, and IP vision cameras. For more information, see the `VRM User Manual <https://store.ctr-electronics.com/content/user-manual/VRM%20User%27s%20Guide.pdf>`__.
+The CTRE Voltage Regulator Module (VRM) is an independent module that is powered by 12 volts. The device is wired to a dedicated connector on the PDP. The module has multiple regulated 12V and 5V outputs. The purpose of the VRM is to provide regulated power for the robot radio, custom circuits, and IP vision cameras. For more information, see the [VRM User Manual](https://store.ctr-electronics.com/content/user-manual/VRM%20User%27s%20Guide.pdf).
 
-REV Radio Power Module
-----------------------
+## REV Radio Power Module
 
 .. image:: images/control-system-hardware/radio-power-module.png
   :alt: REV Radio Power Module
   :width: 500
 
-The `REV Radio Power Module <https://docs.revrobotics.com/rev-11-1856/>`__ is designed to keep one of the most critical system components, the OpenMesh WiFi radio, powered in the toughest moments of the competition. The Radio Power Module eliminates the need for powering the radio through a traditional barrel power jack. Utilizing 18V Passive POE with two socketed RJ45 connectors, the Radio Power Module passes signal between the radio and roboRIO while providing power directly to the radio. After connecting the radio and roboRIO, easily add power to the Radio Power Module by wiring it to the low-current channels on the Power Distribution Hub utilizing the color coded push button WAGO terminals.
+The [REV Radio Power Module](https://docs.revrobotics.com/rev-11-1856/) is designed to keep one of the most critical system components, the OpenMesh WiFi radio, powered in the toughest moments of the competition. The Radio Power Module eliminates the need for powering the radio through a traditional barrel power jack. Utilizing 18V Passive POE with two socketed RJ45 connectors, the Radio Power Module passes signal between the radio and roboRIO while providing power directly to the radio. After connecting the radio and roboRIO, easily add power to the Radio Power Module by wiring it to the low-current channels on the Power Distribution Hub utilizing the color coded push button WAGO terminals.
 
-OpenMesh OM5P-AN or OM5P-AC Radio
----------------------------------
+## OpenMesh OM5P-AN or OM5P-AC Radio
 
 .. image:: images/control-system-hardware/openmesh-radio.png
   :alt: OpenMesh OM5P-AN or OM5P-AC Radio
   :width: 500
 
-Either the OpenMesh OM5P-AN or `OpenMesh OM5P-AC <https://www.andymark.com/products/open-mesh-om5p-ac-dual-band-1-17-gbps-access-point-radio>`__ wireless radio is used as the robot radio to provide wireless communication functionality to the robot. The device can be configured as an Access Point for direct connection of a laptop for use at home. It can also be configured as a bridge for use on the field. The robot radio should be powered by one of the 12V/2A outputs on the VRM and connected to the roboRIO controller over Ethernet. For more information, see :ref:`Programming your Radio <docs/zero-to-robot/step-3/radio-programming:Programming your Radio>`.
+Either the OpenMesh OM5P-AN or [OpenMesh OM5P-AC](https://www.andymark.com/products/open-mesh-om5p-ac-dual-band-1-17-gbps-access-point-radio) wireless radio is used as the robot radio to provide wireless communication functionality to the robot. The device can be configured as an Access Point for direct connection of a laptop for use at home. It can also be configured as a bridge for use on the field. The robot radio should be powered by one of the 12V/2A outputs on the VRM and connected to the roboRIO controller over Ethernet. For more information, see :ref:`Programming your Radio <docs/zero-to-robot/step-3/radio-programming:Programming your Radio>`.
 
-The OM5P-AN `is no longer available for purchase <https://www.firstinspires.org/robotics/frc/blog/radio-silence>`__. The OM5P-AC is slightly heavier, has more cooling grates, and has a rough surface texture compared to the OM5P-AN.
+The OM5P-AN [is no longer available for purchase](https://www.firstinspires.org/robotics/frc/blog/radio-silence). The OM5P-AC is slightly heavier, has more cooling grates, and has a rough surface texture compared to the OM5P-AN.
 
-120A Circuit Breaker
---------------------
+## 120A Circuit Breaker
 
 .. image:: images/control-system-hardware/circuit-breaker.png
   :alt: 120A Circuit Breaker
   :width: 500
 
-The 120A Main Circuit Breaker serves two roles on the robot: the main robot power switch and a protection device for downstream robot wiring and components. The 120A circuit breaker is wired to the positive terminals of the robot battery and Power Distribution boards. For more information, please see the `Cooper Bussmann 18X Series Datasheet (PN: 185120F) <https://www.mouser.com/datasheet/2/87/BUS_Tns_DS_18X_CIRCUITBREAKER-515519.pdf>`__
+The 120A Main Circuit Breaker serves two roles on the robot: the main robot power switch and a protection device for downstream robot wiring and components. The 120A circuit breaker is wired to the positive terminals of the robot battery and Power Distribution boards. For more information, please see the [Cooper Bussmann 18X Series Datasheet (PN: 185120F)](https://www.mouser.com/datasheet/2/87/BUS_Tns_DS_18X_CIRCUITBREAKER-515519.pdf)
 
-Snap Action Circuit Breakers
-----------------------------
+## Snap Action Circuit Breakers
 
 .. image:: images/control-system-hardware/snap-action-circuit-breaker.png
   :alt: Snap Action Circuit Breakers to be inserted in the PDP.
   :width: 500
 
-The Snap Action circuit breakers, `MX5 series <https://www.snapaction.net/assets/img/MX5-Spec-Sheet-Revision-2023.pdf>`__ and `VB3 Series <https://www.snapaction.net/assets/img/VB3-Spec-Sheet-Revision-2023.pdf>`__, are used with the Power Distribution Panel to limit current to branch circuits. The ratings on these circuit breakers are for continuous current, temporary peak values can be considerably higher.
+The Snap Action circuit breakers, [MX5 series](https://www.snapaction.net/assets/img/MX5-Spec-Sheet-Revision-2023.pdf) and [VB3 Series](https://www.snapaction.net/assets/img/VB3-Spec-Sheet-Revision-2023.pdf), are used with the Power Distribution Panel to limit current to branch circuits. The ratings on these circuit breakers are for continuous current, temporary peak values can be considerably higher.
 
-Robot Battery
--------------
+## Robot Battery
 
 .. image:: images/control-system-hardware/robot-battery.png
   :alt: Robot Battery
@@ -112,16 +101,15 @@ Robot Battery
 
 The power supply for an FRC robot is a single 12V 18Ah Sealed Lead Acid (SLA) battery, capable of meeting the high current demands of an FRC robot. For more information, see the :ref:`Robot Battery page. <docs/hardware/hardware-basics/robot-battery:Robot Battery Basics>`
 
-.. note:: Multiple battery part numbers may be legal, consult the `FRC Manual <https://www.firstinspires.org/resource-library/frc/competition-manual-qa-system>`__ for a complete list.
+.. note:: Multiple battery part numbers may be legal, consult the [FRC Manual](https://www.firstinspires.org/resource-library/frc/competition-manual-qa-system) for a complete list.
 
-Robot Signal Light
-------------------
+## Robot Signal Light
 
 .. tab-set::
 
    .. tab-item:: Allen-Bradley
 
-      .. figure:: images/control-system-hardware/rsl-allenbradley.png
+      .. figure:: images/control-system-hardware/rsl-allenbradley.jpg
          :alt: Orange Robot Signal Light (Allen-Bradley)
          :width: 500
 
@@ -137,71 +125,63 @@ Robot Signal Light
 
 The Robot Signal Light (RSL) is required to be either Allen-Bradley 855PB-B12ME522 or AndyMark am-3583.  It is directly controlled by the roboRIO and will flash when enabled and stay solid while disabled.
 
-CTRE Pneumatics Control Module
-------------------------------
+## CTRE Pneumatics Control Module
 
 .. image:: images/control-system-hardware/pneumatics-control-module.png
   :alt: CTRE Pneumatics Control Module
   :width: 500
 
-The :ref:`CTRE Pneumatics Control Module <docs/software/can-devices/pneumatics-control-module:Pneumatics Control Module>` (PCM) contains all of the inputs and outputs required to operate 12V or 24V pneumatic solenoids and the on board compressor. The PCM contains an input for the pressure sensor and will control the compressor automatically when the robot is enabled and a solenoid has been created in the code. For more information see the `PCM User Manual <https://store.ctr-electronics.com/content/user-manual/PCM%20User%27s%20Guide.pdf>`__.
+The :ref:`CTRE Pneumatics Control Module <docs/software/can-devices/pneumatics-control-module:Pneumatics Control Module>` (PCM) contains all of the inputs and outputs required to operate 12V or 24V pneumatic solenoids and the on board compressor. The PCM contains an input for the pressure sensor and will control the compressor automatically when the robot is enabled and a solenoid has been created in the code. For more information see the [PCM User Manual](https://store.ctr-electronics.com/content/user-manual/PCM%20User%27s%20Guide.pdf).
 
-REV Pneumatic Hub
------------------
+## REV Pneumatic Hub
 
 .. image:: images/control-system-hardware/pneumatic-hub.png
   :alt: REV Pneumatic Hub
   :width: 500
 
-The `REV Pneumatic Hub <https://docs.revrobotics.com/rev-11-1852/>`__ is a standalone module that is capable of switching both 12V and 24V pneumatic solenoid valves. The Pneumatic Hub features 16 solenoid channels which allow for up to 16 single-acting solenoids, 8 double-acting solenoids, or a combination of the two types. The user selectable output voltage is fully regulated, allowing even 12V solenoids to stay active when the robot battery drops as low as 4.75V.
+The [REV Pneumatic Hub](https://docs.revrobotics.com/rev-11-1852/) is a standalone module that is capable of switching both 12V and 24V pneumatic solenoid valves. The Pneumatic Hub features 16 solenoid channels which allow for up to 16 single-acting solenoids, 8 double-acting solenoids, or a combination of the two types. The user selectable output voltage is fully regulated, allowing even 12V solenoids to stay active when the robot battery drops as low as 4.75V.
 
 Digital and analog pressure sensor ports are built into the device, increasing the flexibility and feedback functionality of the pneumatic system. The USB-C connection on the Hub works with the REV Hardware Client, allowing users to test pneumatic systems without a need for an additional robot controller.
 
-Motor Controllers
------------------
+## Motor Controllers
 
-There are a variety of different :ref:`motor controllers <docs/software/hardware-apis/index:Hardware APIs>` which work with the FRC Control System and are approved for use. These devices are used to provide variable voltage control of the brushed and brushless DC motors used in FRC. They are listed here in order of `usage <https://www.firstinspires.org/robotics/frc/blog/2021-beta-testing-usage-report>`__.
+There are a variety of different :ref:`motor controllers <docs/software/hardware-apis/index:Hardware APIs>` which work with the FRC Control System and are approved for use. These devices are used to provide variable voltage control of the brushed and brushless DC motors used in FRC. They are listed here in order of [usage](https://www.firstinspires.org/robotics/frc/blog/2021-beta-testing-usage-report).
 
 .. note:: 3rd Party CAN control is not supported from WPILib. See this section on :ref:`docs/software/can-devices/third-party-devices:Third-Party CAN Devices` for more information.
 
-Talon SRX
-^^^^^^^^^
+### Talon SRX
 
 .. image:: images/control-system-hardware/talonsrx-motor-controller.png
   :alt: Talon SRX
   :width: 500
 
-The `Talon SRX Motor Controller <https://store.ctr-electronics.com/talon-srx/>`__ is a "smart motor controller" from Cross The Road Electronics/VEX Robotics. The Talon SRX can be controlled over the CAN bus or PWM interface. When using the CAN bus control, this device can take inputs from limit switches and potentiometers, encoders, or similar sensors in order to perform advanced control. For more information see the `Talon SRX User's Guide <https://store.ctr-electronics.com/content/user-manual/Talon%20SRX%20User's%20Guide.pdf>`__.
+The [Talon SRX Motor Controller](https://store.ctr-electronics.com/talon-srx/) is a "smart motor controller" from Cross The Road Electronics/VEX Robotics. The Talon SRX can be controlled over the CAN bus or :term:`PWM` interface. When using the CAN bus control, this device can take inputs from limit switches and potentiometers, encoders, or similar sensors in order to perform advanced control. For more information see the [Talon SRX User's Guide](https://store.ctr-electronics.com/content/user-manual/Talon%20SRX%20User's%20Guide.pdf).
 
-Victor SPX
-^^^^^^^^^^
+### Victor SPX
 
 .. image:: images/control-system-hardware/victor-spx-motor-controller.png
   :alt: Victor SPX
   :width: 500
 
-The `Victor SPX Motor Controller <https://store.ctr-electronics.com/victor-spx/>`__ is a CAN or PWM controlled motor controller from Cross The Road Electronics/VEX Robotics. The device is connectorized to allow easy connection to the roboRIO PWM connectors or a CAN bus. The case is sealed to prevent debris from entering the controller. For more information, see the `Victor SPX User Guide <https://store.ctr-electronics.com/content/user-manual/Victor%20SPX%20User's%20Guide.pdf>`__.
+The [Victor SPX Motor Controller](https://store.ctr-electronics.com/victor-spx/) is a CAN or PWM controlled motor controller from Cross The Road Electronics/VEX Robotics. The device is connectorized to allow easy connection to the roboRIO PWM connectors or a CAN bus. The case is sealed to prevent debris from entering the controller. For more information, see the [Victor SPX User Guide](https://store.ctr-electronics.com/content/user-manual/Victor%20SPX%20User's%20Guide.pdf).
 
-SPARK MAX Motor Controller
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### SPARK MAX Motor Controller
 
 .. image:: images/control-system-hardware/spark-max-motor-controller.png
   :alt: SPARK MAX Motor Controller
   :width: 400
 
-The `SPARK MAX Motor Controller <https://www.revrobotics.com/rev-11-2158/>`__ is an advanced brushed and brushless DC motor controller from REV Robotics. When using CAN bus or USB control, the SPARK MAX uses input from limit switches, encoders, and other sensors, including the integrated encoder of the REV NEO Brushless Motor, to perform advanced control modes. The SPARK MAX can be controlled over PWM, CAN or USB (for configuration/testing only). For more information, see the `SPARK MAX User's Manual <https://docs.revrobotics.com/sparkmax/>`__.
+The [SPARK MAX Motor Controller](https://www.revrobotics.com/rev-11-2158/) is an advanced brushed and brushless DC motor controller from REV Robotics. When using CAN bus or USB control, the SPARK MAX uses input from limit switches, encoders, and other sensors, including the integrated encoder of the REV NEO Brushless Motor, to perform advanced control modes. The SPARK MAX can be controlled over PWM, CAN or USB (for configuration/testing only). For more information, see the [SPARK MAX User's Manual](https://docs.revrobotics.com/sparkmax/).
 
-TalonFX Motor Controller
-^^^^^^^^^^^^^^^^^^^^^^^^
+### TalonFX Motor Controller
 
 .. image:: images/control-system-hardware/talonfx.png
   :alt: TalonFX Motor Controller
   :width: 500
 
-The `TalonFX Motor Controller <https://store.ctr-electronics.com/falcon-500-powered-by-talon-fx/>`__  is integrated into the Falcon 500 brushless motor.  It features an integrated encoder and all of the smart features of the Talon SRX and more!  For more information see the `Falcon 500 User Guide <https://store.ctr-electronics.com/content/user-manual/Falcon%20500%20User%20Guide.pdf>`__.
+The [TalonFX Motor Controller](https://store.ctr-electronics.com/falcon-500-powered-by-talon-fx/)  is integrated into the Falcon 500 brushless motor.  It features an integrated encoder and all of the smart features of the Talon SRX and more!  For more information see the [Falcon 500 User Guide](https://store.ctr-electronics.com/content/user-manual/Falcon%20500%20User%20Guide.pdf).
 
-SPARK Motor Controller
-^^^^^^^^^^^^^^^^^^^^^^
+### SPARK Motor Controller
 
 .. image:: images/control-system-hardware/spark-motor-controller.png
   :alt: SPARK Motor Controller
@@ -209,10 +189,9 @@ SPARK Motor Controller
 
 .. warning:: While this motor controller is still legal for FRC use, the manufacturer has discontinued this product.
 
-The `SPARK Motor Controller <https://www.revrobotics.com/rev-11-1200/>`__ from REV Robotics is an inexpensive brushed DC motor controller. The SPARK is controlled using the PWM interface. Limit switches may be wired directly to the SPARK to limit motor travel in one or both directions. For more information, see the `SPARK User's Manual <https://www.revrobotics.com/content/docs/REV-11-1200-UM.pdf>`__.
+The [SPARK Motor Controller](https://www.revrobotics.com/content/docs/REV-11-1200-UM.pdf) from REV Robotics is an inexpensive brushed DC motor controller. The SPARK is controlled using the PWM interface. Limit switches may be wired directly to the SPARK to limit motor travel in one or both directions.
 
-Victor SP
-^^^^^^^^^
+### Victor SP
 
 .. image:: images/control-system-hardware/victor-sp-motor-controller.png
   :alt: Victor SP
@@ -220,20 +199,18 @@ Victor SP
 
 .. warning:: While this motor controller is still legal for FRC use, the manufacturer has discontinued this product.
 
-The `Victor SP Motor Controller <https://store.ctr-electronics.com/content/user-manual/Victor-SP-Quick-Start-Guide.pdf>`__ is a PWM motor controller from Cross The Road Electronics/VEX Robotics. The Victor SP has an electrically isolated metal housing for heat dissipation, making the use of the fan optional. The case is sealed to prevent debris from entering the controller. The controller is approximately half the size of previous models.
+The [Victor SP Motor Controller](https://store.ctr-electronics.com/content/user-manual/Victor-SP-Quick-Start-Guide.pdf) is a PWM motor controller from Cross The Road Electronics/VEX Robotics. The Victor SP has an electrically isolated metal housing for heat dissipation, making the use of the fan optional. The case is sealed to prevent debris from entering the controller. The controller is approximately half the size of previous models.
 
-Talon Motor Controller
-^^^^^^^^^^^^^^^^^^^^^^
+### Talon Motor Controller
 
 .. image:: images/control-system-hardware/talon-motor-controller.png
   :alt: Talon Motor Controller
 
 .. warning:: While this motor controller is still legal for FRC use, the manufacturer has discontinued this product.
 
-The `Talon Motor Controller <https://files.andymark.com/Talon_User_Manual_1_3.pdf>`__ from Cross the Road Electronics is a PWM controlled brushed DC motor controller with passive cooling.
+The [Talon Motor Controller](https://files.andymark.com/Talon_User_Manual_1_3.pdf) from Cross the Road Electronics is a PWM controlled brushed DC motor controller with passive cooling.
 
-Victor 888 Motor Controller / Victor 884 Motor Controller
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Victor 888 Motor Controller / Victor 884 Motor Controller
 
 .. image:: images/control-system-hardware/victor-888-motor-controller.png
   :alt: Victor 888 Motor Controller
@@ -241,10 +218,9 @@ Victor 888 Motor Controller / Victor 884 Motor Controller
 
 .. warning:: While this motor controller is still legal for FRC use, the manufacturer has discontinued this product.
 
-The `Victor 884 <https://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf>`__ and `Victor 888 <https://content.vexrobotics.com/docs/217-2769-Victor888UserManual.pdf>`__ motor controllers from VEX Robotics are variable speed PWM motor controllers for use in FRC. The Victor 888 replaces the Victor 884, which is also usable in FRC.
+The [Victor 884](https://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf) and [Victor 888](https://content.vexrobotics.com/docs/217-2769-Victor888UserManual.pdf) motor controllers from VEX Robotics are variable speed PWM motor controllers for use in FRC. The Victor 888 replaces the Victor 884, which is also usable in FRC.
 
-Jaguar Motor Controller
-^^^^^^^^^^^^^^^^^^^^^^^
+### Jaguar Motor Controller
 
 .. image:: images/control-system-hardware/jaguar-motor-controller.png
   :alt: Jaguar Motor Controller
@@ -252,10 +228,9 @@ Jaguar Motor Controller
 
 .. warning:: While this motor controller is still legal for FRC use, the manufacturer has discontinued this product.
 
-The `Jaguar Motor Controller <https://www.ti.com/lit/an/spma033a/spma033a.pdf?ts=1607574399581>`__ from VEX Robotics (formerly made by Luminary Micro and Texas Instruments) is a variable speed motor controller for use in FRC. For FRC, the Jaguar may only be controlled using the PWM interface.
+The [Jaguar Motor Controller](https://www.ti.com/lit/an/spma033a/spma033a.pdf?ts=1607574399581) from VEX Robotics (formerly made by Luminary Micro and Texas Instruments) is a variable speed motor controller for use in FRC. For FRC, the Jaguar may only be controlled using the PWM interface.
 
-DMC-60 and DMC-60C Motor Controller
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### DMC-60 and DMC-60C Motor Controller
 
 .. image:: images/control-system-hardware/dmc-60c-motor-controller.png
   :alt: DMC-60C Motor Controller
@@ -263,39 +238,35 @@ DMC-60 and DMC-60C Motor Controller
 
 .. warning:: While this motor controller is still legal for FRC use, the manufacturer has discontinued this product.
 
-The DMC-60 is a PWM motor controller from Digilent. The DMC-60 features integrated thermal sensing and protection including current-foldback to prevent overheating and damage, and four multi-color LEDs to indicate speed, direction, and status for easier debugging. For more information, see the `DMC-60 reference manual <https://reference.digilentinc.com/_media/dmc-60/dmc60_rm.pdf>`__
+The DMC-60 is a PWM motor controller from Digilent. The DMC-60 features integrated thermal sensing and protection including current-foldback to prevent overheating and damage, and four multi-color LEDs to indicate speed, direction, and status for easier debugging. For more information, see the [DMC-60 reference manual](https://reference.digilentinc.com/_media/dmc-60/dmc60_rm.pdf)
 
-The DMC-60C adds CAN smart controller capabilities to the DMC-60 controller. Due to the manufacturer discontinuing this product, the DMC-60C is only usable with PWM. For more information see the `DMC-60C Product Page <https://reference.digilentinc.com/dmc-60c/start/>`__
+The DMC-60C adds CAN smart controller capabilities to the DMC-60 controller. Due to the manufacturer discontinuing this product, the DMC-60C is only usable with PWM. For more information see the [DMC-60C Product Page](https://reference.digilentinc.com/dmc-60c/start/)
 
-Venom Motor Controller
-^^^^^^^^^^^^^^^^^^^^^^
+### Venom Motor Controller
 
-.. image:: images/control-system-hardware/venom.png
+.. image:: images/control-system-hardware/venom.jpg
   :alt: Venom Motor Controller
   :width: 500
 
-The `Venom Motor Controller <https://www.playingwithfusion.com/productview.php?pdid=99>`__ from Playing With Fusion is integrated into a motor based on the original CIM.  Speed, current, temperature, and position are all measured onboard, enabling advanced control modes without complicated sensing and wiring schemes.
+The [Venom Motor Controller](https://www.playingwithfusion.com/productview.php?pdid=99) from Playing With Fusion is integrated into a motor based on the original :term:`CIM`.  Speed, current, temperature, and position are all measured onboard, enabling advanced control modes without complicated sensing and wiring schemes.
 
-Nidec Dynamo BLDC Motor with Controller
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Nidec Dynamo BLDC Motor with Controller
 
-.. image:: images/control-system-hardware/nidec-dynamo.png
+.. image:: images/control-system-hardware/nidec-dynamo.jpg
   :alt: Nidec Dynamo BLDC Motor with Controller
   :width: 500
 
-The `Nidec Dynamo BLDC Motor with Controller <https://www.andymark.com/products/dynamo-brushless-motor-controller>`__ is the first brushless motor and controller legal in FRC.  This motor's controller is integrated into the back of the motor.  The `motor data sheet <https://cdn.andymark.com/media/W1siZiIsIjIwMTkvMDUvMDkvMDkvNTEvNDQvZjQwYjliZDctYzdkOC00MWFlLWIzZmYtZTQyNTJhYjRkNmIyL2FtLTM3NDAgTmlkZWMgRHluYW1vIERNMzAxMi0xMDYzLUIgU3BlYy5wZGYiXV0/am-3740%20Nidec%20Dynamo%20DM3012-1063-B%20Spec.pdf?sha=eb03d3f578fe782e>`__ provides more device specifics.
+The [Nidec Dynamo BLDC Motor with Controller](https://www.andymark.com/products/dynamo-brushless-motor-controller) is the first brushless motor and controller legal in FRC.  This motor's controller is integrated into the back of the motor.  The [motor data sheet](https://cdn.andymark.com/media/W1siZiIsIjIwMTkvMDUvMDkvMDkvNTEvNDQvZjQwYjliZDctYzdkOC00MWFlLWIzZmYtZTQyNTJhYjRkNmIyL2FtLTM3NDAgTmlkZWMgRHluYW1vIERNMzAxMi0xMDYzLUIgU3BlYy5wZGYiXV0/am-3740%20Nidec%20Dynamo%20DM3012-1063-B%20Spec.pdf?sha=eb03d3f578fe782e) provides more device specifics.
 
-SD540B and SD540C Motor Controllers
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### SD540B and SD540C Motor Controllers
 
 .. image:: images/control-system-hardware/sd540b-pwm.png
   :alt: SD540B Motor Controller
   :width: 500
 
-The SD540B and SD540C Motor Controllers from Mindsensors are controlled using PWM. CAN control is no longer available for the SD540C due to lack of manufacturer support. Limit switches may be wired directly to the SD540 to limit motor travel in one or both directions.  For more information see the `Mindsensors FRC page <http://www.mindsensors.com/68-frc>`__
+The SD540B and SD540C Motor Controllers from Mindsensors are controlled using PWM. CAN control is no longer available for the SD540C due to lack of manufacturer support. Limit switches may be wired directly to the SD540 to limit motor travel in one or both directions.  For more information see the [Mindsensors FRC page](http://www.mindsensors.com/68-frc)
 
-Spike H-Bridge Relay
---------------------
+## Spike H-Bridge Relay
 
 .. image:: images/control-system-hardware/spike-relay.png
   :alt: Spike H-Bridge Relay
@@ -303,27 +274,24 @@ Spike H-Bridge Relay
 
 .. warning:: While this relay is still legal for FRC use, the manufacturer has discontinued this product.
 
-The Spike H-Bridge Relay from VEX Robotics is a device used for controlling power to motors or other custom robot electronics. When connected to a motor, the Spike provides On/Off control in both the forward and reverse directions. The Spike outputs are independently controlled so it can also be used to provide power to up to 2 custom electronic circuits. The Spike H-Bridge Relay should be connected to a relay output of the roboRIO and powered from the Power Distribution Panel. For more information, see the `Spike User’s Guide <https://content.vexrobotics.com/docs/spike-blue-guide-sep05.pdf>`__.
+The Spike H-Bridge Relay from VEX Robotics is a device used for controlling power to motors or other custom robot electronics. When connected to a motor, the Spike provides On/Off control in both the forward and reverse directions. The Spike outputs are independently controlled so it can also be used to provide power to up to 2 custom electronic circuits. The Spike H-Bridge Relay should be connected to a relay output of the roboRIO and powered from the Power Distribution Panel. For more information, see the [Spike User’s Guide](https://content.vexrobotics.com/docs/spike-blue-guide-sep05.pdf).
 
-Servo Power Module
-------------------
+## Servo Power Module
 
 .. image:: images/control-system-hardware/servo-power-module.png
   :alt: Servo Power Module
   :width: 300
 
-The Servo Power Module from Rev Robotics is capable of expanding the power available to servos beyond what the roboRIO integrated power supply is capable of. The Servo Power Module provides up to 90W of 6V power across 6 channels. All control signals are passed through directly from the roboRIO. For more information, see the `Servo Power Module webpage <https://www.revrobotics.com/rev-11-1144/>`__.
+The Servo Power Module from Rev Robotics is capable of expanding the power available to servos beyond what the roboRIO integrated power supply is capable of. The Servo Power Module provides up to 90W of 6V power across 6 channels. All control signals are passed through directly from the roboRIO. For more information, see the [Servo Power Module webpage](https://www.revrobotics.com/rev-11-1144/).
 
-Microsoft Lifecam HD3000
-------------------------
+## Microsoft Lifecam HD3000
 
 .. image:: images/control-system-hardware/microsoft-lifecam.png
   :alt: Microsoft Lifecam HD3000
   :width: 300
 
-The Microsoft Lifecam HD3000 is a USB webcam that can be plugged directly into the roboRIO. The camera is capable of capturing up to 1280x720 video at 30 FPS. For more information about the camera, see the `Microsoft product page <https://www.microsoft.com/en/accessories/business/lifecam-hd-3000-for-business>`__. For more information about using the camera with the roboRIO, see the :ref:`Vision Processing <docs/software/vision-processing/index:Vision Processing>` section of this documentation.
+The Microsoft Lifecam HD3000 is a USB webcam that can be plugged directly into the roboRIO. The camera is capable of capturing up to 1280x720 video at 30 FPS. For more information about the camera, see the [Microsoft product page](https://www.microsoft.com/en/accessories/business/lifecam-hd-3000-for-business). For more information about using the camera with the roboRIO, see the :ref:`Vision Processing <docs/software/vision-processing/index:Vision Processing>` section of this documentation.
 
-Image Credits
--------------
+## Image Credits
 
 Image of roboRIO courtesy of National Instruments. Image of DMC-60 courtesy of Digilent. Image of SD540 courtesy of Mindsensors. Images of Jaguar Motor Controller, Talon SRX, Talon FX, Victor 888, Victor SP, Victor SPX, and Spike H-Bridge Relay courtesy of VEX Robotics, Inc. Image of SPARK MAX, Power Distribution Hub, Radio Power Module, and Pneumatic Hub courtesy of REV Robotics. Lifecam, PDP, PCM, SPARK, and VRM photos courtesy of *FIRST*\ |reg|. All other photos courtesy of AndyMark Inc.
diff --git a/source/docs/controls-overviews/control-system-software.rst b/source/docs/controls-overviews/control-system-software.rst
index 3c878cd8c0..dfeffaabbe 100644
--- a/source/docs/controls-overviews/control-system-software.rst
+++ b/source/docs/controls-overviews/control-system-software.rst
@@ -1,152 +1,139 @@
 .. include:: <isonum.txt>
 
-Software Component Overview
-===========================
+# Software Component Overview
 
 The FRC\ |reg| software consists of a wide variety of mandatory and optional components. These elements are designed to assist you in the design, development, and debugging of your robot code as well as assist with control robot operation and to provide feedback when troubleshooting. For each software component this document will provide a brief overview of its purpose, a link to the package download, if appropriate, and a link to further documentation where available.
 
-Operating System Compatibility
-------------------------------
+## Operating System Compatibility
 
 The primary supported OS for FRC components is Windows. All required FRC software components have been tested on Windows 10 & 11.
 
-Many of the tools for C++/Java programming are also supported and tested on macOS and Linux. Teams programming in C++/Java should be able to develop using these systems, using a Windows system for the Windows-only operations such as the Driver Station, Radio Configuration Utility, and roboRIO Imaging Tool.
+Many of the tools for C++/Java/Python programming are also supported and tested on macOS and Linux. Teams programming in C++/Java/Python should be able to develop using these systems, using a Windows system for the Windows-only operations such as the Driver Station, Radio Configuration Utility, and roboRIO Imaging Tool.
 
-LabVIEW FRC (Windows Only)
---------------------------
+## LabVIEW FRC (Windows Only)
 
 .. image:: /docs/zero-to-robot/step-4/images/creating-test-program-labview/creating-a-project.png
    :alt: LabVIEW FRC Getting Started screen.
 
 LabVIEW FRC, based on a recent version of LabVIEW Professional, is one of the three officially supported languages for programming an FRC robot. LabVIEW is a graphical, dataflow-driven language. LabVIEW programs consist of a collection of icons, called VIs, wired together with wires which pass data between the VIs. The LabVIEW FRC installer is distributed on a DVD found in the Kickoff Kit of Parts and is also available for download.  A guide to getting started with the LabVIEW FRC software, including installation instructions can be found :ref:`here <docs/zero-to-robot/step-2/labview-setup:Installing LabVIEW for FRC (LabVIEW only)>`.
 
-Visual Studio Code
-------------------
+## Visual Studio Code
 
 .. image:: images/control-system-software/visual-studio-code.png
    :alt: Welcome screen of Visual Studio Code.
 
-Visual Studio Code is the supported development environment for C++ and Java (the other two supported languages). Both are object-oriented text based programming languages. A guide to getting started with C++ or Java for FRC, including the installation and configuration of Visual Studio Code can be found :ref:`here <docs/zero-to-robot/step-2/wpilib-setup:WPILib Installation Guide>`.
+Visual Studio Code is the supported development environment for C++, Java.  A guide to getting started with Java and C++ for FRC, including the installation and configuration of Visual Studio Code can be found :ref:`here <docs/zero-to-robot/step-2/wpilib-setup:WPILib Installation Guide>`.
 
-FRC Driver Station Powered by NI LabVIEW (Windows Only)
--------------------------------------------------------
+## FRC Driver Station Powered by NI LabVIEW (Windows Only)
 
 .. image:: images/control-system-software/frc-driver-station.png
    :alt: Driver Station on the first tab with the robot disabled and disconnected.
 
 This is the only software allowed to be used for the purpose of controlling the state of the robot during competition. This software sends data to your robot from a variety of input devices. It also contains a number of tools used to help troubleshoot robot issues.  More information about the FRC Driver Station Powered by NI LabVIEW can be found :ref:`here <docs/software/driverstation/driver-station:FRC Driver Station Powered by NI LabVIEW>`.
 
-Dashboard Options
------------------
+## Dashboard Options
 
-LabVIEW Dashboard (Windows Only)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### LabVIEW Dashboard (Windows Only)
 
 .. image:: images/control-system-software/frc-labview-dashboard.png
    :alt: The default LabVIEW Dashboard on the Drive tab.
 
 The LabVIEW Dashboard is automatically launched by the FRC Driver Station by default. The purpose of the Dashboard is to provide feedback about the operation of the robot using tabbed display with a variety of built in features.  More information about the FRC Default Dashboard software can be found :ref:`here <docs/software/dashboards/labview-dashboard/driver-station-labview-dashboard:FRC LabVIEW Dashboard>`.
 
-SmartDashboard
-^^^^^^^^^^^^^^
+### SmartDashboard
 
 .. image:: images/control-system-software/smartdashboard.png
    :alt: SmartDashboard with 3 widgets added.
 
 SmartDashboard allows you to view your robot data by automatically creating customizable indicators specifically for each piece of data sent from your robot.  Additional documentation on SmartDashboard can be found :ref:`here <docs/software/dashboards/smartdashboard/index:SmartDashboard>`.
 
-Shuffleboard
-^^^^^^^^^^^^
+### Shuffleboard
 
 .. image:: images/control-system-software/shuffleboard.png
    :alt: Shuffleboard with 3 widgets from their NetworkTables entries added.
 
 Shuffleboard has the same features as SmartDashboard. It also improves on the setup and visualization of your data with new features and a modern design at the cost of being less resource efficient.  Additional documentation on Shuffleboard can be found :ref:`here <docs/software/dashboards/shuffleboard/index:Shuffleboard>`.
 
-Glass
-^^^^^
+### Glass
 
 .. image:: images/control-system-software/glass.png
    :alt: Glass connected and showing NetworkTables, a Field2D window, and a plot of a couple signals.
 
 :ref:`Glass <docs/software/dashboards/glass/index:Glass>` is a Dashboard focused on being a programmer's tool for debugging.  The primary advantages are the field view, pose visualization and advanced signal plotting tools.
 
-LiveWindow
-----------
+## LiveWindow
 
 .. image:: images/control-system-software/livewindow-smartdashboard.png
    :alt: LiveWindow showing two different subsystems.
 
 LiveWindow is a feature of SmartDashboard and Shuffleboard, designed for use with the Test Mode of the Driver Station. LiveWindow allows the user to see feedback from sensors on the robot and control actuators independent of the written user code. More information about LiveWindow can be found :ref:`here <docs/software/dashboards/smartdashboard/test-mode-and-live-window/index:SmartDashboard: Test Mode and Live Window>`.
 
-FRC roboRIO Imaging Tool (Windows Only)
----------------------------------------
+## FRC roboRIO Imaging Tool (Windows Only)
 
 .. image:: /docs/zero-to-robot/step-3/images/imaging-your-roborio/roborio-imaging-tool.png
    :alt: roboRIO Imaging Tool after it has found a connected roboRIO.
 
 This tool is used to format and setup a roboRIO for use in FRC. Installation instructions can be found :ref:`here <docs/zero-to-robot/step-2/frc-game-tools:Installing the FRC Game Tools>`. Additional instructions on imaging your roboRIO using this tool can be found :doc:`here </docs/zero-to-robot/step-3/imaging-your-roborio>`.
 
-FRC Radio Configuration Utility (Windows Only)
-----------------------------------------------
+## FRC Radio Configuration Utility (Windows Only)
 
 .. image:: images/control-system-software/frc-radio-configuration-utility.png
    :alt: Initial screen of the FRC Radio Configuration Utility.
 
 The FRC Radio Configuration Utility is a tool used to configure the standard radio for practice use at home. This tool sets the appropriate network settings to mimic the experience of the FRC playing field. The FRC Radio Configuration Utility is installed by a standalone installer that can be found :ref:`here <docs/zero-to-robot/step-3/radio-programming:Programming your Radio>`.
 
-FRC Driver Station Log Viewer (Windows Only)
---------------------------------------------
+## FRC Driver Station Log Viewer (Windows Only)
 
 .. image:: images/control-system-software/frc-log-viewer.png
    :alt: Driver Station Log Viewer showing a logged practice session.
 
 The FRC Driver Station Log Viewer is used to view logs created by the FRC Driver Station. These logs contain a variety of information important for understanding what happened during a practice session or FRC match. More information about the FRC Driver Station Log Viewer and understanding the logs can be found :ref:`here <docs/software/driverstation/driver-station-log-viewer:Driver Station Log File Viewer>`
 
-RobotBuilder
-------------
+## RobotBuilder
 
 .. image:: images/control-system-software/robot-builder.png
    :alt: RobotBuilder building a robot with two subsystems.
 
-RobotBuilder is a tool designed to aid in setup and structuring of a Command Based robot project for C++ or Java. RobotBuilder allows you to enter in the various components of your robot subsystems and operator interface and define what your commands are in a graphical tree structure.  RobotBuilder will then generate structural template code to get you started.  More information about RobotBuilder can be found :ref:`here <docs/software/wpilib-tools/robotbuilder/index:RobotBuilder>`. More information about the Command Based programming architecture can be found :ref:`here <docs/software/commandbased/index:Command-Based Programming>`.
+RobotBuilder is a tool designed to aid in setup and structuring of a Command Based robot project for C++ or Java (Python not currently supported). RobotBuilder allows you to enter in the various components of your robot subsystems and operator interface and define what your commands are in a graphical tree structure.  RobotBuilder will then generate structural template code to get you started.  More information about RobotBuilder can be found :ref:`here <docs/software/wpilib-tools/robotbuilder/index:RobotBuilder>`. More information about the Command Based programming architecture can be found :ref:`here <docs/software/commandbased/index:Command-Based Programming>`.
 
-Robot Simulation
-----------------
+## Robot Simulation
 
 .. image:: images/control-system-software/sim-gui.png
    :alt: The Simulation GUI similar to Glass but also has Joysticks and control over the robot state and a few other features.
 
-Robot Simulation offers a way for Java and C++ teams to verify their actual robot code is working in a simulated environment.  This simulation can be launched directly from VS Code and includes a 2D field that users can visualize their robot's movement on.  For more information see the :ref:`Robot Simulation section <docs/software/wpilib-tools/robot-simulation/introduction:Introduction to Robot Simulation>`.
+Robot Simulation offers a way for Java, C++, and Python teams to verify their actual robot code is working in a simulated environment.  This simulation can be launched directly from VS Code and includes a 2D field that users can visualize their robot's movement on.  For more information see the :ref:`Robot Simulation section <docs/software/wpilib-tools/robot-simulation/introduction:Introduction to Robot Simulation>`.
 
-FRC LabVIEW Robot Simulator (Windows Only)
-------------------------------------------
+## FRC LabVIEW Robot Simulator (Windows Only)
 
 .. image:: images/control-system-software/robot-simulator.png
    :alt: FRC LabVIEW Robot Simulator
 
-The FRC Robot Simulator is a component of the LabVIEW programming environment that allows you to operate a predefined robot in a simulated environment to test code and/or Driver Station functions.  Information on using the FRC Robot Simulator can be found `here <https://forums.ni.com/t5/FIRST-Robotics-Competition/LabVIEW-Tutorial-10-Robot-Simulation/ta-p/3739702?profile.language=en>`__ or by opening the Robot Simulation Readme.html file in the LabVIEW Project Explorer.
+The FRC Robot Simulator is a component of the LabVIEW programming environment that allows you to operate a predefined robot in a simulated environment to test code and/or Driver Station functions.  Information on using the FRC Robot Simulator can be found [here](https://forums.ni.com/t5/FIRST-Robotics-Competition/LabVIEW-Tutorial-10-Robot-Simulation/ta-p/3739702?profile.language=en) or by opening the Robot Simulation Readme.html file in the LabVIEW Project Explorer.
 
-PathWeaver
-----------
+## PathWeaver
 
 .. image:: images/control-system-software/pathweaver.png
    :alt: PathWeaver UI with a project for FRC Deep Space plotting a trajectory to the back of the rocket.
 
 PathWeaver allows teams to quickly generate and configure paths for advanced autonomous routines.  These paths have smooth curves allowing the team to quickly navigate their robot between points on the field.  For more information see the :ref:`PathWeaver section <docs/software/pathplanning/pathweaver/introduction:Introduction to PathWeaver>`.
 
-System Identification
-----------------------
+## System Identification
 
-.. image:: /docs/software/pathplanning/system-identification/images/analysis-type.png
-   :alt: System Identification new project screen.
+.. image:: images/control-system-software/sysid.png
+   :alt: SysId UI showing diagnostics and analysis for a flywheel.
 
-This tool helps teams automatically calculate constants that can be used to describe the physical properties of your robot for use in features like robot simulation, trajectory following, and PID control.  For more information see the :ref:`System Identification section <docs/software/pathplanning/system-identification/introduction:Introduction to System Identification>`.
+This tool helps teams automatically calculate constants that can be used to describe the physical properties of your robot for use in features like robot simulation, trajectory following, and PID control.  For more information see the :ref:`System Identification section <docs/software/advanced-controls/system-identification/introduction:Introduction to System Identification>`.
 
-OutlineViewer
--------------
+## OutlineViewer
 
 .. image:: images/control-system-software/outline-viewer.png
    :alt: OutlineViewer with the preferences dialog box.
 
 OutlineViewer is a utility used to view, modify and add to all of the contents of the NetworkTables for debugging purposes. LabVIEW teams can use the Variables tab of the LabVIEW Dashboard to accomplish this functionality.  For more information see the :ref:`Outline Viewer section <docs/software/wpilib-tools/outlineviewer/index:OutlineViewer>`.
+
+## roboRIO Team Number Setter
+
+.. image:: /docs/software/wpilib-tools/roborio-team-number-setter/images/roborioteamnumbersetter.png
+   :alt: roboRIO Team Number Setter tool.
+
+The roboRIO Team Number Setter is a cross-platform utility that can be used to set the team number on the roboRIO. It is an alternative to the roboRIO imaging tool for setting the team number.  For more information see the :ref:`roboRIO Team Number Setter section <docs/software/wpilib-tools/roborio-team-number-setter/index:roboRIO Team Number Setter>`.
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diff --git a/source/docs/hardware/hardware-basics/can-wiring-basics.rst b/source/docs/hardware/hardware-basics/can-wiring-basics.rst
index a178d6a2a1..b5b44d68df 100644
--- a/source/docs/hardware/hardware-basics/can-wiring-basics.rst
+++ b/source/docs/hardware/hardware-basics/can-wiring-basics.rst
@@ -1,12 +1,10 @@
-CAN Wiring Basics
-=================
+# CAN Wiring Basics
 
-CAN is a two wire network that is designed to facilitate communication between multiple devices on your robot. It is recommended that CAN on your robot follow a "daisy-chain" topology. This means that the CAN wiring should usually start at your roboRIO and go into and out of each device successively until finally ending at the PDP.
+:term:`CAN` is a two wire network that is designed to facilitate communication between multiple devices on your robot. It is recommended that CAN on your robot follow a "daisy-chain" topology. This means that the CAN wiring should usually start at your roboRIO and go into and out of each device successively until finally ending at the :term:`PDP`.
 
 .. image:: images/can-wiring-basics/daisychain.png
 
-Standard Wiring
----------------
+## Standard Wiring
 
 CAN is generally wired with yellow and green wire with yellow acting as the CAN-High and green as the CAN-Low signals.  Many devices show this yellow and green color scheme to indicate how the wires should be plugged in.
 
@@ -18,7 +16,6 @@ CAN wiring from the PCM to the PDP.
 
 .. image:: /docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/pdp-can.jpg
 
-Termination
------------
+## Termination
 
 It is recommended that the wiring starts at the roboRIO and ends at the PDP because the CAN network is required to be terminated by 120 :math:`\Omega` resistors and these are built into these two devices.  The PDP ships with the CAN bus terminating resistor jumper in the "ON" position. It is recommended to leave the jumper in this position and place any additional CAN nodes between the roboRIO and the PDP (leaving the PDP as the end of the bus). If you wish to place the PDP in the middle of the bus (utilizing both pairs of PDP CAN terminals) move the jumper to the "OFF" position and place your own 120 :math:`\Omega` terminating resistor at the end of your CAN bus chain.
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diff --git a/source/docs/hardware/hardware-basics/images/wiring-pneumatics-ph/ph-subsystem.png b/source/docs/hardware/hardware-basics/images/wiring-pneumatics-ph/ph-subsystem.png
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diff --git a/source/docs/hardware/hardware-basics/index.rst b/source/docs/hardware/hardware-basics/index.rst
index 3418223b49..2e60b3e6aa 100644
--- a/source/docs/hardware/hardware-basics/index.rst
+++ b/source/docs/hardware/hardware-basics/index.rst
@@ -1,5 +1,4 @@
-Hardware - Basics
-=================
+# Hardware - Basics
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/hardware/hardware-basics/preemptive-troubleshooting.rst b/source/docs/hardware/hardware-basics/preemptive-troubleshooting.rst
index 22b3352a5b..d096bd1918 100644
--- a/source/docs/hardware/hardware-basics/preemptive-troubleshooting.rst
+++ b/source/docs/hardware/hardware-basics/preemptive-troubleshooting.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Robot Preemptive Troubleshooting
-================================
+# Robot Preemptive Troubleshooting
 
 .. note::
 
     In *FIRST*\ |reg| Robotics Competition, robots take a lot of stress while driving around the field. It is important to make sure that connections are tight, parts are bolted securely in place and that everything is mounted so that a robot bouncing around the field does not break.
 
-Check Battery Connections
--------------------------
+## Check Battery Connections
 
 .. image:: images/preemptive-troubleshooting/preCheckBatt.png
   :alt: Trying to wiggle the battery terminal by hand.
@@ -20,22 +18,19 @@ Wiggle battery harness connector. Often these are loose because the screws loose
 
 Apply considerable force onto the battery cable at 90 degrees to try to move the direction of the cable leaving the battery, if successful the connection was not tight enough to begin with and it should be redone.  This :ref:`article <docs/hardware/hardware-basics/robot-battery:Robot Battery Basics>` has more detailed battery information.
 
-Securing the Battery to the Robot
----------------------------------
+## Securing the Battery to the Robot
 
 .. image:: images/preemptive-troubleshooting/preCheckConnecc.png
    :alt: Disconnected battery of a robot mid match.
    :width: 350
 
-In almost every event we see at least one robot where a not properly secured battery connector (the large Anderson) comes apart and disconnects power from the robot. This has happened in championship matches on the Einstein and everywhere else. Its an easy to ensure that this doesn't happen to you by securing the two connectors by wrapping a tie wrap around the connection. 10 or 12 tie wraps for the piece of mind during an event is not a high price to pay to guarantee that you will not have the problem of this robot from an actual event after a bumpy ride over a defense. Also, secure your battery to the chassis with hook and loop tape or another method, especially in games with rough defense, obstacles or climbing.
+In almost every event we see at least one robot where a not properly secured battery connector (the large Anderson) comes apart and disconnects power from the robot. This has happened in championship matches on the Einstein and everywhere else. Its an easy to ensure that this doesn't happen to you by securing the two connectors by wrapping a tie wrap around the connection. 10 or 12 tie wraps for the peace of mind during an event is not a high price to pay to guarantee that you will not have the problem of this robot from an actual event after a bumpy ride over a defense. Also, secure your battery to the chassis with hook and loop tape or another method, especially in games with rough defense, obstacles or climbing.
 
-Securing the Battery Connector & Main Power Leads
--------------------------------------------------
+## Securing the Battery Connector & Main Power Leads
 
 A loose robot-side battery connector (the large Anderson SB) can allow the main power leads to be tugged when the battery is replaced. If the main power leads are loose, that "tug" can get all the way back to the crimp lugs attached to the 120 Amp Circuit Breaker or Power Distribution Panel (PDP), bend the lug, and over time cause the lug end to break from fatigue. Putting a couple tie wraps attaching the main power leads to the chassis and bolting down the robot-side battery connector can prevent this, as well as make it easier to connect the battery.
 
-Main Breaker (120 Amp Circuit Breaker)
----------------------------------------
+## Main Breaker (120 Amp Circuit Breaker)
 
 .. note:: Ensure nuts are tightened firmly and the breaker is attached to a rigid element.
 
@@ -57,8 +52,7 @@ Because the metal stud is just molded into the case, every once in awhile you ma
 
 When subjected to multiple competition seasons, the Main Breaker is susceptible to fatigue damage from vibration and use, and can start opening under impact. Each time the thermal fuse function is triggered, it can become progressively easier to trip. Many veteran teams start each season with a fresh main breaker, and carry spares.
 
-Power Distribution Panel (PDP)
-------------------------------
+## Power Distribution Panel (PDP)
 
 .. image:: images/preemptive-troubleshooting/pdp-bolts.png
   :alt: Battery terminals on the PDP.
@@ -67,8 +61,7 @@ Power Distribution Panel (PDP)
 Make sure that split washers were placed under the PDP screws, but it is not easy to visually confirm, and sometimes you can’t.  You can check by removing the case.
 Also if you squeeze the red and black wires together, sometimes you can catch the really lose connections.
 
-Tug Testing
------------
+## Tug Testing
 
 .. image:: images/preemptive-troubleshooting/preCheckTug-1.png
   :alt: Tug test on the roboRIO power.
@@ -84,8 +77,7 @@ Look for possible or impending shorts with Weidmuller connections that are close
 
 Spade connectors can also fail due to improper crimps, so tug-test those as well.
 
-Blade Fuses
------------
+## Blade Fuses
 
 Be sure to place the 20A fuse (yellow) on the left and the 10A fuse (red) on the right.
 
@@ -101,42 +93,35 @@ Be sure to place the 20A fuse (yellow) on the left and the 10A fuse (red) on the
 
 If you can remove the blade fuses by hand then they are not in completely. Make sure that they are completely seated in the PDP so that they don't pop out during robot operation.
 
-roboRIO swarf
--------------
+## roboRIO swarf
 
 Swarf is fine chips or filings of stone, metal, or other material produced by a machining operation. Often modifications must be made to a robot while the control system parts are in place. The circuit board for the roboRIO is conformally coated, but that doesn't absolutely guarantee that metal chips won't short out traces or components inside the case. In this case, you must exercise care in making sure that none of the chips end up in the roboRIO or any of the other components. In particular, the exposed 3 pin headers are a place where chips can enter the case. A quick sweep through each of the four sides with a flashlight is usually sufficient to find the really bad areas of infiltration.
 
-Radio Barrel Jack
------------------
+## Radio Barrel Jack
 
-Make sure the correct barrel jack is used, not one that is too small and falls out for no reason.  This isn’t common, but ask an FTA and every once in awhile a team will use some random barrel jack that is not sized correctly, and it falls out in a match on first contact.
+Make sure the correct barrel jack is used, not one that is too small and falls out for no reason.  This isn’t common, but ask an :term:`FTA` and every once in awhile a team will use some random barrel jack that is not sized correctly, and it falls out in a match on first contact.
 
-Ethernet Cable
---------------
+## Ethernet Cable
 
 If the RIO to radio ethernet cable is missing the clip that locks the connector in, get another cable.  This is a common problem that will happen several times in every competition. Make sure that your cables are secure. The clip often breaks off, especially when pulling it through a tight path, it snags on something then breaks.
 
-Loose Cables
-------------
+## Loose Cables
 
 Cables must be tightened down, particularly the radio power and ethernet cable.  The radio power cables don’t have a lot of friction force and will fall out (even if it is the correct barrel) if the weight of the cable-slack is allowed to swing freely.
 
 Ethernet cable is also pretty heavy, if it’s allowed to swing freely, the plastic clip may not be enough to hold the ethernet pin connectors in circuit.
 
-Reproducing Problems in the Pit
--------------------------------
+## Reproducing Problems in the Pit
 
 Beyond the normal shaking of cables whilst the robot is powered and tethered, it is suggested that one side of the robot be picked up and dropped. Driving on the field, especially against defenders, will often be very violent, and this helps makes sure nothing falls out. It is better for the robot to fail in the pits rather than in the middle of a match.
 
 When doing this test it’s important to be ethernet tethered and not USB tethered, otherwise you are not testing all of the critical paths.
 
-Check Firmware and Versions
----------------------------
+## Check Firmware and Versions
 
 Robot inspectors do this, but you should do it as well, it helps robot inspectors out and they appreciate it.  And it guarantees that you are running with the most recent, bug fixed code. You wouldn't want to lose a match because of an out of date piece of control system software on your robot.
 
-Driver Station Checks
----------------------
+## Driver Station Checks
 
 We often see problems with the Drivers Station. You should:
 
@@ -149,8 +134,7 @@ We often see problems with the Drivers Station. You should:
 - Close all apps except for DS/Dashboard when out on the field.
 - Verify that there is nothing unnecessary running in the application tray in the start menu (bottom right side)
 
-Handy Tools
------------
+## Handy Tools
 
 .. image:: images/preemptive-troubleshooting/tools.png
   :alt: A Wago screwdriver and flashlight.
diff --git a/source/docs/hardware/hardware-basics/robot-battery.rst b/source/docs/hardware/hardware-basics/robot-battery.rst
index b0a91ffb85..68a545cecf 100644
--- a/source/docs/hardware/hardware-basics/robot-battery.rst
+++ b/source/docs/hardware/hardware-basics/robot-battery.rst
@@ -1,17 +1,14 @@
 .. include:: <isonum.txt>
 
-Robot Battery Basics
-====================
+# Robot Battery Basics
 
 The power supply for an FRC\ |reg| robot is a single 12V 18Ah SLA (Sealed Lead Acid) non-spillable battery, capable of briefly supplying over 180A and arcing over 500A when fully charged. The Robot Battery assembly includes the :term:`COTS` battery, lead cables with contacts, and Anderson SB connector. Teams are encouraged to have multiple Robot Batteries.
 
-COTS Battery
-------------
+## COTS Battery
 
 The Robot Rules in the Game Manual specify a COTS non-spillable sealed lead acid battery meeting specific criteria, and gives examples of legal part numbers from a variety of vendors.
 
-Battery Safety & Handling
--------------------------
+## Battery Safety & Handling
 
 A healthy battery is **always** "On" and the terminals are **always** energized. If the polarities short together - for example, a wrench or aerosol can falls and bridges the gap between two bare terminals - all the stored energy will be released in a dangerous arc. This risk drives a wide range of best practices, such as covering terminals in storage, only uncovering and working on one terminal or polarity at a time, keeping SB contacts fully inserted in connectors, etc.
 
@@ -31,16 +28,13 @@ Damaged batteries should be safely disposed of as soon as possible. All retailer
 
 .. danger:: **DO NOT** attempt to "repair" damaged or non-functional batteries.
 
-Battery Construction & Tools
------------------------------
+## Battery Construction & Tools
 
-Battery Leads
-^^^^^^^^^^^^^
+### Battery Leads
 
 Battery leads must be copper, minimum size (cross section) 6 AWG (16mm2, 7 SWG) and maximum length 12", color coded for polarity, with an Anderson SB connector. Standard 6AWG copper leads with Pink/Red SB50 battery leads often come in the Kit of Parts and are sold by FRC vendors.
 
-Lead Cables
-~~~~~~~~~~~
+#### Lead Cables
 
 Tinned, annealed, or coated copper is allowed. Do not use CCA (copper clad aluminum), aluminum, or other non-copper base metal. The conductor metal is normally printed on the outside of the insulation with the other cable ratings.
 
@@ -48,24 +42,21 @@ Wire size 6AWG is sufficient for almost all robots and fits standard SB50 contac
 
 Higher strand count wire (sometimes sold as "Flex" or "welding wire") has a smaller bend radius, which makes it easier to route, and a higher fatigue limit. There is no strand count requirement, but 84/25 (84 strand "flex" hookup wire) and 259/30 (259 strand "welding wire") will both be *much* easier to work with than 19/0.0372 (19 strand hookup wire).
 
-The insulation must be color-coded per the Game Manual: as of 2021, the +12Vdc wire must be red, white, brown, yellow, or black w/stripe and the ground wire (return wire) must be black or blue. There is no explicit insulation temperature rating requirement, but any blackened or damaged insulation means the wire needs to be replaced: off hand, 105C is plenty and lower will work for almost all robots. There is no insulation voltage rating requirement, lower is better for thinner insulation.
+The insulation must be color-coded per the Game Manual: the +12Vdc wire must be red, white, brown, yellow, or black w/stripe and the ground wire (return wire) must be black or blue. There is no explicit insulation temperature rating requirement, but any blackened or damaged insulation means the wire needs to be replaced: off hand, 105C is plenty and lower will work for almost all robots. There is no insulation voltage rating requirement, lower is better for thinner insulation.
 
-SB Connector
-~~~~~~~~~~~~~
+#### SB Connector
 
 The Anderson SB Connector may be the standard Pink/Red SB50, or another Anderson SB connector. Teams are *STRONGLY* recommended to use the Pink/Red SB50 for interoperability: the other colors and sizes of housings will not intermate, and you will be unable to borrow batteries or chargers.
 
 Follow manufacturer's instructions to crimp contacts and assemble the leads into Anderson SB connectors. A small flathead screwdriver can help to insert the contacts (push on the contact, not on the wire insulation), or it can help to disengage the internal latch if the contact is in the wrong slot or upside down.
 
-Battery Lugs
-^^^^^^^^^^^^^
+### Battery Lugs
 
 Compression lugs ("crimp lugs") for #10 bolt (or M5) battery tabs (~0.2" or ~5mm hole diameter) are available online and through electrical supply houses, sold by the accepted wire sizes in AWG (or mm2) and post diameter ("bolt size", "hole diameter"). Higher end vendors will also distinguish between Standard (~19) and Flex (>80) strand counts in their lug catalogs. Some vendors also offer right angle lugs, in addition to more common straight styles. Follow manufacturer's instructions to crimp the lugs.
 
 Screw terminal lugs are legal, but not recommended. If using screw terminal lugs, use the correct tip size screwdriver to tighten the terminal. Check the terminal tightness frequently because they may loosen over time.
 
-Battery Lead Lug To Post Connection
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Battery Lead Lug To Post Connection
 
 A #10 or M5 nut & bolt connect the battery lead lug to the battery tab.
 
@@ -86,8 +77,7 @@ This connection must also be completely covered for electrical safety; electrica
 .. image:: images/robot-battery/heatshrink.png
   :alt: One terminal of an FRC battery fully covered in heatshrink.
 
-Battery Chargers
-^^^^^^^^^^^^^^^^^^^
+### Battery Chargers
 
 There are many good COTS "smart" battery chargers designed for 12V SLA batteries, rated for 6A or less per battery, with 'maintenance mode' features. Chargers rated over 6A are not allowed in FRC pits.
 
@@ -97,8 +87,7 @@ Chargers used at competition are required to use Anderson SB connectors. Attachi
 
 Some FRC vendors sell chargers with red SB50 connectors pre-attached.
 
-Battery Evaluation Tools
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Battery Evaluation Tools
 
 **Battery Charger**
 
@@ -125,8 +114,7 @@ Ideal internal resistance should be less than 0.015 Ohms. The manufacturer speci
 
 If a battery shows significantly lower voltages at the higher test current loads, it may not be done charging, or it may need to be retired.
 
-Understanding Battery Voltages
-------------------------------
+## Understanding Battery Voltages
 
 A "12V battery" is anything but 12.0V.
 
@@ -138,8 +126,7 @@ Batteries reading 12.5V on an idle robot should be swapped and charged before a
 
 Battery voltage and current also depends on temperature: cool batteries are happy batteries.
 
-Battery Characterization
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Battery Characterization
 
 A battery analyzer can be used to give a detailed inspection and comparison of battery performance.
 
@@ -150,8 +137,7 @@ It will provide graphs of battery performance over time. This test takes signifi
 
 At the standard 7.5 amps test load, competition batteries should have at least a 11.5 amp hour rating. Anything less than that should only be used for practice or other less demanding use cases.
 
-Battery Longevity
-^^^^^^^^^^^^^^^^^^^
+### Battery Longevity
 
 A battery is rated for about 1200 normal charge/recharge cycles. The high currents required for an FRC match reduce that lifespan to about 400 cycles. These cycles are intended to be relatively low discharge, from around 13.5 down to 12 or 12.5 volts. Deep cycling the battery (running it all the way down) will damage it.
 
@@ -159,8 +145,7 @@ Batteries last the longest if they are kept fully charged when not in use, eithe
 
 Batteries need to be kept away from both extreme heat and cold. This generally means storing the batteries in a climate controlled area: a classroom closet is usually fine, a parking lot shipping container is more risky.
 
-Battery Best Practices
-----------------------
+## Battery Best Practices
 
 - Only use a charged battery for competition matches. If you are in a situation where you have run out of charged batteries, please ask a veteran team for help! Nobody wants to see a robot dead on the field (:ref:`brownout <docs/software/roborio-info/roborio-brownouts:roboRIO Brownout and Understanding Current Draw>`) due to a bad or uncharged battery.
 
diff --git a/source/docs/hardware/hardware-basics/status-lights-ref.rst b/source/docs/hardware/hardware-basics/status-lights-ref.rst
index 6e608805c3..6a886d08d5 100644
--- a/source/docs/hardware/hardware-basics/status-lights-ref.rst
+++ b/source/docs/hardware/hardware-basics/status-lights-ref.rst
@@ -1,12 +1,12 @@
 .. include:: <isonum.txt>
 
-Status Light Quick Reference
-============================
+# Status Light Quick Reference
 
 Many of the components of the FRC\ |reg| Control System have indicator lights that can be used to quickly diagnose problems with your robot. This guide shows each of the hardware components and describes the meaning of the indicators. Photos and information from Innovation FIRST and Cross the Road Electronics.
 
-Robot Signal Light (RSL)
-------------------------
+A compact and printable `Status Light Quick Reference <https://wpilib.org/s/Status-Light-Reference.pdf>`_ is available.
+
+## Robot Signal Light (RSL)
 
 .. image:: images/status-lights/rsl.svg
   :alt: Robot Signal Light with wiring.
@@ -20,8 +20,7 @@ Robot Signal Light (RSL)
 | Off      | Robot Off, roboRIO not powered or RSL not wired properly |
 +----------+----------------------------------------------------------+
 
-roboRIO
--------
+## roboRIO
 
 .. image:: images/status-lights/roborio-status-lights.svg
   :alt: roboRIO status lights highlighted.
@@ -65,8 +64,7 @@ roboRIO
 | **RSL**    | `See above <#robot-signal-light-rsl>`_                                                             |
 +------------+----------------------------------------------------------------------------------------------------+
 
-OpenMesh Radio
---------------
+## OpenMesh Radio
 
 .. image:: images/status-lights/openmesh-radio-status-lights.png
   :alt: Radio with the Wifi, Eth Link (2), and Power ports labeled.
@@ -91,15 +89,13 @@ OpenMesh Radio
 |          | Green         | Bridge mode, Linked          |
 +----------+---------------+------------------------------+
 
-Power Distribution Panel
-------------------------
+## Power Distribution Panel
 
 .. image:: images/status-lights/pdp-status-lights.svg
   :alt: The location of the "STAT" and "COMM" lights on the PDP.
   :width: 600
 
-PDP Status/Comm LEDs
-^^^^^^^^^^^^^^^^^^^^
+### PDP Status/Comm LEDs
 
 +--------+--------------------------+---------------------------+
 | LED    | Strobe                   | Slow                      |
@@ -113,10 +109,9 @@ PDP Status/Comm LEDs
 
 .. tip:: If a PDP LED is showing more than one color, see the PDP LED special states table below. For more information on resolving PDP faults see the PDP User Manual.
 
-.. note:: Note that the No CAN Comm fault will occur if the PDP cannot communicate with the roboRIO via CAN Bus.
+.. note:: Note that the No :term:`CAN` Comm fault will occur if the PDP cannot communicate with the roboRIO via CAN Bus.
 
-PDP Special States
-^^^^^^^^^^^^^^^^^^
+### PDP Special States
 
 +--------------+------------------------------+
 | LED Colors   | Problem                      |
@@ -128,8 +123,7 @@ PDP Special States
 | No LED       | No Power/ Incorrect Polarity |
 +--------------+------------------------------+
 
-Power Distribution Hub
-----------------------
+## Power Distribution Hub
 
 .. image:: images/status-lights/power-distribution-hub.png
   :alt: REV Power Distribution Hub with Status LED, and Channel LEDs Highlighted
@@ -137,8 +131,7 @@ Power Distribution Hub
 
 .. note:: These led patterns only apply to firmware version 21.1.7 and later
 
-PDH Status LED
---------------
+## PDH Status LED
 
 +-------------------------+--------------------------------------------------------+
 | LED Color               | Status                                                 |
@@ -162,8 +155,7 @@ PDH Status LED
 | Orange/Magenta Blinking | Device Over Current                                    |
 +-------------------------+--------------------------------------------------------+
 
-Channel LEDs
-^^^^^^^^^^^^
+### Channel LEDs
 
 +--------------+----------------------------------------------------------------------------------------------------------+
 | LED Color    | Status                                                                                                   |
@@ -175,8 +167,7 @@ Channel LEDs
 | Red Blinking | Sticky fault on the channel. Check for tripped circuit breaker / fuse.                                   |
 +--------------+----------------------------------------------------------------------------------------------------------+
 
-Voltage Regulator Module
-------------------------
+## Voltage Regulator Module
 
 .. image:: images/status-lights/vrm-status-lights.svg
   :alt: Highlights the position of the 12V and 5V status lights.
@@ -184,15 +175,13 @@ Voltage Regulator Module
 
 The status LEDs on the VRM indicate the state of the two power supplies. If the supply is functioning properly the LED should be lit bright green. If the LED is not lit or is dim, the output may be shorted or drawing too much current.
 
-Pneumatics Control Module (PCM)
--------------------------------
+## Pneumatics Control Module (PCM)
 
 .. image:: images/status-lights/pcm-status-lights.svg
   :alt: Highlights both the "Status" and "Comp" lights in the middle and the individual channel lights on the sides.
   :width: 400
 
-PCM Status LED
-^^^^^^^^^^^^^^
+### PCM Status LED
 
 +--------+---------------+-------------------------------+------------------+
 | LED    | Strobe        | Slow                          | Long             |
@@ -210,8 +199,7 @@ PCM Status LED
 
 .. note:: Note that the No CAN Comm fault will not occur only if the device cannot communicate with any other device, if the PCM and PDP can communicate with each other, but not the roboRIO.
 
-PCM LED Special States Table
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### PCM LED Special States Table
 
 +--------------+-----------------------------+
 | LED          | Problems                    |
@@ -223,18 +211,15 @@ PCM LED Special States Table
 | No LED       | No Power/Incorrect Polarity |
 +--------------+-----------------------------+
 
-PCM Comp LED
-^^^^^^^^^^^^
+### PCM Comp LED
 
 This is the Compressor LED. This LED is green when the compressor output is active (compressor is currently on) and off when the compressor output is not active.
 
-PCM Solenoid Channel LEDs
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### PCM Solenoid Channel LEDs
 
 These LEDs are lit red if the Solenoid channel is enabled and not lit if it is disabled.
 
-Pneumatic Hub
--------------
+## Pneumatic Hub
 
 .. image:: images/status-lights/pneumatic-hub.png
   :alt: REV Pneumatic Hub with Status LED, Compressor LED, and Solenoid LEDs highlighted
@@ -242,8 +227,7 @@ Pneumatic Hub
 
 .. note:: These led patterns only apply to firmware version 21.1.7 and later
 
-PH Status LED
-^^^^^^^^^^^^^
+### PH Status LED
 
 +-------------------------+--------------------------------------------------+
 | LED Color               | Status                                           |
@@ -267,8 +251,7 @@ PH Status LED
 | Orange/Green Blinking   | Orange/Green Blinking                            |
 +-------------------------+--------------------------------------------------+
 
-Compressor LED
-^^^^^^^^^^^^^^
+### Compressor LED
 
 +-------------+----------------+
 | LED Color   | Status         |
@@ -278,8 +261,7 @@ Compressor LED
 | Black Solid | Compressor Off |
 +-------------+----------------+
 
-Solenoid LEDs
-^^^^^^^^^^^^^
+### Solenoid LEDs
 
 +-------------+--------------+
 | LED Color   | Status       |
@@ -289,15 +271,13 @@ Solenoid LEDs
 | Black Solid | Solenoid Off |
 +-------------+--------------+
 
-Talon SRX & Victor SPX & Talon FX Motor Controllers
----------------------------------------------------
+## Talon SRX & Victor SPX & Talon FX Motor Controllers
 
 .. image:: images/status-lights/talon-srx-status-lights.png
   :alt: Status LEDs on either side of the center of the Talon SRX.
   :width: 600
 
-Status LEDs During Normal Operation
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Status LEDs During Normal Operation
 
 +------------------------------+----------------+--------------------------------------------+
 | LEDs                         | Colors         | Talon SRX State                            |
@@ -327,8 +307,7 @@ Status LEDs During Normal Operation
 | LEDs Strobe towards (M+)     | Off/Orange     | Thermal Fault / Shutoff (Talon FX Only)    |
 +------------------------------+----------------+--------------------------------------------+
 
-Status LEDs During Calibration
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Status LEDs During Calibration
 
 +------------------------+------------------------+
 | Status LEDs Blink Code | Talon SRX State        |
@@ -340,8 +319,7 @@ Status LEDs During Calibration
 | Blinking Red           | Failed Calibration     |
 +------------------------+------------------------+
 
-B/C CAL Blink Codes
-^^^^^^^^^^^^^^^^^^^
+### B/C CAL Blink Codes
 
 +----------------------+-----------------+
 | B/C CAL Button Color | Talon SRX State |
@@ -351,20 +329,17 @@ B/C CAL Blink Codes
 | Off                  | Coast Mode      |
 +----------------------+-----------------+
 
-SPARK-MAX Motor Controller
---------------------------
+## SPARK-MAX Motor Controller
 
 .. image:: images/status-lights/sparkMAXLight.png
   :alt: Table listing the SPARKMAX blink codes.
 
-REV Robotics SPARK
-------------------
+## REV Robotics SPARK
 
 .. image:: images/status-lights/sparkLight.png
   :alt: Table of the SPARK blink codes.
 
-Victor-SP Motor Controller
---------------------------
+## Victor-SP Motor Controller
 
 .. image:: images/status-lights/victorSPLight.png
   :alt: Status LEDs on either side of the center of the Victor-SP.
@@ -372,8 +347,7 @@ Victor-SP Motor Controller
 
 Brake/Coast/Cal Button/LED - Red if the controller is in brake mode, off if the controller is in coast mode
 
-Status
-^^^^^^
+### Status
 
 +-----------+----------+------------------------------------------------------------------------+
 | Green     | Solid    | Full forward output                                                    |
@@ -391,8 +365,7 @@ Status
 |           |          | calibration, and red several times indicates unsuccessful calibration. |
 +-----------+----------+------------------------------------------------------------------------+
 
-Talon Motor Controller
-----------------------
+## Talon Motor Controller
 
 .. image:: images/status-lights/talonsr-status-light.png
   :alt: Talon motor controller with a single multicolor LED in the bottom right corner.
@@ -417,8 +390,7 @@ Talon Motor Controller
 |           |          | calibration, and red several times indicates unsuccessful calibration. |
 +-----------+----------+------------------------------------------------------------------------+
 
-Victor888 Motor Controller
---------------------------
+## Victor888 Motor Controller
 
 .. image:: images/status-lights/victor888-status-light.svg
   :alt: Victor888 motor controller with a single multicolor LED in the bottom right corner.
@@ -438,8 +410,7 @@ Victor888 Motor Controller
 | Red/Green | Blinking | Calibration mode         |
 +-----------+----------+--------------------------+
 
-Jaguar Motor Controller
------------------------
+## Jaguar Motor Controller
 
 .. image:: images/status-lights/jaguar-status-light.png
   :alt: Jaguar motor controller with a single multicolor LED in the bottom center.
@@ -487,8 +458,7 @@ Jaguar Motor Controller
 |                              | awaiting valid ID assignment                   |
 +------------------------------+------------------------------------------------+
 
-Digilent DMC-60
----------------
+## Digilent DMC-60
 
 .. image:: images/status-lights/dmc60c-status-lights.png
   :alt: The 5 LEDs in each of the corners plus the center.
@@ -532,8 +502,7 @@ At power-on, the RGB LEDs illuminate Blue, continually getting brighter. This la
 | The specified control mode resulted in a Negative Duty Cycle being Motor Output           | The LED update rate is proportional to the duty cycle of the output and increases with increased duty cycle. At 100% duty cycle, all 4 LEDs are illuminated Red.   |
 +-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 
-Fault Color Indicators
-^^^^^^^^^^^^^^^^^^^^^^
+### Fault Color Indicators
 
 When a fault condition is detected, the output duty cycle is reduced to 0% and a fault is signaled. The output then remains disabled for 3 seconds. During this time the onboard LEDs (LED1-4) are used to indicate the fault condition. The fault condition is indicated by toggling between the top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Red and off. The color of the bottom LEDs depends on which faults are presently active. The table below describes how the color of the bottom LEDs maps to the presently active faults.
 
@@ -547,19 +516,16 @@ When a fault condition is detected, the output duty cycle is reduced to 0% and a
 | Cyan / Aqua | On               | On            |
 +-------------+------------------+---------------+
 
-Break/Coast Mode
-^^^^^^^^^^^^^^^^
+### Break/Coast Mode
 
 When the center LED is off the device is operating in coast mode. When the center LED is illuminated the device is operating in brake mode. The Brake/Coast mode can be toggled by pressing down on the center of the triangle and then releasing the button.
 
-Venom Motor Controller
-----------------------
+## Venom Motor Controller
 
 .. image:: images/status-lights/venom.png
   :alt: The LED blink codes for the Venom.
 
-Mindsensors SD540B (PWM)
-------------------------
+## Mindsensors SD540B (PWM)
 
 .. image:: images/status-lights/sd540b-status-lights.png
   :alt: The two LEDs on the top one at each end and the LED on the side next to the connector.
@@ -579,8 +545,7 @@ Mindsensors SD540B (PWM)
 |                | Green | Valid PWM signal is detected    |
 +----------------+-------+---------------------------------+
 
-Mindsensors SD540C (CAN Bus)
-----------------------------
+## Mindsensors SD540C (CAN Bus)
 
 .. image:: images/status-lights/sd540c-status-lights.png
   :alt: The two LEDs on the top one at each end and the LED on the side next to the connector.
@@ -600,17 +565,15 @@ Mindsensors SD540C (CAN Bus)
 |                | Off              | Connected to the roboRIO and the driver station is open |
 +----------------+------------------+---------------------------------------------------------+
 
-REV Robotics Servo Power Module
--------------------------------
+## REV Robotics Servo Power Module
 
 .. image:: images/status-lights/rev-robotics-servo-power-module.png
   :alt: One power LED and a status LED for each channel all down the center.
   :width: 400
 
-Status LEDs
-^^^^^^^^^^^
+### Status LEDs
 
-Each channel has a corresponding status LED that will indicate the sensed state of the connected PWM signal. The table below describes each state’s corresponding LED pattern.
+Each channel has a corresponding status LED that will indicate the sensed state of the connected :term:`PWM` signal. The table below describes each state’s corresponding LED pattern.
 
 +-----------------------+----------------+
 | State                 | Pattern        |
@@ -626,8 +589,7 @@ Each channel has a corresponding status LED that will indicate the sensed state
 
 - 6V Power LED off, dim or flickering with power applied = Over-current shutdown
 
-Spike relay configured as a motor, light, or solenoid switch
-------------------------------------------------------------
+## Spike relay configured as a motor, light, or solenoid switch
 
 .. image:: images/status-lights/spikeRelay1Light.png
   :alt: Single LED in the corner.
@@ -649,8 +611,7 @@ Spike relay configured as a motor, light, or solenoid switch
 
 .. note:: 'Brake Condition' refers to the dynamic stopping of the motor due to the shorting of the motor inputs. This condition is not optional when going to an off state.
 
-Spike relay configured as for one or two solenoids
---------------------------------------------------
+## Spike relay configured as for one or two solenoids
 
 .. image:: images/status-lights/spikeRelay2Light.png
   :alt: Single LED in the corner.
@@ -670,8 +631,7 @@ Spike relay configured as for one or two solenoids
 | On                  | On                | +12v   | +12v   | Off           | Both Solenoids ON              |
 +---------------------+-------------------+--------+--------+---------------+--------------------------------+
 
-CANCoder Encoder
-----------------
+## CANCoder Encoder
 
 .. image:: images/status-lights/cancoder-status-lights.png
   :alt: LED at the top of the encoder.
diff --git a/source/docs/hardware/hardware-basics/wiring-best-practices.rst b/source/docs/hardware/hardware-basics/wiring-best-practices.rst
index 8c6665a85e..ce0262e120 100644
--- a/source/docs/hardware/hardware-basics/wiring-best-practices.rst
+++ b/source/docs/hardware/hardware-basics/wiring-best-practices.rst
@@ -1,12 +1,10 @@
 .. include:: <isonum.txt>
 
-Wiring Best Practices
-========================
+# Wiring Best Practices
 
 .. tip:: The article :doc:`Intro to FRC Robot Wiring </docs/zero-to-robot/step-1/intro-to-frc-robot-wiring>` walks through the details of what connects where to wire up the FRC Control System and this article provides some additional "Best Practices" that may increase reliability and make maintenance easier. Take a look at :doc:`Preemptive Troubleshooting <preemptive-troubleshooting>` for more tips and tricks.
 
-Vibration/Shock
-------------------
+## Vibration/Shock
 
 An FRC\ |reg| Robot is an incredibly rough environment when it comes to vibrations and shock loads. While many of the FRC specific electronics are extensively tested for mechanical robustness in these conditions, a few components, such as the radio, are not specifically designed for use on a mobile platform. Taking steps to reduce the shock and vibration these components are exposed to may help reduce failures. Some suggestions that may reduce mechanical failures:
 
@@ -15,18 +13,15 @@ An FRC\ |reg| Robot is an incredibly rough environment when it comes to vibratio
 - Bumpers - Use Bumpers to cover as much of the robot as possible for your design. While the rules require specific bumper coverage around the corners of your robot, maximizing the use of bumpers increases the likelihood that all collisions will be damped by your bumpers. Bumpers significantly reduce the g-forces experienced in a collision compared to hitting directly on a hard robot surface, reducing the shock experienced by the electronics and decreasing the chance of a shock related failure.
 - Shock Mounting - You may choose to shock mount some or all of your electronic components to further reduce the forces they see in robot collisions. This is especially helpful for the robot radio and other electronics such as co-processors, which may not be designed for use on mobile platforms. Vibration isolators, springs, foams, or mounting to flexible materials all may reduce the shock forces seen by these components.
 
-Redundancy
------------
+## Redundancy
 
 Unfortunately there are few places in the FRC Control System where redundancy is feasible. Taking advantage of opportunities for redundancy can increase reliability. The primary example of this is wiring the barrel connector to the radio in addition to the provided PoE connection. This ensures that if one of the cables becomes damaged or dislodged, the other will maintain power to the radio. Keep an eye out for other potential areas to provide redundancy when wiring and programming your robot.
 
-Port Savers
------------
+## Port Savers
 
 For any connections on the Robot or Driver station that may be frequently plugged and unplugged (such as DS joysticks, DS Ethernet, roboRIO USB tether, and Ethernet tether) using a "Port Saver" or "pigtail" can substantially reduce the potential for damaging the port. This type of device can serve double duty, both reducing the number of cycles that the port on the electronic device sees, as well as relocating the connection to a more convenient location. Make sure to secure the port saver (see the next item) to avoid port damage.
 
-Wire Management and Strain Relief
----------------------------------
+## Wire Management and Strain Relief
 
 One of the most critical components to robot reliability and maintenance is good wire management and strain relief. Good wire management is comprised of a few components:
 
@@ -35,20 +30,17 @@ One of the most critical components to robot reliability and maintenance is good
 - Secure cables near any moving components. Make sure that all wire runs are secure and protected from moving components, even if the moving components were to bend or over-travel.
 - Secure cables at additional points as necessary to keep wiring neat and clean. Take care to not over secure wires; if wires are secured in too many locations, it may actually make troubleshooting and maintenance more difficult.
 
-Documentation
------------------------
+## Documentation
 
 A great way to make maintenance easier is to create documentation describing what is connected where on the robot. There are a number of ways of creating this type of documentation which range from complete wiring diagrams to excel charts to a quick list of what functions are attached to which channels. Many teams also integrate these lists with labeling (see the next bullet).
 
 When a wire is accidentally cut, or a mechanism is malfunctioning, or a component burns out, it will be much easier to repair if you have some documentation to tell you what is connected where without having to trace the wiring all the way through (even if your wiring is neat!)
 
-Labeling
---------
+## Labeling
 
 Labeling is a great way to supplement the wiring documentation described above. There are many different strategies to labeling wiring and electronics, all with their own pros and cons. Labels for electronics and flags for wires can be made by hand, or using a label maker (some can also do heat-shrink labels), or you can use different colors of electrical tape or labeling flags to indicate different things. Whatever system you choose, make sure you understand how it complements your documentation and make sure everyone on your team is familiar with it.
 
-Check all wiring and connections
-----------------------------------
+## Check all wiring and connections
 
 After all wiring on the robot is complete, make sure to check each connection, pulling on each, to ensure that everything is secure. Additionally, ensure that no stray wire "whiskers" are sticking out of any connection point and that no uninsulated connections are exposed. If any connections come loose while testing, or any "whiskers" are discovered, re-make the connection and make sure to have a second person check it when complete.
 
@@ -58,15 +50,13 @@ Another common source of failures is the fuses at the end of the PDP. Ensure the
 
 Snap-in connections such as the SB-50 connector should be secured using clips or cable ties to ensure they do not pop loose during impacts.
 
-Re-Check Early and Often
-----------------------------------
+## Re-Check Early and Often
 
 Re-check the entire electrical system as thoroughly as possible after playing the first match or two (or doing very vigorous testing). The first few impacts the robot sees may loosen fasteners or expose issues.
 
 Create a checklist for re-checking electrical connections on a regular basis. As a very rough starting point, rotational fasteners such as battery and PDP connections should be checked every 1-3 matches. Spring type connections such as the WAGO and Weidmuller connectors likely only need to be checked once per event. Ensure that the team knows who is responsible for completing the checklist and how they will document that it has been done.
 
-Battery Maintenance
-----------------------
+## Battery Maintenance
 
 Take good care of your batteries! A bad battery can easily cause a robot to
 functional poorly, or not at all, during a match. Label all of your batteries
@@ -78,7 +68,6 @@ information such as the age of the battery on this label.
 - Rotate batteries evenly. This helps ensure that batteries have the most time to charge and rest and that they wear evenly (equal number of charge/discharge cycles)
 - Load test batteries if possible to monitor health. There are a number of commercially available products teams use to load test batteries, including at least one designed specifically for FRC. A load test can provide an indicator of battery health by measuring internal resistance. This measurement is much more meaningful when it comes to match performance than a simple no-load voltage number provided by a multimeter.
 
-Check DS Logs
-----------------------
+## Check DS Logs
 
 After each match, review the DS logs to see what the battery voltage and current usage looks like. Once you have established what the normal range of these items is for your robot, you may be able to spot potential issues (bad batteries, failing motors, mechanical binding) before they become critical failures.
diff --git a/source/docs/hardware/hardware-basics/wiring-pneumatics-pcm.rst b/source/docs/hardware/hardware-basics/wiring-pneumatics-pcm.rst
index daffcf67bc..6809968b66 100644
--- a/source/docs/hardware/hardware-basics/wiring-pneumatics-pcm.rst
+++ b/source/docs/hardware/hardware-basics/wiring-pneumatics-pcm.rst
@@ -1,19 +1,16 @@
-Wiring Pneumatics - CTRE Pneumatic Control Module
-=================================================
+# Wiring Pneumatics - CTRE Pneumatic Control Module
 
 This page describes wiring pneumatics with the CTRE Pneumatic Control Module (PCM). For instructions on wiring pneumatics with the REV Pneumatic Hub (PH) see :doc:`this page <wiring-pneumatics-ph>`.
 
-.. hint:: For pneumatics safety & mechanical requirements, consult this year's Robot Construction rules. For mechanical design guidelines, the FIRST Pneumatics Manual is located `here <https://www.firstinspires.org/sites/default/files/uploads/resource_library/frc/technical-resources/frc_pneumatics_manual.pdf>`__
+.. hint:: For pneumatics safety & mechanical requirements, consult this year's Robot Construction rules. For mechanical design guidelines, the FIRST Pneumatics Manual is located [here](https://www.firstinspires.org/sites/default/files/uploads/resource_library/frc/technical-resources/frc_pneumatics_manual.pdf)
 
-Wiring Overview
----------------
+## Wiring Overview
 
-A single PCM will support most pneumatics applications, providing an output for the compressor, input for the pressure switch, and outputs for up to 8 solenoid channels (12V or 24V selectable). The module is connected to the roboRIO over the CAN bus and powered via 12V from the PDP or PDH.
+A single PCM will support most pneumatics applications, providing an output for the compressor, input for the pressure switch, and outputs for up to 8 solenoid channels (12V or 24V selectable). The module is connected to the roboRIO over the :term:`CAN` bus and powered via 12V from the PDP or PDH.
 
 For complicated robot designs requiring more channels or multiple solenoid voltages, additional PCMs or PHs can be added to the control system.
 
-PCM Power and Control Wiring
-----------------------------
+## PCM Power and Control Wiring
 
 .. image:: images/wiring-pneumatics-pcm/pcm-subsystem.svg
    :alt: Pneumatics wiring diagram showing all of the connections to the PCM.
@@ -22,23 +19,19 @@ The first PCM on your robot can be wired from the PDP VRM/PCM connectors on the
 
 Additional PCMs can be wired to a standard WAGO connector on the side of the PDP and protected with a 20A or smaller circuit breaker. Additional PCMs should also be placed anywhere in the middle of the CAN chain.
 
-The Compressor
---------------
+## The Compressor
 
 The compressor can be wired directly to the Compressor Out connectors on the PCM. If additional length is required, make sure to use 18 AWG wire or larger for the extension.
 
-The Pressure Switch
--------------------
+## The Pressure Switch
 
 The pressure switch should be connected directly to the pressure switch input terminals on the PCM. There is no polarity on the input terminals or on the pressure switch itself, either terminal on the PCM can be connected to either terminal on the switch. Ring or spade terminals are recommended for the connection to the switch screws (note that the screws are slightly larger than #6, but can be threaded through a ring terminal with a hole for a #6 screw such as the terminals shown in the image).
 
-Solenoids
----------
+## Solenoids
 
 Each solenoid channel should be wired directly to a numbered pair of terminals on the PCM. A single acting solenoid will use one numbered terminal pair. A double acting solenoid will use two pairs. If your solenoid does not come with color coded wiring, check the datasheet to make sure to wire with the proper polarity.
 
-Solenoid Voltage Jumper
------------------------
+## Solenoid Voltage Jumper
 
 .. image:: images/wiring-pneumatics-pcm/pcm-jumper.svg
    :alt: The "VSOL" jumper in the center of the PCM with the 12V and 24V showing the left and right positions of the jumper respectively.
diff --git a/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst b/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst
index f6c5bc19c9..26b71d637f 100644
--- a/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst
+++ b/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst
@@ -1,9 +1,8 @@
-Wiring Pneumatics - REV Pneumatic Hub
-=====================================
+# Wiring Pneumatics - REV Pneumatic Hub
 
-This page describes wiring pneumatics with the REV Pneumatic Hub (PH). For instructions on wiring pneumatics with the CTRE Pneumatic Control Module (PCM) see :doc:`this page <wiring-pneumatics-pcm>`.
+This page describes wiring pneumatics with the REV Pneumatic Hub (:term:`PH`). For instructions on wiring pneumatics with the CTRE Pneumatic Control Module (:term:`PCM`) see :doc:`this page <wiring-pneumatics-pcm>`.
 
-.. hint:: For pneumatics safety & mechanical requirements, consult this year's Robot Construction rules. For mechanical design guidelines, the FIRST Pneumatics Manual is located `here <https://www.firstinspires.org/sites/default/files/uploads/resource_library/frc/technical-resources/frc_pneumatics_manual.pdf>`__
+.. hint:: For pneumatics safety & mechanical requirements, consult this year's Robot Construction rules. For mechanical design guidelines, the FIRST Pneumatics Manual is located [here](https://www.firstinspires.org/sites/default/files/uploads/resource_library/frc/technical-resources/frc_pneumatics_manual.pdf)
 
 .. raw:: html
 
@@ -13,15 +12,13 @@ This page describes wiring pneumatics with the REV Pneumatic Hub (PH). For instr
 
 ----
 
-Wiring Overview
----------------
+## Wiring Overview
 
-A single PH will support most pneumatics applications, providing an output for the compressor, input for a pressure switch, and outputs for up to 16 solenoid channels (12V or 24V selectable). The module is connected to the roboRIO over the CAN bus and powered via 12V from the PDP/PDH.
+A single PH will support most pneumatics applications, providing an output for the compressor, input for a pressure switch, and outputs for up to 16 solenoid channels (12V or 24V selectable). The module is connected to the roboRIO over the :term:`CAN` bus and powered via 12V from the PDP/PDH.
 
 For complicated robot designs requiring more channels or multiple solenoid voltages, additional PHs or PCMs can be added to the control system.
 
-PCM Power and Control Wiring
-----------------------------
+## PCM Power and Control Wiring
 
 .. image:: images/wiring-pneumatics-ph/ph-subsystem.png
    :alt: Pneumatics wiring diagram showing all of the connections to the PH.
@@ -30,34 +27,28 @@ The first PH on your robot can be wired from the PDP VRM/PCM connectors on the e
 
 Additional PHs can be wired to a standard WAGO connector on the side of the PDP and protected with a 20A or smaller circuit breaker or to a 15A port on the PDH. Additional PHs should also be placed anywhere in the middle of the CAN chain.
 
-The Compressor
---------------
+## The Compressor
 
 The compressor can be wired directly to the Compressor connectors on the PH. If additional length is required, make sure to use 18 AWG wire or larger for the extension.
 
-The Pressure Switch
--------------------
+## The Pressure Switch
 
 The PH has two options for detecting pressure, a digital pressure switch, or an analog pressure switch.
 
-Digital
-~~~~~~~
+#### Digital
 
 A digital pressure switch should be connected directly to the digital pressure sensor input terminals on the PCM. There is no polarity on the input terminals or on the pressure switch itself, either terminal on the PH can be connected to either terminal on the switch. Ring or spade terminals are recommended for the connection to the switch screws (note that the screws are slightly larger than #6, but can be threaded through a ring terminal with a hole for a #6 screw such as the terminals shown in the image).
 
-Analog
-~~~~~~
+#### Analog
 
-An analog pressure switch (`REV-11-1107 <https://www.revrobotics.com/rev-11-1107/>`__ can be connected directly to the analog pressure sensor port 0 input terminals. Using an analog pressure sensor allows reading the pressure in the pneumatic system through code and setting custom trigger thresholds for turning on and off the compressor.
+An analog pressure switch ([REV-11-1107](https://www.revrobotics.com/rev-11-1107/) can be connected directly to the analog pressure sensor port 0 input terminals. Using an analog pressure sensor allows reading the pressure in the pneumatic system through code and setting custom trigger thresholds for turning on and off the compressor.
 
-.. warning:: The Analog Pressure Sensor port is a very tight fit and requires special attention. See `REV Wiring an Analog Pressure Sensor <https://docs.revrobotics.com/rev-11-1852/pneumatic-hub-getting-started/wiring-the-pneumatic-hub#wiring-an-analog-pressure-sensor>`__ for more tips
+.. warning:: The Analog Pressure Sensor port is a very tight fit and requires special attention. See [REV Wiring an Analog Pressure Sensor](https://docs.revrobotics.com/ion-control-system/ph/gs/wiring#wiring-an-analog-pressure-sensor) for more tips
 
-Solenoids
----------
+## Solenoids
 
 Each solenoid channel should be wired directly to a numbered pair of terminals on the PH. A single acting solenoid will use one numbered terminal pair. A double acting solenoid will use two pairs. If your solenoid does not come with color coded wiring, check the datasheet to make sure to wire with the proper polarity.
 
-Solenoid Voltage Switch
-------------------------
+## Solenoid Voltage Switch
 
 The PH is capable of powering either 12V or 24V solenoids, but all solenoids connected to a single PH must be the same voltage. Set the voltage switch to the appropriate voltage for solenoids prior to use.
diff --git a/source/docs/hardware/hardware-tutorials/index.rst b/source/docs/hardware/hardware-tutorials/index.rst
index 2dc4994dea..ff401a47ce 100644
--- a/source/docs/hardware/hardware-tutorials/index.rst
+++ b/source/docs/hardware/hardware-tutorials/index.rst
@@ -1,5 +1,4 @@
-Hardware Tutorials
-==================
+# Hardware Tutorials
 
 .. note:: The pages in this section of the documentation contain media which is only viewable from the web version of the documentation
 
diff --git a/source/docs/hardware/hardware-tutorials/motors.rst b/source/docs/hardware/hardware-tutorials/motors.rst
index 6b33eaaa80..1358323cae 100644
--- a/source/docs/hardware/hardware-tutorials/motors.rst
+++ b/source/docs/hardware/hardware-tutorials/motors.rst
@@ -1,5 +1,4 @@
-Motors for Robotics Applications
-================================
+# Motors for Robotics Applications
 One of the most important design decisions that teams have to deal with is selecting and designing the motor driven systems on their robot. So often the incorrect motor is chosen for a particular design yielding reduced performance and, sometimes even worse, motors failing from excessive current draw. In this series of videos, WPI Professor Ken Stafford walks through how motors work, how to design systems to operate at maximum performance, and a sample design for a robot system.
 
 .. raw:: html
diff --git a/source/docs/hardware/hardware-tutorials/pneumatics.rst b/source/docs/hardware/hardware-tutorials/pneumatics.rst
index fec6c64ea1..1cf0a240a5 100644
--- a/source/docs/hardware/hardware-tutorials/pneumatics.rst
+++ b/source/docs/hardware/hardware-tutorials/pneumatics.rst
@@ -1,5 +1,4 @@
-Pneumatics
-==========
+# Pneumatics
 Pneumatics is an often underused actuation device that can be used on robots. There are many advantages to pneumatics over using motors. In this video Professor Ken Stafford describes the characteristics of pneumatics, applications with robots, and calculating the right sized system for an application.
 
 .. raw:: html
diff --git a/source/docs/hardware/hardware-tutorials/sensors.rst b/source/docs/hardware/hardware-tutorials/sensors.rst
index 1f2fac285b..93620e4ec6 100644
--- a/source/docs/hardware/hardware-tutorials/sensors.rst
+++ b/source/docs/hardware/hardware-tutorials/sensors.rst
@@ -1,5 +1,4 @@
-Sensing and Sensors
-===================
+# Sensing and Sensors
 Without sensors and sensing robots are really radio controlled vehicles. Sensors allow the robots to understand the internal operation of the robots mechanical systems as well as the ability to interact with the environment around the robot. In these videos, WPI Professor Craig Putnam describes a number of classes of sensors, how they are used, and provides guidance on what sensors are best for your applications.
 
 .. raw:: html
diff --git a/source/docs/hardware/hardware-tutorials/transmissions.rst b/source/docs/hardware/hardware-tutorials/transmissions.rst
index 2bf8734adf..9d14f61203 100644
--- a/source/docs/hardware/hardware-tutorials/transmissions.rst
+++ b/source/docs/hardware/hardware-tutorials/transmissions.rst
@@ -1,5 +1,4 @@
-Power Transmission
-==================
+# Power Transmission
 Hand in hand with choosing the correct motors for an application is transmitting that motor power to the place it's needed. Using gears or chains and sprockets are two effective ways of matching the motor power to the application being driven. In this video, WPI Robotics Engineering PhD student Michael Delph talks about power transmission, including choosing correct gear or chain and sprocket ratios to get the maximum performance from your robot design.
 
 .. raw:: html
diff --git a/source/docs/hardware/sensors/accelerometers-hardware.rst b/source/docs/hardware/sensors/accelerometers-hardware.rst
index b776e242bc..19edef55da 100644
--- a/source/docs/hardware/sensors/accelerometers-hardware.rst
+++ b/source/docs/hardware/sensors/accelerometers-hardware.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Accelerometers - Hardware
-==========================
+# Accelerometers - Hardware
 
 Accelerometers are common sensors used to measure acceleration.
 
@@ -10,45 +9,40 @@ In principle, precise measurements of acceleration can be double-integrated and
 The roboRIO comes with a :ref:`built-in three-axis accelerometer <docs/software/hardware-apis/sensors/accelerometers-software:BuiltInAccelerometer>` that all teams can use, however teams seeking more-precise measurements may purchase and use a peripheral accelerometer, as well.
 
 
-Types of accelerometers
------------------------
+## Types of accelerometers
 
 There are three types of accelerometers commonly-used in FRC: single-axis accelerometers, multi-axis accelerometers, and IMUs.
 
-Single-axis accelerometers
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Single-axis accelerometers
 
 .. image:: images/accelerometers-hardware/adxl193-single-axis-accelerometer-to-roborio.svg
   :alt: The three wire connection from the Accelerometer to the Analog In port of the roboRIO.
 
 As per their name, single-axis accelerometers measure acceleration along a single axis.  This axis is generally specified on the physical device, and mounting the device in the proper orientation so that the desired axis is measured is highly important.  Single-axis accelerometers generally output an analog voltage corresponding to the measured acceleration, and so connect to the roboRIO's :doc:`analog input <analog-inputs-hardware>` ports.
 
-Multi-axis accelerometers
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Multi-axis accelerometers
 
 .. image:: images/analog-inputs-hardware/triple-axis-accelerometer-to-roborio.svg
   :alt: The triple axis accelerometer hooked up to three different Analog In channels.
 
-Multi-axis accelerometers measure acceleration along multiple spacial axes.  The roboRIO's built-in accelerometer is a three-axis accelerometer.
+Multi-axis accelerometers measure acceleration along multiple spatial axes.  The roboRIO's built-in accelerometer is a three-axis accelerometer.
 
 Peripheral multi-axis accelerometers may simply output multiple analog voltages (and thus connect to the :ref:`analog input ports <docs/hardware/sensors/analog-inputs-hardware:Connecting a sensor to multiple analog input ports>`, or (more commonly) they may communicate with one of the roboRIO's :doc:`serial buses <serial-buses>`.
 
-roboRIO built-in accelerometer
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### roboRIO built-in accelerometer
 
 .. image:: images/roborio/roborio-accelerometer.svg
   :alt: The details of this accelerometer are printed on the roboRIO to the right of the NI logo.
 
 The roboRIO has a built-in accelerometer, which does not need any external connections. You can find more details about how to use it in the :ref:`Built-in Accelerometer section <docs/software/hardware-apis/sensors/accelerometers-software:BuiltInAccelerometer>` of the software documentation.
 
-IMUs (Inertial Measurement Units)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### IMUs (Inertial Measurement Units)
 
 .. image:: images/accelerometers-hardware/navx-imu-to-roborio-mxp.svg
   :alt: Show the NavX plugged in to the MXP port on the roboRIO.
 
 Several popular FRC devices (known as "inertial measurement units," or "IMUs") combine both an accelerometer and a gyroscope.  Popular FRC example include:
 
-  - `Analog Devices ADIS16448 and ADIS 16470 IMUs <https://www.analog.com/en/landing-pages/001/first.html>`__
-  - `CTRE Pigeon IMU <https://store.ctr-electronics.com/gadgeteer-pigeon-imu/>`__
-  - `Kauai Labs NavX <https://pdocs.kauailabs.com/navx-mxp/>`__
+  - [Analog Devices ADIS16448 and ADIS 16470 IMUs](https://www.analog.com/en/landing-pages/001/first.html)
+  - [CTRE Pigeon IMU](https://store.ctr-electronics.com/gadgeteer-pigeon-imu/)
+  - [Kauai Labs NavX](https://pdocs.kauailabs.com/navx-mxp/)
diff --git a/source/docs/hardware/sensors/analog-inputs-hardware.rst b/source/docs/hardware/sensors/analog-inputs-hardware.rst
index 8400f1e3a0..8b458ac5b4 100644
--- a/source/docs/hardware/sensors/analog-inputs-hardware.rst
+++ b/source/docs/hardware/sensors/analog-inputs-hardware.rst
@@ -1,16 +1,14 @@
-Analog Inputs - Hardware
-========================
+# Analog Inputs - Hardware
 
 .. note:: This section covers analog input hardware.  For a software guide to analog inputs, see :ref:`docs/software/hardware-apis/sensors/analog-inputs-software:Analog Inputs - Software`.
 
-An `analog signal <https://en.wikipedia.org/wiki/Analog_signal>`__ is a signal whose value can lie anywhere in a continuous interval.  This lies in stark contrast to a :doc:`digital signal <digital-inputs-hardware>`, which can take only one of several discrete values.  The roboRIO's analog input ports allow the measurement of analog signals with values from 0V to 5V.
+An [analog signal](https://en.wikipedia.org/wiki/Analog_signal) is a signal whose value can lie anywhere in a continuous interval.  This lies in stark contrast to a :doc:`digital signal <digital-inputs-hardware>`, which can take only one of several discrete values.  The roboRIO's analog input ports allow the measurement of analog signals with values from 0V to 5V.
 
 In practice, there is no way to measure a "true" analog signal with a digital device such as a computer (like the roboRIO).  Accordingly, the analog inputs are actually measured as a 12-bit digital signal - however, this is quite a high resolution [1]_.
 
 Analog inputs are typically (but not always!) used for sensors whose measurements vary continuously over a range, such as :doc:`ultrasonic rangefinders <ultrasonics-hardware>` and :doc:`potentiometers <analog-potentiometers-hardware>`, as they can communicate by outputting a voltage proportional to their measurements.
 
-Connecting to roboRIO analog input ports
-----------------------------------------
+## Connecting to roboRIO analog input ports
 
 .. note:: An additional four analog inputs are available via the "MXP" expansion port.  To use these, a breakout board of some sort that connects to the MXP is needed.
 
@@ -23,8 +21,7 @@ Connecting to roboRIO analog input ports
 
 The roboRIO has 4 built-in analog input ports (numbered 0-3), as seen in the image above.  Each port has three pins - signal ("S"), power ("V"), and ground ("|ground|").  The "power" and "ground" pins are used to power the peripheral sensors that connect to the analog input ports - there is a constant 5V potential difference between the "power" and the "ground" pins [2]_.  The signal pin is the pin on which the signal is actually measured.
 
-Connecting a sensor to a single analog input port
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Connecting a sensor to a single analog input port
 
 .. note:: Some sensors (such as :doc:`potentiometers <analog-potentiometers-hardware>`) may have interchangeable power and ground connections.
 
@@ -33,8 +30,7 @@ Most sensors that connect to analog input ports will have three wires - signal,
 .. image:: images/accelerometers-hardware/adxl193-single-axis-accelerometer-to-roborio.svg
    :alt: Hooking a ADXL193 single axis accelerometer to an analog input on the roboRIO.
 
-Connecting a sensor to multiple analog input ports
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Connecting a sensor to multiple analog input ports
 
 Some sensors may need to connect to multiple analog input ports in order to function.  In general, these sensors will only ever require a single power and a single ground pin - only the signal pin of the additional port(s) will be needed. The image below is shows an analog accelerometer that requires three analog input ports, but similar wiring can be used for analog sensors requiring two analog input ports.
 
@@ -43,8 +39,7 @@ Some sensors may need to connect to multiple analog input ports in order to func
 
 .. |ground| unicode:: 0x23DA
 
-Footnotes
----------
+## Footnotes
 
-.. [1] A 12-bit resolution yields :math:`2^{12}`, or 4096 different values.  For a 5V range, that's an effective resolution of approximately 1.2 mV, or .0012V.  The actual accuracy specification is plus-or-minus 50mV, so the discretization is not the limiting factor in the measurement accuracy.
+.. [1] A 12-bit resolution yields $2^{12}$, or 4096 different values.  For a 5V range, that's an effective resolution of approximately 1.2 mV, or .0012V.  The actual accuracy specification is plus-or-minus 50mV, so the discretization is not the limiting factor in the measurement accuracy.
 .. [2] All power pins are actually connected to a single rail, as are all ground pins - there is no need to use the power/ground pins corresponding to a given signal pin.
diff --git a/source/docs/hardware/sensors/analog-potentiometers-hardware.rst b/source/docs/hardware/sensors/analog-potentiometers-hardware.rst
index 39b3104be4..68b04bbdfc 100644
--- a/source/docs/hardware/sensors/analog-potentiometers-hardware.rst
+++ b/source/docs/hardware/sensors/analog-potentiometers-hardware.rst
@@ -1,16 +1,14 @@
 .. include:: <isonum.txt>
 
-Analog Potentiometers - Hardware
-================================
+# Analog Potentiometers - Hardware
 
 .. note:: This section covers analog potentiometer hardware.  For a software guide to analog potentiometers, see :ref:`docs/software/hardware-apis/sensors/analog-potentiometers-software:Analog Potentiometers - Software`.
 
 .. warning:: Potentiometers generally have a mechanically-limited travel range.  Users should be careful that their mechanisms do not turn their potentiometers past their maximum travel, as this will damage or destroy the potentiometer.
 
-Apart from :doc:`quadrature encoders <encoders-hardware>`, another common way of measuring rotation on FRC\ |reg| robots is with analog potentiometers.  A potentiometer is simply a variable resistor - as the shaft of the potentiometer turns, the resistance changes (usually linearly).  Placing this resistor in a `voltage divider <https://en.wikipedia.org/wiki/Voltage_divider>`__ allows the user to easily measure the resistance by measuring the voltage across the potentiometer, which can then be used to calculate the rotational position of the shaft.
+Apart from :doc:`quadrature encoders <encoders-hardware>`, another common way of measuring rotation on FRC\ |reg| robots is with analog potentiometers.  A potentiometer is simply a variable resistor - as the shaft of the potentiometer turns, the resistance changes (usually linearly).  Placing this resistor in a [voltage divider](https://en.wikipedia.org/wiki/Voltage_divider) allows the user to easily measure the resistance by measuring the voltage across the potentiometer, which can then be used to calculate the rotational position of the shaft.
 
-Wiring an analog potentiometer
-------------------------------
+## Wiring an analog potentiometer
 
 As suggested by the names, analog potentiometers connect to the roboRIO's :doc:`analog input <analog-inputs-hardware>` ports.  To understand how exactly to wire potentiometers, however, it is important to understand their internal circuitry.
 
@@ -23,7 +21,6 @@ As mentioned before, a potentiometer is a voltage divider, as shown in the circu
 
 Since the circuit is symmetric, it is reversible - this allows the user to choose at which end of the travel the measured voltage is zero, and at which end it is 5 volts.  To reverse the directionality of the sensor, it can simply be wired backwards!  Be sure to check the directionality of your potentiometer with a multimeter to be sure it is in the desired orientation before soldering your wires to the contacts.
 
-Footnotes
----------
+## Footnotes
 
 .. [1] The way this actually works is generally by having the shaft control the position of a contact along a resistive "wiper" of fixed length along which the current flows - the resistance is proportional to the length of wiper between the contact and the end of the wiper.
diff --git a/source/docs/hardware/sensors/digital-inputs-hardware.rst b/source/docs/hardware/sensors/digital-inputs-hardware.rst
index 4cc5e21f4b..7921a42333 100644
--- a/source/docs/hardware/sensors/digital-inputs-hardware.rst
+++ b/source/docs/hardware/sensors/digital-inputs-hardware.rst
@@ -1,14 +1,12 @@
-Digital Inputs - Hardware
-=========================
+# Digital Inputs - Hardware
 
 .. note:: This section covers digital input hardware.  For a software guide to digital inputs, see :ref:`docs/software/hardware-apis/sensors/digital-inputs-software:Digital Inputs - Software`.
 
-A `digital signal <https://en.wikipedia.org/wiki/Digital_signal>`__ is a signal that can be in one of several discrete states.  In the vast majority of cases, the signal is the voltage in a wire, and there are only two states for a digital signal - high, or low (also denoted 1 and 0, or true and false, respectively).
+A [digital signal](https://en.wikipedia.org/wiki/Digital_signal) is a signal that can be in one of several discrete states.  In the vast majority of cases, the signal is the voltage in a wire, and there are only two states for a digital signal - high, or low (also denoted 1 and 0, or true and false, respectively).
 
 The roboRIO's built-in digital input-output ports (or "DIO") ports function on 5V, so "high" corresponds to a signal of 5V, and "low" to a signal of 0V [1]_ [2]_.
 
-Connecting to the roboRIO DIO ports
------------------------------------
+## Connecting to the roboRIO DIO ports
 
 .. note:: Additional DIO ports are available through the "MXP" expansion port.  To use these, a breakout board of some sort that connects to the MXP is needed.
 
@@ -23,8 +21,7 @@ The roboRIO has 10 built-in DIO ports (numbered 0-9), as seen in the image above
 
 All DIO ports have built-in "pull-up" resistors between the power pins and the signal pins - these ensure that when the signal pin is "floating" (i.e. is not connected to any circuit), they consistently remain in a "high" state.
 
-Connecting a simple switch to a DIO port
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Connecting a simple switch to a DIO port
 
 The simplest device that can be connected to a DIO port is a switch (such as a :ref:`limit switch <docs/hardware/sensors/proximity-switches:Mechanical proximity switches ("limit switches")>`).  When a switch is connected correctly to a DIO port, the port will read "high" when the circuit is open, and "low" when the circuit is closed.
 
@@ -33,16 +30,14 @@ A simple switch does not need to be powered, and thus only has two wires.  Switc
 .. image:: images/digital-inputs-hardware/limit-switch-to-roborio.svg
    :alt: Connecting a normally open limit switch to a DIO channel of the roboRIO.
 
-Connecting a powered sensor to a DIO port
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Connecting a powered sensor to a DIO port
 
 Many digital sensors (such as most no-contact proximity switches) require power in order to work.  A powered sensor will generally have three wires - signal, power, and ground.  These should be connected to the corresponding pins of the DIO port.
 
 .. image:: images/digital-inputs-hardware/hall-effect-sensor-to-roborio.svg
    :alt: Connecting a Hall Effect sensor to a roboRIO DIO channel.
 
-Connecting a sensor that uses multiple DIO ports
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Connecting a sensor that uses multiple DIO ports
 
 Some sensors (such as :doc:`quadrature encoders <encoders-hardware>`) may need to connect to multiple DIO ports in order to function.  In general, these sensors will only ever require a single power and a single ground pin - only the signal pin of the additional port(s) will be needed.
 
@@ -51,8 +46,7 @@ Some sensors (such as :doc:`quadrature encoders <encoders-hardware>`) may need t
 
 .. |ground| unicode:: 0x23DA
 
-Footnotes
----------
+## Footnotes
 
 .. [1] More precisely, the signal reads "high" when it rises above 2.0V, and reads "low" when it falls back below 0.8V - behavior between these two thresholds is not guaranteed to be consistent.
 .. [2] The roboRIO also offers 3.3V logic via the "MXP" expansion port; however, the use of this is far less common than the 5V.
diff --git a/source/docs/hardware/sensors/encoders-hardware.rst b/source/docs/hardware/sensors/encoders-hardware.rst
index 1ac5c2b5d9..c58b7c7a4f 100644
--- a/source/docs/hardware/sensors/encoders-hardware.rst
+++ b/source/docs/hardware/sensors/encoders-hardware.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Encoders - Hardware
-===================
+# Encoders - Hardware
 
 .. note:: This section covers encoder hardware.  For a software guide to encoders, see :ref:`docs/software/hardware-apis/sensors/encoders-software:Encoders - Software`.
 
 Encoders are by far the most common method for measuring rotational motion in FRC\ |reg|, and for good reason - they are cheap, easy-to-use, and reliable.  As they produce digital signals, they are less-prone to noise and interference than analog devices (such as :doc:`potentiometers <analog-potentiometers-hardware>`).
 
-Types of Encoders
------------------
+## Types of Encoders
 
 There are three main ways encoders connect physically that are typically used in FRC:
 
@@ -26,8 +24,7 @@ There are also three main ways the encoder data is communicated that are typical
 
 .. note:: Some encoders may support more then one communication method
 
-Shafted Encoders
-^^^^^^^^^^^^^^^^
+### Shafted Encoders
 
 .. image:: images/encoders-hardware/greyhill-63r-encoder.svg
   :alt: Diagram of the Greyhill 63R Optical Encoder.
@@ -37,11 +34,10 @@ Shafted encoders have a sealed body with a shaft protruding out of it that must
 
 Examples of shafted encoders:
 
-- `Grayhill 63r <https://www.grayhill.com/documents/63R-Datasheet>`__
-- `US Digital MA3 <https://www.usdigital.com/products/encoders/absolute/shaft/ma3/>`__
+- [Grayhill 63r](https://www.mouser.com/datasheet/2/626/grhls00779_1-2289364.pdf)
+- [US Digital MA3](https://www.usdigital.com/products/encoders/absolute/shaft/ma3/)
 
-On-shaft Encoders
-^^^^^^^^^^^^^^^^^
+### On-shaft Encoders
 
 .. image:: images/encoders-hardware/amt10x-encoders.svg
   :alt: Diagram of the AMT103 and the AMT102 shaft encoders.
@@ -51,13 +47,12 @@ On-shaft encoders couple to a shaft by fitting *around* it, forming a friction c
 
 Examples of On-shaft encoders:
 
-- `AMT103-V <https://www.cuidevices.com/product/motion/rotary-encoders/incremental/modular/amt10-v-kit/amt103-v>`__ available through FIRST Choice
-- `CIMcoder <https://www.andymark.com/products/cimcoder-encoder-cim-motor-high-resolution>`__
-- `REV Through Bore Encoder <https://www.revrobotics.com/rev-11-1271/>`__
-- `US Digital E4T <https://www.andymark.com/products/e4t-oem-miniature-optical-encoder-kit>`__
+- [AMT103-V](https://www.cuidevices.com/product/motion/rotary-encoders/incremental/modular/amt10-v-kit/amt103-v) available through FIRST Choice
+- [CIMcoder](https://www.andymark.com/products/cimcoder-encoder-cim-motor-high-resolution)
+- [REV Through Bore Encoder](https://www.revrobotics.com/rev-11-1271/)
+- [US Digital E4T](https://www.andymark.com/products/e4t-oem-miniature-optical-encoder-kit)
 
-Magnetic Encoders
-^^^^^^^^^^^^^^^^^
+### Magnetic Encoders
 
 .. image:: images/encoders-hardware/ctre-magnetic-encoder.png
   :alt: Picture of the CTRE Mag Encoder.
@@ -67,13 +62,12 @@ Magnetic encoders require no mechanical coupling to the shaft at all; rather, th
 
 Examples of magnetic encoders:
 
-- `CTRE Mag Encoder <https://store.ctr-electronics.com/srx-mag-encoder/>`__
-- `Thrifty Absolute Magnetic Encoder <https://www.thethriftybot.com/products/thrifty-absolute-magnetic-encoder>`__
-- `Team 221 Lamprey2 <https://www.andymark.com/products/lamprey-absolute-encoder>`__
+- [CTRE Mag Encoder](https://store.ctr-electronics.com/srx-mag-encoder/)
+- [Thrifty Absolute Magnetic Encoder](https://www.thethriftybot.com/products/thrifty-absolute-magnetic-encoder)
+- [Team 221 Lamprey2](https://www.andymark.com/products/lamprey-absolute-encoder)
 
 
-Quadrature Encoders
-^^^^^^^^^^^^^^^^^^^
+### Quadrature Encoders
 
 The term "quadrature" refers to the method by which the motion is measured/encoded.  A quadrature encoder produces two square-wave pulses that are 90-degrees out-of-phase from each other, as seen in the picture below:
 
@@ -86,29 +80,26 @@ As each square wave pulse is a digital signal, quadrature encoders connect to th
 
 Examples of quadrature encoders:
 
-- `AMT103-V <https://www.cuidevices.com/product/motion/rotary-encoders/incremental/modular/amt10-v-kit/amt103-v>`__ available through FIRST Choice
-- `CIMcoder <https://www.andymark.com/products/cimcoder-encoder-cim-motor-high-resolution>`__
+- [AMT103-V](https://www.cuidevices.com/product/motion/rotary-encoders/incremental/modular/amt10-v-kit/amt103-v) available through FIRST Choice
+- [CIMcoder](https://www.andymark.com/products/cimcoder-encoder-cim-motor-high-resolution)
 - `CTRE Mag Encoder <https://store.ctr-electronics.com/srx-mag-encoder/>`_
-- `Grayhill 63r <https://www.grayhill.com/documents/63R-Datasheet>`__
-- `REV Through Bore Encoder <https://www.revrobotics.com/rev-11-1271/>`__
-- `US Digital E4T <https://www.andymark.com/products/e4t-oem-miniature-optical-encoder-kit>`__
+- [Grayhill 63r](https://www.mouser.com/datasheet/2/626/grhls00779_1-2289364.pdf)
+- [REV Through Bore Encoder](https://www.revrobotics.com/rev-11-1271/)
+- [US Digital E4T](https://www.andymark.com/products/e4t-oem-miniature-optical-encoder-kit)
 
-Quadrature Encoder Wiring
-~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Quadrature Encoder Wiring
 
 .. image:: images/digital-inputs-hardware/e4t-oem-miniature-optical-encoder-to-roborio.svg
   :alt: Wiring the E4T Optical Encoder to two DIO ports.
   :width: 400
 
-Quadrature Encoders, such as the `E4T OEM Miniature Optical Encoder <https://www.andymark.com/products/e4t-oem-miniature-optical-encoder-kit>`__, can be wired to two digital input ports as shown above.
+Quadrature Encoders, such as the [E4T OEM Miniature Optical Encoder](https://www.andymark.com/products/e4t-oem-miniature-optical-encoder-kit), can be wired to two digital input ports as shown above.
 
-Index
-~~~~~
+#### Index
 
 Some quadrature encoders have a third index pin which pulses when the encoder completes a revolution.
 
-Quaderature Encoder Resolution
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Quaderature Encoder Resolution
 
 .. warning:: The acronyms "CPR" and "PPR" are *both* used by varying sources to denote both edges per revolution *and* cycles per revolution, so the acronym alone is not enough to tell which is of the two is meant when by a given value.  When in doubt, consult the technical manual of your specific encoder.
 
@@ -122,8 +113,7 @@ Thus, a resolution stated in edges per revolution has a value four times that of
 
 In general, the resolution of your encoder in edges-per-revolution should be somewhat finer than your smallest acceptable error in positioning.  Thus, if you want to know the mechanism plus-or-minus one degree, you should have an encoder with a resolution somewhat higher than 360 edges per revolution.
 
-Duty Cycle Encoders
-^^^^^^^^^^^^^^^^^^^
+### Duty Cycle Encoders
 
 .. image:: /docs/software/hardware-apis/sensors/images/encoders-software/encoding-direction.png
   :alt: The PWM signal pattern for minimum and maximum angles.
@@ -132,14 +122,13 @@ Duty cycle encoders connect to a single digital input on the roboRIO. They outpu
 
 Examples of duty cycle encoders:
 
-- `AndyMark Mag Encoder <https://www.andymark.com/products/am-mag-encoder>`__
-- `CTRE Mag Encoder <https://store.ctr-electronics.com/srx-mag-encoder/>`__
-- `REV Through Bore Encoder <https://www.revrobotics.com/rev-11-1271/>`__
-- `Team 221 Lamprey2 <https://www.andymark.com/products/lamprey-absolute-encoder>`__
-- `US Digital MA3 <https://www.usdigital.com/products/encoders/absolute/shaft/ma3/>`__
+- [AndyMark Mag Encoder](https://www.andymark.com/products/am-mag-encoder)
+- [CTRE Mag Encoder](https://store.ctr-electronics.com/srx-mag-encoder/)
+- [REV Through Bore Encoder](https://www.revrobotics.com/rev-11-1271/)
+- [Team 221 Lamprey2](https://www.andymark.com/products/lamprey-absolute-encoder)
+- [US Digital MA3](https://www.usdigital.com/products/encoders/absolute/shaft/ma3/)
 
-Analog Encoders
-^^^^^^^^^^^^^^^
+### Analog Encoders
 
 .. image:: images/encoders-hardware/absolute-encoder-to-roborio.svg
   :alt: The connection of a US Digital MA3 Analog encoder to the roboRIO analog input.
@@ -148,6 +137,6 @@ Analog encoders connect to a analog input on the roboRIO. They output a voltage
 
 Examples of analog encoders:
 
-- `Team 221 Lamprey2 <https://www.andymark.com/products/lamprey-absolute-encoder>`__
-- `Thrifty Absolute Magnetic Encoder <https://www.thethriftybot.com/products/thrifty-absolute-magnetic-encoder>`__
-- `US Digital MA3 <https://www.usdigital.com/products/encoders/absolute/shaft/ma3/>`__
+- [Team 221 Lamprey2](https://www.andymark.com/products/lamprey-absolute-encoder)
+- [Thrifty Absolute Magnetic Encoder](https://www.thethriftybot.com/products/thrifty-absolute-magnetic-encoder)
+- [US Digital MA3](https://www.usdigital.com/products/encoders/absolute/shaft/ma3/)
diff --git a/source/docs/hardware/sensors/gyros-hardware.rst b/source/docs/hardware/sensors/gyros-hardware.rst
index e01251151c..0edeac0d67 100644
--- a/source/docs/hardware/sensors/gyros-hardware.rst
+++ b/source/docs/hardware/sensors/gyros-hardware.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Gyroscopes - Hardware
-=====================
+# Gyroscopes - Hardware
 
 .. note:: This section covers gyro hardware.  For a software guide to gyros, see :ref:`docs/software/hardware-apis/sensors/gyros-software:Gyroscopes - Software`.
 
@@ -9,36 +8,33 @@ Gyroscopes (or "gyros", for short) are devices that measure rate-of-rotation.  T
 
 Several popular FRC\ |reg| devices known as :ref:`IMUs <docs/hardware/sensors/accelerometers-hardware:IMUs (Inertial Measurement Units)>` (Inertial Measurement Units) combine 3-axis gyros, accelerometers and other position sensors into one device. Some  popular examples are:
 
-  - `Analog Devices ADIS16448 and ADIS 16470 IMUs <https://www.analog.com/en/landing-pages/001/first.html>`__
-  - `CTRE Pigeon IMU <https://store.ctr-electronics.com/gadgeteer-pigeon-imu/>`__
-  - `Kauai Labs NavX <https://pdocs.kauailabs.com/navx-mxp/>`__
+  - [Analog Devices ADIS16448 and ADIS 16470 IMUs](https://www.analog.com/en/landing-pages/001/first.html)
+  - [CTRE Pigeon IMU](https://store.ctr-electronics.com/gadgeteer-pigeon-imu/)
+  - [Kauai Labs NavX](https://pdocs.kauailabs.com/navx-mxp/)
 
-Types of Gyros
---------------
+## Types of Gyros
 
 There are two types of Gyros commonly-used in FRC: single-axis gyros, three-axis gyros and IMUs, which often include a 3-axis gyro.
 
-Single-axis Gyros
-^^^^^^^^^^^^^^^^^
+### Single-axis Gyros
 
 .. image:: images/gyros-hardware/analog-devices-frc-gyro-to-roborio.svg
   :alt: The Analog Devices 1-axis Gyro plugged into the SPI port of the roboRIO.
   :width: 400
 
-As per their name, single-axis gyros measure rotation rate around a single axis.  This axis is generally specified on the physical device, and mounting the device in the proper orientation so that the desired axis is measured is highly important.  Some single-axis gyros can output an analog voltage corresponding to the measured rate of rotation, and so connect to the roboRIO's :doc:`analog input <analog-inputs-hardware>` ports. Other single-axis gyros, such as the `ADXRS450 <https://wiki.analog.com/first>`__ pictured above, use the :ref:`SPI port <docs/hardware/sensors/serial-buses:SPI>` on the roboRIO instead.
+As per their name, single-axis gyros measure rotation rate around a single axis.  This axis is generally specified on the physical device, and mounting the device in the proper orientation so that the desired axis is measured is highly important.  Some single-axis gyros can output an analog voltage corresponding to the measured rate of rotation, and so connect to the roboRIO's :doc:`analog input <analog-inputs-hardware>` ports. Other single-axis gyros, such as the [ADXRS450](https://wiki.analog.com/first) pictured above, use the :ref:`SPI port <docs/hardware/sensors/serial-buses:SPI>` on the roboRIO instead.
 
-The `Analog Devices ADXRS450 FRC Gyro Board <https://www.analog.com/en/landing-pages/001/first.html>`__ that has been in FIRST Choice in recent years is a commonly used single axis gyro.
+The [Analog Devices ADXRS450 FRC Gyro Board](https://www.analog.com/en/landing-pages/001/first.html) that has been in FIRST Choice in recent years is a commonly used single axis gyro.
 
-Three-axis Gyros
-^^^^^^^^^^^^^^^^
+### Three-axis Gyros
 
 .. image:: images/gyros-hardware/adis16470-gyro-to-roborio.jpeg
-  :alt: This is the ADIS16470 IMU plugged in to the SPI port.
+  :alt: This is the ADIS16470 :term:`IMU` plugged in to the SPI port.
   :width: 400
 
-Three-axis gyros measure rotation rate around all three spacial axes (typically labeled x, y, and z). The motion around these axis is called pitch, yaw, and roll.
+Three-axis gyros measure rotation rate around all three spatial axes (typically labeled x, y, and z). The motion around these axis is called pitch, yaw, and roll.
 
-The `Analog Devices ADIS16470 IMU Board for FIRST Robotics <https://www.analog.com/en/landing-pages/001/first.html>`__ that has been in FIRST Choice in recent years is a commonly used three-axis gyro.
+The [Analog Devices ADIS16470 IMU Board for FIRST Robotics](https://www.analog.com/en/landing-pages/001/first.html) that has been in FIRST Choice in recent years is a commonly used three-axis gyro.
 
 .. image:: images/gyros-hardware/drive-yaw-pitch-roll.svg
   :alt: The 3 axis: yaw, pitch, and roll and how they relate to robot movement.
diff --git a/source/docs/hardware/sensors/images/encoders-hardware/ctre-magnetic-encoder.png b/source/docs/hardware/sensors/images/encoders-hardware/ctre-magnetic-encoder.png
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diff --git a/source/docs/hardware/sensors/images/serial-buses/can-bus-talon-srx-chain.png b/source/docs/hardware/sensors/images/serial-buses/can-bus-talon-srx-chain.png
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index 308ccb1251..b7ca5b133d 100644
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diff --git a/source/docs/hardware/sensors/images/ultrasonics-hardware/mb-lv-ez1-serial.png b/source/docs/hardware/sensors/images/ultrasonics-hardware/mb-lv-ez1-serial.png
index af95641c3a..1dcedda9fa 100644
Binary files a/source/docs/hardware/sensors/images/ultrasonics-hardware/mb-lv-ez1-serial.png and b/source/docs/hardware/sensors/images/ultrasonics-hardware/mb-lv-ez1-serial.png differ
diff --git a/source/docs/hardware/sensors/index.rst b/source/docs/hardware/sensors/index.rst
index fef3f246ee..7366441e3e 100644
--- a/source/docs/hardware/sensors/index.rst
+++ b/source/docs/hardware/sensors/index.rst
@@ -1,5 +1,4 @@
-Sensors
-=======
+# Sensors
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/hardware/sensors/lidar.rst b/source/docs/hardware/sensors/lidar.rst
index d3de5e1e31..5c4549d756 100644
--- a/source/docs/hardware/sensors/lidar.rst
+++ b/source/docs/hardware/sensors/lidar.rst
@@ -1,29 +1,25 @@
 .. include:: <isonum.txt>
 
-LIDAR - Hardware
-================
+# LIDAR - Hardware
 
 LIDAR (light detection and ranging) sensors are a variety of rangefinder seeing increasing use in FRC\ |reg|.
 
 LIDAR sensors work quite similarly to :doc:`ultrasonics <ultrasonics-hardware>`, but use light instead of sound.  A laser is pulsed, and the sensor measures the time until the pulse bounces back.
 
-Types of LIDAR
---------------
+## Types of LIDAR
 
 There are two types of LIDAR sensors commonly used in current FRC: 1-dimensional LIDAR, and 2-dimensional LIDAR.
 
-1-Dimensional LIDAR
-^^^^^^^^^^^^^^^^^^^
+### 1-Dimensional LIDAR
 
 .. image:: images/lidar/1-dimentional-lidar.png
    :alt: Garmin LIDAR-Lite a 1D LIDAR device.
 
-A 1-dimensional (1D) LIDAR sensor works much like an ultrasonic sensor - it measures the distance to the nearest object more or less along a line in front of it.  1D LIDAR sensors can often be more-reliable than ultrasonics, as they have narrower "beam profiles" and are less susceptible to interference. Pictured above is the `Garmin LIDAR-Lite Optical Distance Sensor <https://www.andymark.com/products/lidar-lite-3>`__.
+A 1-dimensional (1D) LIDAR sensor works much like an ultrasonic sensor - it measures the distance to the nearest object more or less along a line in front of it.  1D LIDAR sensors can often be more-reliable than ultrasonics, as they have narrower "beam profiles" and are less susceptible to interference. Pictured above is the [Garmin LIDAR-Lite Optical Distance Sensor](https://www.andymark.com/products/lidar-lite-3).
 
 1D LIDAR sensors generally output an analog voltage proportional to the measured distance, and thus connect to the roboRIO's :doc:`analog input <analog-inputs-hardware>` ports or to one of the :doc:`roboRIO's serial buses <serial-buses>`.
 
-2-Dimensional LIDAR
-^^^^^^^^^^^^^^^^^^^
+### 2-Dimensional LIDAR
 
 .. image:: images/lidar/2-dimentional-lidar.png
    :alt: RPLIDAR pictured is one option for 2D LIDAR
@@ -32,8 +28,7 @@ A 2-dimensional (2D) LIDAR sensor measures distance in all directions in a plane
 
 Since, by nature, 2D LIDAR sensors need to send a large amount of data back to the roboRIO, they almost always connect to one of the roboRIO's :doc:`serial buses <serial-buses>`.
 
-Caveats
--------
+## Caveats
 
 LIDAR sensors do suffer from a few common drawbacks:
 
diff --git a/source/docs/hardware/sensors/proximity-switches.rst b/source/docs/hardware/sensors/proximity-switches.rst
index 5abfbef9e3..9b724ef730 100644
--- a/source/docs/hardware/sensors/proximity-switches.rst
+++ b/source/docs/hardware/sensors/proximity-switches.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Proximity Switches - Hardware
-=============================
+# Proximity Switches - Hardware
 
 .. note:: This section covers proximity switch hardware.  For a guide to using proximity switches in software, see :ref:`docs/software/hardware-apis/sensors/digital-inputs-software:Digital Inputs - Software`.
 
 One of the most common sensing tasks on a robot is detecting when an object (be it a mechanism, game piece, or field element) is within a certain distance of a known point on the robot.  This type of sensing is accomplished by a "proximity switch."
 
-Proximity switch operation
---------------------------
+## Proximity switch operation
 
 Proximity switches are switches - they operate a circuit between an "open" state (in which there *is not* connectivity across the circuit) and a "closed" one (in which there *is*).  Thus, proximity switches generate a digital signal, and accordingly, they are almost always connected to the roboRIO's :doc:`digital input <digital-inputs-hardware>` ports.
 
@@ -16,8 +14,7 @@ Proximity switches can be either "normally-open," in which activating the switch
 
 The digital inputs on the roboRIO have pull-up resistors that will make the input be high (1 value) when the switch is open, but when the switch closes the value goes to 0 since the input is now connected to ground.
 
-Types of Proximity Switches
----------------------------
+## Types of Proximity Switches
 
 There are several types of proximity switches that are commonly used in FRC\ |reg|:
 
@@ -27,8 +24,7 @@ There are several types of proximity switches that are commonly used in FRC\ |re
  - `Photoelectric Proximity Switches`_
  - `Time-of-flight Proximity Switches`_
 
-Mechanical Proximity Switches ("limit switches")
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Mechanical Proximity Switches ("limit switches")
 
 .. image:: images/digital-inputs-hardware/limit-switch-to-roborio.svg
    :alt: A normally open limit switch connected to a channel of the roboRIO DIO.
@@ -39,22 +35,20 @@ Limit switches vary in size, the geometry of the switch-arm, and in the amount o
 
 See this :ref:`article <docs/software/hardware-apis/sensors/limit-switch:Programming Limit Switches>` for writing the software for Limit Switches.
 
-Magnetic Proximity Switches
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Magnetic Proximity Switches
 
 .. image:: images/digital-inputs-hardware/hall-effect-sensor-to-roborio.svg
    :alt: A magnetic proximity switch hooked up to a DIO channel of the roboRIO.
 
 Magnetic proximity switches are activated when a magnet comes within a certain range of the sensor.  Accordingly, they are "no-contact" switches - they do not require contact with the object being sensed.
 
-There are two major types of magnetic proximity switches - reed switches and hall-effect sensors.  In a reed switch, the magnetic field causes a pair of flexible metal contacts (the "reeds") to touch each other, closing the circuit.  A hall-effect sensor, on the other hand, detects the induced voltage transversely across a current-carrying conductor.  Hall-effect sensors are generally the cheaper and more reliable of the two. Pictured above is the `Hall effect sensor from West Coast Products <https://wcproducts.com/products/wcp-sensors>`__.
+There are two major types of magnetic proximity switches - reed switches and hall-effect sensors.  In a reed switch, the magnetic field causes a pair of flexible metal contacts (the "reeds") to touch each other, closing the circuit.  A hall-effect sensor, on the other hand, detects the induced voltage transversely across a current-carrying conductor.  Hall-effect sensors are generally the cheaper and more reliable of the two. Pictured above is the [Hall effect sensor from West Coast Products](https://wcproducts.com/products/wcp-sensors).
 
 Magnetic proximity switches may be either "unipolar," "bipolar," or "omnipolar."  A unipolar switch activates and deactivates depending on the presence of a given pole of the magnet (either north or south, depending on the switch).  A bipolar switch activates from the proximity of one pole, and deactivates from the proximity of the opposite pole.  An omnipolar switch will activate in the presence of either pole, and deactivates when no magnet is present.
 
 While magnetic proximity switches are often more reliable than their mechanical counterparts, they require the user to mount a magnet on the object to be sensed - thus, they are mostly used for sensing mechanism location.
 
-Inductive Proximity Switches
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Inductive Proximity Switches
 
 .. image:: images/proximity-switches-hardware/inductive-proximity-switch.png
    :alt: Example industrial inductive proximity switch.
@@ -63,25 +57,23 @@ Inductive proximity switches are activated when a conductor of any sort comes wi
 
 Inductive proximity switches are used for many of the same purposes as magnetic proximity switches.  Their more-general nature (activating in the presence of any conductor, rather than just a magnet) can be either a help or a hindrance, depending on the nature of the application.
 
-Photoelectric Proximity Switches
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Photoelectric Proximity Switches
 
 .. image:: images/proximity-switches-hardware/ir-digital-obstacle-sensor-to-roborio.svg
    :alt: Connecting a photoelectric proximity switch to a DIO port.
 
-Photoelectric proximity switches are another type of no-contact proximity switch in widespread use in FRC.  Photoelectric proximity switches contain a light source (usually an IR laser) and a photoelectric sensor that activates the switch when the detected light (which bounces off of the sensor target) exceeds a given threshold. One such sensor is the `IR Obstacle Avoidance Module <https://www.electrodragon.com/product/infraredir-obstacle-avoidance-sensor-moduleadjust-distance/>`__ pictured below.
+Photoelectric proximity switches are another type of no-contact proximity switch in widespread use in FRC.  Photoelectric proximity switches contain a light source (usually an IR laser) and a photoelectric sensor that activates the switch when the detected light (which bounces off of the sensor target) exceeds a given threshold. One such sensor is the [IR Obstacle Avoidance Module](https://www.electrodragon.com/product/infraredir-obstacle-avoidance-sensor-moduleadjust-distance/) pictured above.
 
 Since photoelectric proximity switches rely on measuring the amount of reflected light, they are often inconsistent in their triggering range between different materials - accordingly, most photoelectric sensors have an adjustable activation point (typically controlled by turning a screw somewhere on the sensor body).  On the other hand, photoelectric sensors are also extremely versatile, as they can detect a greater variety of objects than the other types of no-contact switches.
 
-Photoelectric sensors are also often used in a "beam break" configuration, in which the emitter is separate from the sensor.  These typically activate when an object is interposed between the emitter and the sensor. Pictured above is a `beam break sensor with an IR LED transmitter and IR receiver <https://www.adafruit.com/product/2167>`__.
+Photoelectric sensors are also often used in a "beam break" configuration, in which the emitter is separate from the sensor.  These typically activate when an object is interposed between the emitter and the sensor. Pictured below is a [beam break sensor with an IR LED transmitter and IR receiver](https://www.adafruit.com/product/2167).
 
 .. image:: images/proximity-switches-hardware/ir-beam-break-sensor-to-roborio.svg
    :alt: Connecting a beam break receiver and transmitter each to one DIO channel on the roboRIO.
 
-Time-of-flight Proximity Switches
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Time-of-flight Proximity Switches
 
 .. image:: images/proximity-switches-hardware/time-of-flight-i2c-distance-sensor-to-roborio.svg
    :alt: VL53L0X time of flight sensor hooked up to the I2C port.
 
-Time-of-flight Proximity Switches are newer to the market and are not commonly found in FRC. They use a concentrated light source, such as a small laser, and measure the time between the emission of light and when the receiver detects it. Using the speed of light, it can produce a very accurate distance measurement for a very small target area. Range on this type of sensor can range greatly, between 30mm to around 1000mm for the `VL53L0X sensor <https://www.adafruit.com/product/3317>`__ pictured above. There are also longer range versions available. More information about time of flight sensors can be found in `this article <https://learn.adafruit.com/adafruit-vl53l0x-micro-lidar-distance-sensor-breakout>`__ and more about the circuitry can be found in `this article <https://www.allaboutcircuits.com/technical-articles/how-do-time-of-flight-sensors-work-pmdtechnologies-tof-3D-camera/>`__.
+Time-of-flight Proximity Switches are newer to the market and are not commonly found in FRC. They use a concentrated light source, such as a small laser, and measure the time between the emission of light and when the receiver detects it. Using the speed of light, it can produce a very accurate distance measurement for a very small target area. Range on this type of sensor can range greatly, between 30mm to around 1000mm for the [VL53L0X sensor](https://www.adafruit.com/product/3317) pictured above. There are also longer range versions available. More information about time of flight sensors can be found in [this article](https://learn.adafruit.com/adafruit-vl53l0x-micro-lidar-distance-sensor-breakout) and more about the circuitry can be found in [this article](https://www.allaboutcircuits.com/technical-articles/how-do-time-of-flight-sensors-work-pmdtechnologies-tof-3D-camera/).
diff --git a/source/docs/hardware/sensors/sensor-overview-hardware.rst b/source/docs/hardware/sensors/sensor-overview-hardware.rst
index 2e2bb77489..1484568f6b 100644
--- a/source/docs/hardware/sensors/sensor-overview-hardware.rst
+++ b/source/docs/hardware/sensors/sensor-overview-hardware.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Sensor Overview - Hardware
-==========================
+# Sensor Overview - Hardware
 
 .. note:: This section covers sensor hardware, not the use of sensors in code. For a software sensor guide, see :ref:`docs/software/hardware-apis/sensors/sensor-overview-software:Sensor Overview - Software`.
 
@@ -9,13 +8,11 @@ In order to be effective, it is often vital for robots to be able to gather info
 
 Additionally, sensors can be extremely important for robot safety - many robot mechanisms are capable of breaking themselves if used incorrectly.  Sensors provide a safeguard against this, allowing robots to, for example, disable a motor if a mechanism is against a hard-stop.
 
-Types of Sensors
-----------------
+## Types of Sensors
 
 Sensors used in FRC can be generally categorized in two different ways: by function, and by communication protocol.  The former categorization is relevant for robot design; the latter for wiring and programming.
 
-Sensors by Function
-^^^^^^^^^^^^^^^^^^^
+### Sensors by Function
 
 Sensors can provide feedback on a variety of different aspects of the robot's state.  Sensor functions common to FRC include:
 
@@ -41,8 +38,7 @@ Sensors can provide feedback on a variety of different aspects of the robot's st
 
 - :doc:`Gyroscopes <gyros-hardware>`
 
-Sensors by Communication Protocol
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Sensors by Communication Protocol
 
 In order for a sensor to be useful, it must be able to "talk" to the roboRIO.  There are several main methods by which sensors can communicate their readings to the roboRIO:
 
diff --git a/source/docs/hardware/sensors/serial-buses.rst b/source/docs/hardware/sensors/serial-buses.rst
index 488ea3e914..f97bcef761 100644
--- a/source/docs/hardware/sensors/serial-buses.rst
+++ b/source/docs/hardware/sensors/serial-buses.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Serial Buses
-============
+# Serial Buses
 
 In addition to the :doc:`digital <digital-inputs-hardware>` and :doc:`analog <analog-inputs-hardware>` inputs, the roboRIO also offers several methods of serial communication with peripheral devices.
 
 Both the digital and analog inputs are highly limited in the amount of data that can be sent over them.  Serial buses allow users to make use of far more-robust and higher-bandwidth communications protocols with sensors that collect large amounts of data, such as inertial measurement units (IMUs) or 2D LIDAR sensors.
 
-Types of supported serial buses
--------------------------------
+## Types of supported serial buses
 
 The roboRIO supports many basic types of serial communications:
 
@@ -18,10 +16,9 @@ The roboRIO supports many basic types of serial communications:
 - `USB Host`_
 - `CAN Bus`_
 
-Additionally, the roboRIO supports communications with peripheral devices over the CAN bus.  However, as the FRC\ |reg| CAN protocol is quite idiosyncratic, relatively few peripheral sensors support it (though it is heavily used for motor controllers).
+Additionally, the roboRIO supports communications with peripheral devices over the :term:`CAN` bus.  However, as the FRC\ |reg| CAN protocol is quite idiosyncratic, relatively few peripheral sensors support it (though it is heavily used for motor controllers).
 
-I2C
----
+## I2C
 
 .. image:: images/roborio/roborio-i2c.svg
    :alt: The I2C port on the roboRIO.
@@ -29,14 +26,13 @@ I2C
 .. image:: images/serial-buses/i2c-pinout.png
    :alt: I2C roboRIO port pin specifications.
 
-To communicate to peripheral devices over I2C, each pin should be wired to its corresponding pin on the device.  I2C allows users to wire a "chain" of slave devices to a single port, so long as those devices have separate IDs set.
+To communicate to peripheral devices over :term:`I2C`, each pin should be wired to its corresponding pin on the device.  I2C allows users to wire a "chain" of slave devices to a single port, so long as those devices have separate IDs set.
 
-The I2C bus can also be used through the `MXP expansion port`_. The I2C bus on the MXP is independent. For example, a device on the main bus can have the same ID as a device on the MXP bus.
+The I2C bus can also be used through the `MXP expansion port`_. The I2C bus on the :term:`MXP` is independent. For example, a device on the main bus can have the same ID as a device on the MXP bus.
 
 .. warning:: Be sure to familiarize yourself on the following known issue before using the onboard I2C port: :ref:`docs/yearly-overview/known-issues:Onboard I2C Causing System Lockups`
 
-SPI
----
+## SPI
 
 .. image:: images/roborio/roborio-spi.svg
    :alt: Show the SPI port on the roboRIO.
@@ -44,12 +40,11 @@ SPI
 .. image:: images/serial-buses/spi-pinout.png
    :alt: SPI roboRIO port pin specifications.
 
-To communicate to peripheral devices over SPI, each pin should be wired to its corresponding pin on the device.  The SPI port supports communications to up to four devices (corresponding to the Chip Select (CS) 0-3 pins on the diagram above).
+To communicate to peripheral devices over :term:`SPI`, each pin should be wired to its corresponding pin on the device.  The SPI port supports communications to up to four devices (corresponding to the Chip Select (CS) 0-3 pins on the diagram above).
 
 The SPI bus can also be used through the `MXP expansion port`_. The MXP port provides independent clock, and input/output lines and an additional CS.
 
-RS-232
-------
+## RS-232
 
 .. image:: images/roborio/roborio-rs-232.svg
    :alt: Location of the RS-232 port on the roboRIO.
@@ -61,17 +56,15 @@ To communicate to peripheral devices over RS-232, each pin should be wired to it
 
 The RS-232 bus can also be used through the `MXP expansion port`_.
 
-The roboRIO RS-232 serial port uses RS-232 signaling levels (+/- 15v). The MXP serial port uses CMOS signaling levels (+/- 3.3v).
+The roboRIO RS-232 serial port uses RS-232 signaling levels (+/- 15v). The MXP serial port uses CMOS signaling levels with a 3.3v output, and a 3.3v to 5v tolerant input.
 
 .. note:: By default, the onboard RS-232 port is utilized by the roboRIO's serial console. In order to use it for an external device, the serial console must be disabled using the :ref:`Imaging Tool <docs/zero-to-robot/step-3/imaging-your-roborio:Imaging your roboRIO 1>` or :ref:`docs/software/roborio-info/roborio-web-dashboard:roboRIO Web Dashboard`.
 
-USB Client
-----------
+## USB Client
 
 One of the USB ports on the roboRIO is a USB-B, or USB client port.  This can be connected to devices, such as a Driver Station computer, with a standard USB cable.
 
-USB Host
---------
+## USB Host
 
 .. image:: images/roborio/roborio-usb-host.svg
    :alt: Location of the two USB ports on the roboRIO at top center.
@@ -79,8 +72,7 @@ USB Host
 Two of the USB ports on the roboRIO is a USB-A, or USB host port.  These can be connected to devices, such as cameras or sensors, with a standard USB cable.
 
 
-MXP Expansion Port
-------------------
+## MXP Expansion Port
 
 .. image:: images/roborio/roborio-mxp.svg
    :alt: Location of the MXP port on the roboRIO directly above the NI logo.
@@ -88,12 +80,11 @@ MXP Expansion Port
 .. image:: images/serial-buses/mxp-pinout.png
    :alt: MXP pinout.
 
-Several of the serial buses are also available for use through the roboRIO's MXP Expansion Port.  This port allows users to make use of many additional :doc:`digital <digital-inputs-hardware>` and :doc:`analog <analog-inputs-hardware>` inputs, as well as the various serial buses.
+Several of the serial buses are also available for use through the roboRIO's :term:`MXP` Expansion Port.  This port allows users to make use of many additional :doc:`digital <digital-inputs-hardware>` and :doc:`analog <analog-inputs-hardware>` inputs, as well as the various serial buses.
 
 Many peripheral devices attach directly to the MXP port for convenience, requiring no wiring on the part of the user.
 
-CAN Bus
--------
+## CAN Bus
 
 .. image:: images/roborio/roborio-can.svg
    :alt: Show the location of the CAN bus terminals in the top left corner of the roboRIO.
@@ -105,9 +96,9 @@ Additionally, the roboRIO supports communications with peripheral devices over t
 
 Several sensors primarily use the CAN bus. Some examples include:
 
-- `CAN Based Time-of-Flight Range/Distance Sensor from playingwithfusion.com <https://www.playingwithfusion.com/productview.php?pdid=96&catid=1009>`__
-- TalonSRX-based sensors, such as the `Gadgeteer Pigeon IMU  <https://store.ctr-electronics.com/gadgeteer-pigeon-imu/>`__ and the `SRX MAG Encoder <https://store.ctr-electronics.com/srx-mag-encoder/>`__
-- `CANifier <https://store.ctr-electronics.com/canifier/>`__
+- [CAN Based Time-of-Flight Range/Distance Sensor from playingwithfusion.com](https://www.playingwithfusion.com/productview.php?pdid=96&catid=1009)
+- TalonSRX-based sensors, such as the [Gadgeteer Pigeon IMU ](https://store.ctr-electronics.com/gadgeteer-pigeon-imu/) and the [SRX MAG Encoder](https://store.ctr-electronics.com/srx-mag-encoder/)
+- [CANifier](https://store.ctr-electronics.com/canifier/)
 - Power monitoring sensors built into the :ref:`CTRE Power Distribution Panel (PDP) <docs/controls-overviews/control-system-hardware:CTRE Power Distribution Panel>` and the :ref:`REV Power Distribution Hub (PDH) <docs/controls-overviews/control-system-hardware:REV Power Distribution Hub>`
 
 More information about using devices connected to the CAN bus can be found in the article about :ref:`using can devices <docs/software/can-devices/using-can-devices:Using CAN Devices>`.
diff --git a/source/docs/hardware/sensors/triangulating-rangefinders.rst b/source/docs/hardware/sensors/triangulating-rangefinders.rst
index b3ab52041f..668f541d5a 100644
--- a/source/docs/hardware/sensors/triangulating-rangefinders.rst
+++ b/source/docs/hardware/sensors/triangulating-rangefinders.rst
@@ -1,25 +1,22 @@
 .. include:: <isonum.txt>
 
-Triangulating Rangefinders
-==========================
+# Triangulating Rangefinders
 
 .. image:: images/triangulating-rangefinders/infrared-proximity-sensor.png
    :alt: Sharp-brand triangulating rangefinder.
 
-Triangulating rangefinders (often called "IR rangefinders," as they commonly function in the infrared wavelength band) are another common type of rangefinder used in FRC\ |reg|. The sensor shown above is a `common Sharp-brand sensor <https://www.sparkfun.com/products/242>`__
+Triangulating rangefinders (often called "IR rangefinders," as they commonly function in the infrared wavelength band) are another common type of rangefinder used in FRC\ |reg|. The sensor shown above is a [common Sharp-brand sensor](https://www.sparkfun.com/products/242)
 
 Unlike :doc:`LIDAR <lidar>`, triangulating rangefinders do not measure the time between the emission of a pulse and the receiving of a reflection.  Rather, most IR rangefinders work by emitting a constant beam at a slight angle, and measuring the position of the reflected beam.  The closer the point of contact of the reflected beam to the emitter, the closer the object to the sensor.
 
-Using IR rangefinders
----------------------
+## Using IR rangefinders
 
 .. image:: images/triangulating-rangefinders/ir-proximity-sensor-to-roborio.svg
    :alt: Connecting the Sharp GP2Y0A21YK IR rangefinder to the analog in port of the roboRIO.
 
 IR Rangefinders generally output an analog voltage proportional to the distance to the target, and thus connect to the :doc:`analog input <analog-inputs-hardware>` ports on the RIO.
 
-Caveats
--------
+## Caveats
 
 IR rangefinders suffer similar drawbacks to 1D LIDAR sensors - they are very sensitive to the reflectivity of the target in the wavelength of the emitted laser.
 
diff --git a/source/docs/hardware/sensors/ultrasonics-hardware.rst b/source/docs/hardware/sensors/ultrasonics-hardware.rst
index 51d401b42a..37f4b38a2b 100644
--- a/source/docs/hardware/sensors/ultrasonics-hardware.rst
+++ b/source/docs/hardware/sensors/ultrasonics-hardware.rst
@@ -1,43 +1,37 @@
 .. include:: <isonum.txt>
 
-Ultrasonics - Hardware
-======================
+# Ultrasonics - Hardware
 
 .. note:: This section covers ultrasonic sensor hardware.  For a software guide to ultrasonics, see :ref:`docs/software/hardware-apis/sensors/ultrasonics-software:Ultrasonics - Software`.
 
 Ultrasonic rangefinders are some of the most common rangefinders used in FRC\ |reg|.  They are cheap, easy-to-use, and fairly reliable.  Ultrasonic rangefinders work by emitting a pulse of high-frequency sound, and then measuring how long it takes the echo to reach the sensor after bouncing off the target.  From the measured time and the speed of sound in air, it is possible to calculate the distance to the target.
 
-Types of ultrasonics
---------------------
+## Types of ultrasonics
 
 While all ultrasonic rangefinders operate on the "ping-response" principle outlined above, they may vary in the way they communicate with the roboRIO.
 
-Analog ultrasonics
-^^^^^^^^^^^^^^^^^^
+### Analog ultrasonics
 
 .. image:: images/analog-inputs-hardware/ultrasonic-sensor-to-roborio.svg
    :alt: Connecting a MB1013 to the analog in port of the roboRIO.
 
 Analog ultrasonics output a simple analog voltage corresponding to the distance to the target, and thus connect to an :doc:`analog input <analog-inputs-hardware>` port.  The user will need to calibrate the voltage-to-distance conversion in :ref:`software <docs/software/hardware-apis/sensors/ultrasonics-software:Ultrasonics - Software>`.
 
-Ping-response ultrasonics
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Ping-response ultrasonics
 
 .. image:: images/ultrasonics-hardware/vex-ultrasonic-rangefinder-to-roborio.svg
    :alt: Connecting the input and output channels of the VEX Ultrasonic Range Finder to two DIO ports.
 
 While, as mentioned, all ultrasonics are functionally ping-response devices, a "ping response" ultrasonic is one configured to connect to :ref:`both a digital input and a digital output <docs/hardware/sensors/digital-inputs-hardware:Connecting a sensor that uses multiple DIO ports>`.  The digital output is used to send the ping, while the input is used to read the response.
 
-Serial ultrasonics
-^^^^^^^^^^^^^^^^^^
+### Serial ultrasonics
 
 .. image:: images/ultrasonics-hardware/mb-lv-ez1-serial.png
    :alt: A Maxbotix RS-232 Ultrasonic sensor.
 
 Some more-complicated ultrasonic sensors may communicate with the RIO over one of the :doc:`serial buses <serial-buses>`, such as RS-232.
 
-Caveats
--------
+## Caveats
 
 Ultrasonic sensors are generally quite easy to use, however there are a few caveats.  As ultrasonics work by measuring the time between the pulse and its echo, they generally measure distance only to the *closest* target in their range.  Thus, it is extremely important to pick the right sensor for the job.  The documentation for ultrasonic sensors will generally include a picture of the "beam pattern" that shows the shape of the "window" in which the ultrasonic will detect a target - pay close attention to this when selecting your sensor.
 
diff --git a/source/docs/legal/privacy-policy.rst b/source/docs/legal/privacy-policy.rst
new file mode 100644
index 0000000000..92a266df2f
--- /dev/null
+++ b/source/docs/legal/privacy-policy.rst
@@ -0,0 +1,68 @@
+# Privacy Policy
+
+WPILib is a project developed by volunteers who are largely based in the United States.  We take privacy seriously and collect only the minimum amount of information needed to support our mission of providing user-friendly libraries and software tools to enable FIRST Robotics Competition teams to be successful in writing software for their robots.
+
+## Information We Collect
+
+WPILib-developed desktop applications do not collect personal information.  They do create and store logs of application errors and user interactions on the user's system, but this data is not shared online unless the user takes action to upload or share it.
+
+The WPILib libraries do not collect personal information.  When run on the roboRIO, the libraries collect limited metrics data (“usage reporting”) regarding what pieces of the libraries are used by the deployed software (user-written code linked to the WPILib libraries).  Only when the robot code is running and connected to the competition field at a FIRST Robotics Competition event is this information shared with and stored by the Field Management System.  This information is associated solely with the FRC team and not with any individual.  An anonymized (team number removed) version of this metrics data is publicly shared by FIRST after each competition season, and is used to inform future development of library features.
+
+[FIRST Privacy Policy](https://www.firstinspires.org/about/privacy-policy).
+
+## Third-Party Data Collection
+
+WPILib uses and installs a number of third-party applications, each of which has their own privacy policy.  We also use a variety of third-party services for distribution of WPILib software, each of which has their own privacy policy, detailed below.
+
+### GitHub
+
+The WPILib source code repositories are hosted by GitHub.  The WPILib Visual Studio Code extension also connects to GitHub for online browsing of vendor dependency updates.
+
+[GitHub Privacy Policy](https://docs.github.com/en/site-policy/privacy-policies/github-general-privacy-statement)
+
+### ReadTheDocs (docs.wpilib.org)
+
+Our online documentation site is hosted by ReadTheDocs.
+
+[ReadTheDocs Privacy Policy](https://docs.readthedocs.io/en/stable/privacy-policy.html)
+
+### CloudFlare
+
+WPILib uses Cloudflare for distribution of the WPILib installer.
+
+[Cloudflare Privacy Policy](https://www.cloudflare.com/privacypolicy/)
+
+### JFrog Artifactory
+
+WPILib uses a JFrog-hosted Artifactory instance for distribution of WPILib software components.  If a build is performed while connected to the Internet, Artifactory may be contacted to check for and download updates.
+
+[JFrog Privacy Policy](https://jfrog.com/privacy-notice/)
+
+### Gradle
+
+WPILib uses Gradle to build robot projects.  If a build is performed while connected to the Internet, Gradle may check for updates to software components and will upload information about the build to its services.
+
+[Gradle Privacy Policy](https://gradle.com/legal/privacy/)
+
+### Visual Studio Code
+
+Visual Studio Code is a desktop application that is separately distributed by Microsoft.  The WPILib installer prompts to download and install Visual Studio Code as part of the installation process.  Visual Studio Code auto-updates are disabled by the WPILib installer, but crash reporting and usage reporting are still enabled by default.
+
+[Visual Studio Code Privacy Policy](https://code.visualstudio.com/docs)
+
+### AdvantageScope
+
+The AdvantageScope desktop application is distributed and installed with the WPILib installer.
+
+[AdvantageScope Privacy Policy](https://docs.advantagescope.org/legal/privacy-policy/)
+
+### Elastic
+
+The Elastic desktop application is distributed and installed with the WPILib installer.
+
+[Elastic Privacy Policy](https://github.com/Gold872/elastic-dashboard/blob/main/PRIVACY.md)
+
+## Contact
+
+Questions about this policy can be directed to wpilib@wpi.edu.
+
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diff --git a/source/docs/networking/networking-introduction/index.rst b/source/docs/networking/networking-introduction/index.rst
index a71f74bc25..b077752309 100644
--- a/source/docs/networking/networking-introduction/index.rst
+++ b/source/docs/networking/networking-introduction/index.rst
@@ -1,5 +1,4 @@
-Networking Introduction
-=======================
+# Networking Introduction
 
 This section outlines basic robot configuration and usage relating to communication between the driver station and roboRIO.
 
diff --git a/source/docs/networking/networking-introduction/ip-configurations.rst b/source/docs/networking/networking-introduction/ip-configurations.rst
index b0c04e3c2b..ca5141141b 100644
--- a/source/docs/networking/networking-introduction/ip-configurations.rst
+++ b/source/docs/networking/networking-introduction/ip-configurations.rst
@@ -1,19 +1,21 @@
-IP Configurations
-=================
+# IP Configurations
 
 .. note:: This document describes the IP configuration used at events, both on the fields and in the pits, potential issues and workaround configurations.
 
-TE.AM IP Notation
------------------
+## TE.AM IP Notation
 
-The notation TE.AM is used as part of IPs in numerous places in this document. This notation refers to splitting your four digit team number into two digit pairs for the IP address octets.
+The notation TE.AM is used as part of IPs in numerous places in this document. This notation refers to splitting your five digit team number into digits for the IP address octets. Where AM is the last two digits of the team number, and TE is the first three digits. Leading zeros are optional. This scheme supports team numbers up to 25599.
 
 Example: ``10.TE.AM.2``
 
+Team 1 - ``10.0.1.2``
+
 Team 12 - ``10.0.12.2``
 
 Team 122 - ``10.1.22.2``
 
+Team 1002 - ``10.10.2.2``
+
 Team 1212 - ``10.12.12.2``
 
 Team 1202 - ``10.12.2.2``
@@ -22,15 +24,17 @@ Team 1220 - ``10.12.20.2``
 
 Team 3456 - ``10.34.56.2``
 
-On the Field
-------------
+Team 10000 - ``10.100.0.2``
+
+Team 12345 - ``10.123.45.2``
+
+## On the Field
 
 This section describes networking when connected to the Field Network for match play
 
-On the Field DHCP Configuration
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### On the Field DHCP Configuration
 
-The Field Network runs a DHCP server with pools for each team that will hand out addresses in the range of ``10.TE.AM.20`` to ``10.TE.AM.199`` with a subnet mask of ``255.255.255.0``, and a default gateway of ``10.TE.AM.4``.
+The Field Network runs a :term:`DHCP` server with pools for each team that will hand out addresses in the range of ``10.TE.AM.20`` to ``10.TE.AM.199`` with a subnet mask of ``255.255.255.0``, and a default gateway of ``10.TE.AM.4``.
 When configured for an event, the Team Radio runs a DHCP server with a pool for devices onboard the robot that will hand out addresses in the range of 10.TE.AM.200 to 10.TE.AM.219 with a subnet mask of 255.255.255.0, and a gateway of 10.TE.AM.1.
 
 -  OpenMesh OM5P-AN or OM5P-AC radio - Static ``10.TE.AM.1`` programmed by
@@ -41,8 +45,7 @@ When configured for an event, the Team Radio runs a DHCP server with a pool for
 -  IP camera (if used) - DHCP ``10.TE.AM.Y`` assigned by Robot Radio
 -  Other devices (if used) - DHCP ``10.TE.AM.Z`` assigned by Robot Radio
 
-On the Field Static Configuration
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### On the Field Static Configuration
 
 It is also possible to configure static IPs on your devices to accommodate devices or software which do not support mDNS. When doing so you want to make sure to avoid addresses that will be in use when the robot is on the field network. These addresses are ``10.TE.AM.1`` for the OpenMesh radio, ``10.TE.AM.4`` for the field router, and anything greater than ``10.TE.AM.20`` which may be assigned to a device configured for DHCP or else reserved. The roboRIO network configuration can be set from the webdashboard.
 
@@ -50,20 +53,18 @@ It is also possible to configure static IPs on your devices to accommodate devic
 -  roboRIO - Static ``10.TE.AM.2`` would be a reasonable choice, subnet mask
    of ``255.255.255.0`` (default)
 -  Driver Station - Static ``10.TE.AM.5`` would be a reasonable choice,
-   subnet mask **must** be ``255.0.0.0`` to enable the DS to reach both the robot and FMS Server, without additionally configuring the default gateway.
+   subnet mask **must** be ``255.0.0.0`` to enable the DS to reach both the robot and :term:`FMS` Server, without additionally configuring the default gateway.
    If a static address is assigned and the subnet mask is set to ``255.255.255.0``, then the default gateway must be configured to ``10.TE.AM.4``.
 -  IP Camera (if used) - Static ``10.TE.AM.11`` would be a reasonable
    choice, subnet ``255.255.255.0`` should be fine
 -  Other devices - Static ``10.TE.AM.6-.10`` or ``.12-.19`` (.11 if camera not
    present) subnet ``255.255.255.0``
 
-In the Pits
------------
+## In the Pits
 
 .. note:: **New for 2018:** There is now a DHCP server running on the wired side of the Robot Radio in the event configuration.
 
-In the Pits DHCP Configuration
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### In the Pits DHCP Configuration
 
 -  OpenMesh radio - Static ``10.TE.AM.1`` programmed by Kiosk.
 -  roboRIO - ``10.TE.AM.2``, assigned by Robot Radio
@@ -72,7 +73,6 @@ In the Pits DHCP Configuration
 -  IP camera (if used) - DHCP, ``10.TE.AM.Y``, assigned by Robot Radio
 -  Other devices (if used) - DHCP, ``10.TE.AM.Z``, assigned by Robot Radio
 
-In the Pits Static Configuration
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### In the Pits Static Configuration
 
 It is also possible to configure static IPs on your devices to accommodate devices or software which do not support mDNS. When doing so you want to make sure to avoid addresses that will be in use when the robot is on the field network. These addresses are ``10.TE.AM.1`` for the OpenMesh radio and ``10.TE.AM.4`` for the field router.
diff --git a/source/docs/networking/networking-introduction/measuring-bandwidth-usage.rst b/source/docs/networking/networking-introduction/measuring-bandwidth-usage.rst
index 9e7930b716..1c9f9cb82e 100644
--- a/source/docs/networking/networking-introduction/measuring-bandwidth-usage.rst
+++ b/source/docs/networking/networking-introduction/measuring-bandwidth-usage.rst
@@ -1,35 +1,30 @@
 .. include:: <isonum.txt>
 
-Measuring Bandwidth Usage
-=========================
+# Measuring Bandwidth Usage
 
-On the FRC\ |reg| Field each team is allocated limited network bandwidth (see R704 in the 2023 manual). The `FMS Whitepaper <https://fms-manual.readthedocs.io/en/latest/fms-whitepaper/fms-whitepaper.html>`__ provides more information on determining the bandwidth usage of the Axis camera, but some teams may wish to measure their overall bandwidth consumption. This document details how to make that measurement.
+On the FRC\ |reg| Field each team is allocated limited network bandwidth (see R704 in the 2024 manual). Some teams may wish to measure their overall bandwidth consumption. This document details how to make that measurement.
 
 .. note:: Teams can simulate the bandwidth throttling at home using the FRC Bridge Configuration Utility with the bandwidth checkbox checked.
 
-Measuring Bandwidth Using the Performance Monitor (Win 7/10)
---------------------------------------------------------------
+## Measuring Bandwidth Using the Performance Monitor (Win 7/10)
 
 Windows contains a built-in tool called the Performance Monitor that can be used to monitor the bandwidth usage over a network interface.
 
-Launching the Performance Monitor
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Launching the Performance Monitor
 
 .. image:: images/measuring-bandwidth-usage/start-menu.png
    :alt: Using the start menu to type "perfmon.msc".
 
-Click ``Start`` and in the search box, type ``perfmon.msc`` and press Enter.
+Open the Start menu and in the search box, type ``perfmon.msc`` and press Enter.
 
-Open Real-Time Monitor
-^^^^^^^^^^^^^^^^^^^^^^
+### Open Real-Time Monitor
 
 .. image:: images/measuring-bandwidth-usage/performance-monitor.png
    :alt: Click "Performance Monitor" under "Monitoring Tools" in the tree view.
 
-In the left pane, click ``Performance Monitor`` to display the real-time monitor.
+In the left pane, click :guilabel:`Performance Monitor` to display the real-time monitor.
 
-Add Network Counter
-^^^^^^^^^^^^^^^^^^^
+### Add Network Counter
 
 .. image:: images/measuring-bandwidth-usage/network-counter.png
    :alt: The "Add Counters" screen showinging the steps below.
@@ -37,66 +32,58 @@ Add Network Counter
 #. Click the green plus near the top of the screen to add a counter
 #. In the top left pane, locate and click on ``Network Interface`` to select it
 #. In the bottom left pane, locate the desired network interface (or use All instances to monitor all interfaces)
-#. Click ``Add>>`` to add the counter to the right pane.
-#. Click ``OK`` to add the counters to the graph.
+#. Click :guilabel:`Add >>` to add the counter to the right pane.
+#. Click :guilabel:`OK` to add the counters to the graph.
 
-Remove Extra Counters
-^^^^^^^^^^^^^^^^^^^^^
+### Remove Extra Counters
 
 .. image:: images/measuring-bandwidth-usage/extra-counters.png
    :alt: Removing the counter at the bottom of the graph screen.
 
-In the bottom pane, select each counter other than ``Bytes Total/sec`` and press the ``Delete`` key. The ``Bytes Total/sec`` entry should be the only entry remaining in the pane.
+In the bottom pane, select each counter other than ``Bytes Total/sec`` and press the :kbd:`Delete` key. The ``Bytes Total/sec`` entry should be the only entry remaining in the pane.
 
-Configure Data Properties
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Configure Data Properties
 
 .. image:: images/measuring-bandwidth-usage/data-properties.png
    :alt: Scale dropdown highlighted on the Performance Monitor Properties page.
 
-Press :kbd:`Ctrl+Q` to bring up the Properties window. Click on the dropdown next to ``Scale`` and select ``1.0``. Then click on the ``Graph`` tab.
+Press :kbd:`Ctrl+Q` to bring up the Properties window. Click on the dropdown next to ``Scale`` and select ``1.0``. Then click on the :guilabel:`Graph` tab.
 
-Configure Graph Properties
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Configure Graph Properties
 
 .. image:: images/measuring-bandwidth-usage/graph-properties.png
    :alt: Moving to the Graph tab the Maximum field under Vertical Scale is highlighted.
 
-In the ``Maximum Box`` under ``Vertical Scale`` enter 917504 (this is 7 Megabits converted to Bytes). If desired, turn on the horizontal grid by checking the box. Then click ``OK`` to close the dialog.
+In the ``Maximum Box`` under ``Vertical Scale`` enter 524288 (this is 4 Megabits converted to Bytes). If desired, turn on the horizontal grid by checking the box. Then click :guilabel:`OK` to close the dialog.
 
-Viewing Bandwidth Usage
-^^^^^^^^^^^^^^^^^^^^^^^
+### Viewing Bandwidth Usage
 
 .. image:: images/measuring-bandwidth-usage/graph.png
    :alt: Observing the bandwidth usage on the chart screen.
 
-You may now connect to your robot as normal over the selected interface (if you haven't done so already). The graph will show the total bandwidth usage of the connection, with the bandwidth cap at the top of the graph. The Last, Average, Min and Max values are also displayed at the bottom of the graph. Note that these values are in Bytes/Second meaning the cap is 917,504. With just the Driver Station open you should see a flat line at ~100000 Bytes/Second.
+You may now connect to your robot as normal over the selected interface (if you haven't done so already). The graph will show the total bandwidth usage of the connection, with the bandwidth cap at the top of the graph. The Last, Average, Min and Max values are also displayed at the bottom of the graph. Note that these values are in Bytes/Second meaning the cap is 524,288. With just the Driver Station open you should see a flat line at ~100000 Bytes/Second.
 
-Measuring Bandwidth Usage using Wireshark
------------------------------------------
+## Measuring Bandwidth Usage using Wireshark
 
-If you can not use performance monitor, you will need to install a 3rd party program to monitor bandwidth usage. One program that can be used for this purpose is Wireshark. Download and install the latest version of Wireshark for your version of Windows. After installation is complete, locate and open Wireshark. Connect your computer to your robot, open the Driver Station and any Dashboard or custom programs you may be using.
+If you can not use performance monitor, you will need to install a 3rd party program to monitor bandwidth usage. One program that can be used for this purpose is Wireshark. Download and install the latest version of Wireshark for your version of Windows from [this page](https://www.wireshark.org/download.html). After installation is complete, locate and open Wireshark. Connect your computer to your robot, open the Driver Station and any Dashboard or custom programs you may be using.
 
-Select the interface and Start capture
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Select the interface and Start capture
 
 .. image:: images/measuring-bandwidth-usage/start-capture.png
    :alt: Selecting the Start button and choosing the NIC in Wireshark.
 
-In the Wireshark program on the left side, select the interface you are using to connect to the robot and click ``Start``.
+In the Wireshark program on the left side, double click the interface you are using to connect to the robot.
 
-Open Statistics Summary
-^^^^^^^^^^^^^^^^^^^^^^^
+### Open Capture File Properties
 
-.. image:: images/measuring-bandwidth-usage/summary.png
-   :alt: In the menu bar at the top choosing "Statistics" then "Summary"
+.. image:: images/measuring-bandwidth-usage/capture-file-properties.png
+   :alt: In the menu bar at the top choosing "Statistics" then "Capture File Properties"
 
-Let the capture run for at least 1 minute, then click ``Statistics`` then ``Summary``.
+Let the capture run for at least 1 minute, then click :guilabel:`Statistics` then :guilabel:`Capture File Properties`.
 
-View Bandwidth Usage
-^^^^^^^^^^^^^^^^^^^^
+### View Bandwidth Usage
 
 .. image:: images/measuring-bandwidth-usage/view-usage.png
-   :alt: Looking at the "Avg. MBit/sec" field of the Wireshark summary.
+   :alt: Looking at the "Average bits/sec" field of the Wireshark summary.
 
-Average bandwidth usage, in Megabits/Second is displayed near the bottom of the summary window.
+Average bandwidth usage, in bits/second is displayed near the bottom of the window.
diff --git a/source/docs/networking/networking-introduction/networking-basics.rst b/source/docs/networking/networking-introduction/networking-basics.rst
index e2318c918f..d92e3098fc 100644
--- a/source/docs/networking/networking-introduction/networking-basics.rst
+++ b/source/docs/networking/networking-introduction/networking-basics.rst
@@ -1,10 +1,8 @@
 .. include:: <isonum.txt>
 
-Networking Basics
-=================
+# Networking Basics
 
-What is an IP Address?
-----------------------
+## What is an IP Address?
 
 An IP address is a unique string of numbers, separated by periods that identifies each device on a network. Each IP address is divided up into 4 sections (octets) ranging from 0-255.
 
@@ -17,8 +15,7 @@ This brings up our **first key point** of IP Addressing: Each device on the netw
 
 Since there are only 4 billion addresses, and there are more than 4 billion computers connected to the internet, we need to be as efficient as possible with giving out IP addresses. This brings us to public vs. private addresses.
 
-Public vs Private IP Addresses
-------------------------------
+## Public vs Private IP Addresses
 
 To be efficient with using IP Addresses, the idea of "Reserved IP Ranges" was implemented. In short, this means that there are ranges of IP Addresses that will never be assigned to web servers, and will only be used for local networks, such as those in your house.
 
@@ -41,45 +38,38 @@ then passing the returned data back to the private IP that requested it. This al
    :alt: Devices on the private network send their traffic through the NAT device to communicate to the outside network and vice versa.
 
 .. note::
-   For the FRC\ |reg| networks, we will use the ``10.0.0.0`` range. This range allows us to use the ``10.TE.AM.xx`` format for IP addresses, whereas using the Class B or C networks would only allow a subset of teams to follow the format. An example of this formatting would be ``10.17.50.1`` for FRC Team 1750.
+   For the FRC\ |reg| networks, we will use the ``10.0.0.0`` range. This range allows us to use the ``10.TE.AM.xx`` format for IP addresses, whereas using the Class B or C networks would only allow a subset of teams to follow the format (:ref:`TE.AM IP Notation <docs/networking/networking-introduction/ip-configurations:TE.AM IP Notation>`).
 
 
-How are these addresses assigned?
----------------------------------
+## How are these addresses assigned?
 
 We’ve covered the basics of what IP addresses are, and which IP addresses we will use for the FRC competition, so now we need to discuss how these addresses will get assigned to the devices on our network. We already stated above that we can’t have two devices on the same network with the same IP Address, so we need a way to be sure that every device receives an address without overlapping. This can be done Dynamically (automatic), or Statically (manual).
 
-Dynamically
-^^^^^^^^^^^
+### Dynamically
 
 Dynamically assigning IP addresses means that we are letting a device on the network manage the IP address assignments. This is done through the Dynamic Host Configuration Protocol (DHCP). DHCP has many components to it, but for the scope of this document, we will think of it as a service that automatically manages the network. Whenever you plug in a new device to the network, the DHCP service sees the new device, then provides it with an available IP address and the other network settings required for the device to communicate. This can mean that there are times we do not know the exact IP address of each device.
 
-What is a DHCP server?
-~~~~~~~~~~~~~~~~~~~~~~
+#### What is a DHCP server?
 
-A DHCP server is a device that runs the DHCP service to monitor the network for new devices to configure. In larger businesses, this could be a dedicated computer running the DHCP service and that computer would be the DHCP server. For home networks, FRC networks, and other smaller networks, the DHCP service is usually running on the router; in this case, the router is the DHCP server.
+A :term:`DHCP` server is a device that runs the DHCP service to monitor the network for new devices to configure. In larger businesses, this could be a dedicated computer running the DHCP service and that computer would be the DHCP server. For home networks, FRC networks, and other smaller networks, the DHCP service is usually running on the router; in this case, the router is the DHCP server.
 
 This means that if you ever run into a situation where you need to have a DHCP server assigning IP addresses to your network devices, it’s as simple as finding the closest home router, and plugging it in.
 
-Statically
-^^^^^^^^^^
+### Statically
 
 Statically assigning IP addresses means that we are manually telling each device on the network which IP address we want it to have. This configuration happens through a setting on each device. By disabling DHCP on the network and assigning the addresses manually, we get the benefit of knowing the exact IP address of each device on the network, but because we set each one manually and there is no service keeping track of the used IP addresses, we have to keep track of this ourselves. While statically setting IP addresses, we must be careful not to assign duplicate addresses, and must be sure we are setting the other network settings (such as subnet mask and default gateway) correctly on each device.
 
-What is link-local?
--------------------
+## What is link-local?
 
 If a device does not have an IP address, then it cannot communicate on a network. This can become an issue if we have a device that is set to dynamically acquire its address from a DHCP server, but there is no DHCP server on the network. An example of this would be when you have a laptop directly connected to a roboRIO and both are set to dynamically acquire an IP address. Neither device is a DHCP server, and since they are the only two devices on the network, they will not be assigned IP addresses automatically.
 
 Link-local addresses give us a standard set of addresses that we can "fall-back" to if a device set to acquire dynamically is not able to acquire an address. If this happens, the device will assign itself an IP address in the ``169.254.xx.yy`` address range; this is a link-local address. In our roboRIO and computer example above, both devices will realize they haven’t been assigned an IP address and assign themselves a link-local address. Once they are both assigned addresses in the ``169.254.xx.yy`` range, they will be in the same network and will be able to communicate, even though they were set to dynamic and a DHCP server did not assign addresses.
 
-IP Addressing for FRC
----------------------
+## IP Addressing for FRC
 
 See the :doc:`IP Networking Article <ip-configurations>` for more information.
 
-Mixing Dynamic and Static Configurations
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Mixing Dynamic and Static Configurations
 
 While on the field, the team should not notice any issues with having devices set statically in the ``10.TE.AM.xx`` range, and having the field assign DHCP addresses as long as there are no IP address conflicts as referred to in the section above.
 
@@ -90,18 +80,15 @@ In the pits, a team may encounter issues with mixing Static and DHCP devices for
 
 .. warning:: When connected via USB to the roboRIO, a :ref:`docs/networking/networking-utilities/portforwarding:Port Forwarding` configuration is required to access devices connected to the OpenMesh radio (on the green network shown above).
 
-Available Network Ports
-^^^^^^^^^^^^^^^^^^^^^^^
+### Available Network Ports
 
-Please see R704 of the 2023 Game Manual for information regarding available network ports.
+Please see R704 of the 2024 Game Manual for information regarding available network ports.
 
-mDNS
-----
+## mDNS
 
 mDNS, or multicast Domain Name System is a protocol that allows us to benefit from the features of DNS, without having a DNS server on the network. To make this clearer, let’s take a step back and talk about what DNS is.
 
-What is DNS?
-^^^^^^^^^^^^
+### What is DNS?
 
 DNS (Domain Name System) can become a complex topic, but for the scope of this paper, we are going to just look at the high-level overview of DNS. In the most basic explanation, DNS is what allows us to relate human-friendly names for network devices to IP Addresses, and keep track of those IP addresses if they change.
 
@@ -113,8 +100,7 @@ Example 2: On your home network, you have a server named ``MYCOMPUTER`` that you
 
 This is the second benefit to DNS and the most relevant for FRC. With DNS, if we reference devices by their friendly name instead of IP Address, we don’t have to change anything in our program if the IP Address changes. DNS will keep track of the changes and return the new address if it ever changes.
 
-DNS for FRC
-^^^^^^^^^^^
+### DNS for FRC
 
 On the field and in the pits, there is no DNS server that allows us to perform the lookups like we do for the Google website, but we’d still like to have the benefits of not remembering every IP Address, and not having to guess at every device’s address if DHCP assigns a different address than we expect. This is where mDNS comes into the picture.
 
@@ -123,13 +109,11 @@ mDNS provides us the same benefits as traditional DNS, but is just implemented i
 .. note::
    If a device used for FRC does not support mDNS, then it will be assigned an IP Address in the 10.TE.AM.20 - 10.TE.AM.255 range, but we won’t know the exact address to connect and we won’t be able to use the friendly name like before. In this case, the device would need to have a static IP Address.
 
-mDNS - Principles
-^^^^^^^^^^^^^^^^^
+### mDNS - Principles
 
 Multicast Domain Name System (mDNS) is a system which allows for resolution of hostnames to IP addresses on small networks with no dedicated name server. To resolve a hostname a device sends out a multicast message to the network querying for the device. The device then responds with a multicast message containing its IP. Devices on the network can store this information in a cache so subsequent requests for this address can be resolved from the cache without repeating the network query.
 
-mDNS - Providers
-^^^^^^^^^^^^^^^^
+### mDNS - Providers
 
 To use mDNS, an mDNS implementation is required to be installed on your PC. Here are some common mDNS implementations for each major platform:
 
@@ -146,8 +130,7 @@ Linux:
 
 - **nss-mDNS/Avahi/Zeroconf:** Installed and enabled by default on some Linux variants (such as Ubuntu or Mint). May need to be installed or enabled on others (such as Arch)
 
-mDNS - Firewalls
-^^^^^^^^^^^^^^^^
+### mDNS - Firewalls
 
 .. note:: Depending on your PC configuration, no changes may be required, this section is provided to assist with troubleshooting.
 
@@ -162,25 +145,21 @@ To work properly mDNS must be allowed to pass through your firewall. Because the
   - ``169.254.0.0 - 169.254.255.255``
   - ``224.0.0.251``
 
-mDNS - Browser support
-^^^^^^^^^^^^^^^^^^^^^^
+### mDNS - Browser support
 
 Most web-browsers should be able to utilize the mDNS address to access the roboRIO web server as long as an mDNS provider is installed. These browsers include Microsoft Edge, Firefox, and Google Chrome.
 
-USB
----
+## USB
 
 If using the USB interface, no network setup is required (you do need the :ref:`docs/zero-to-robot/step-2/frc-game-tools:Installing the FRC Game Tools` installed to provide the roboRIO USB Driver). The roboRIO driver will automatically configure the IP address of the host (your computer) and roboRIO and the software listed above should be able to locate and utilize your roboRIO.
 
-Ethernet/Wireless
------------------
+## Ethernet/Wireless
 
-The :ref:`docs/zero-to-robot/step-3/radio-programming:Programming your Radio` will enable the DHCP server on the OpenMesh radio in the home use case (AP mode), if you are putting the OpenMesh in bridge mode and using a router, you can enable DHCP addressing on the router. The bridge is set to the same team-based IP address as before (``10.TE.AM.1``) and will hand out DHCP address from ``10.TE.AM.20`` to ``10.TE.AM.199``. When connected to the field, FMS will also hand out addresses in the same IP range.
+The :ref:`docs/zero-to-robot/step-3/radio-programming:Programming your Radio` will enable the DHCP server on the OpenMesh radio in the home use case (AP mode), if you are putting the OpenMesh in bridge mode and using a router, you can enable DHCP addressing on the router. The bridge is set to the same team-based IP address as before (``10.TE.AM.1``) and will hand out DHCP address from ``10.TE.AM.20`` to ``10.TE.AM.199``. When connected to the field, :term:`FMS` will also hand out addresses in the same IP range.
 
-Summary
--------
+## Summary
 
-IP Addresses are what allow us to communicate with devices on a network. For FRC, these addresses are going to be in the 10.TE.AM.xx range if we are connected to a DHCP server or if they are assigned statically, or in the link-local ``169.254.xx.yy`` range if the devices are set to DHCP, but there is no server present. For more information on how IP Addresses work, see `this <https://support.microsoft.com/en-us/help/164015/understanding-tcp-ip-addressing-and-subnetting-basics>`__ article by Microsoft.
+IP Addresses are what allow us to communicate with devices on a network. For FRC, these addresses are going to be in the 10.TE.AM.xx range if we are connected to a DHCP server or if they are assigned statically, or in the link-local ``169.254.xx.yy`` range if the devices are set to DHCP, but there is no server present. For more information on how IP Addresses work, see [this](https://support.microsoft.com/en-us/help/164015/understanding-tcp-ip-addressing-and-subnetting-basics) article by Microsoft.
 
 If all devices on the network support mDNS, then all devices can be set to DHCP and referred to using their friendly names (ex. ``roboRIO-TEAM-FRC.local``). If some devices do not support mDNS, they will need to be set to use static addresses.
 
diff --git a/source/docs/networking/networking-introduction/om5p-ac-radio-modification.rst b/source/docs/networking/networking-introduction/om5p-ac-radio-modification.rst
index 35ab9db0c9..31b5d90181 100644
--- a/source/docs/networking/networking-introduction/om5p-ac-radio-modification.rst
+++ b/source/docs/networking/networking-introduction/om5p-ac-radio-modification.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-OM5P-AC Radio Modification
-==========================
+# OM5P-AC Radio Modification
 
 The intended use case for the OM5P-AC radio does not subject it to the same shocks and forces as it sees in the FRC\ |reg| environment. If the radio is subjected to significant pressure on the bottom of the case, it is possible to cause a radio reboot by shorting a metal shield at the bottom of the radio to some exposed metal leads on the bottom of the board. This article details a modification to the radio to prevent this scenario.
 
@@ -10,13 +9,11 @@ The intended use case for the OM5P-AC radio does not subject it to the same shoc
 - Avoid using the "mounting tab" features on the bottom of the radio.
 - You may wish to mount the radio to allow for some shock absorption. A little can go a long way, mounting the radio using hook and loop fastener or to a robot surface with a small amount of flex (plastic or sheet metal sheet, etc.) can significantly reduce the forces experienced by the radio.
 
-Opening the Radio
------------------
+## Opening the Radio
 
 .. note:: The OpenMesh OM5P-AC is not designed to be a user serviceable device. Users perform this modification at their own risk. Make sure to work slowly and carefully to avoid damaging internal components such as radio antenna cables.
 
-Case Screws
-^^^^^^^^^^^
+### Case Screws
 
 .. image:: images/om5p-ac-radio-modification/rubber-feet.png
    :alt: Location of the two front rubber feet.
@@ -26,16 +23,14 @@ Case Screws
 
 Locate the two rubber feet on the front side of the radio then pry them off the radio using fingernails, small flat screwdriver, etc. Using a small Phillips screwdriver, remove the two screws under the feet.
 
-Side Latches
-^^^^^^^^^^^^
+### Side Latches
 
 .. image:: images/om5p-ac-radio-modification/lift-cover.png
    :alt: Slightly lifting the top cover of the radio.
 
 There is a small latch on the lid of the radio near the middle of each long edge (you can see these latches more clearly in the next picture). Using a fingernail or very thin tool, slide along the gap between the lid and case from front to back towards the middle of the radio, you should hear a small pop as you near the middle of radio. Repeat on the other side (note: it's not hard to accidentally re-latch the first side while doing this, make sure both sides are unlatched before proceeding). The radio lid should now be slightly open on the front side as shown in the image above.
 
-Remove Lid
-^^^^^^^^^^
+### Remove Lid
 
 .. warning:: The board may stick to the lid as you remove it due to the heatsink pads. Look through the vents of the radio as you remove the lid to see if the board is coming with it, if it is you may need to insert a small tool to hold the board down to separate it from the lid. We recommend a small screwdriver or similar tool that fits through the vents, applied through the front corner on the barrel jack side, right above the screw hole. You can scroll down to the picture with the lid removed to see what the board looks like in this area.
 
@@ -49,8 +44,7 @@ To begin removing the lid, slide it forward (lifting slightly) until the screw h
 
 Next, begin rotating the lid slightly away from the barrel jack side, as shown while continuing to lift. This will unhook the lid from the small triangle visible in the top right corner. Continue to rotate slightly in this direction while pushing the top left corner towards the barrel jack (don't try to lift further in this step) to unhook a similar feature in the top left corner. Then lift the lid completely away from the body.
 
-Remove Board
-^^^^^^^^^^^^
+### Remove Board
 
 .. image:: images/om5p-ac-radio-modification/antenna.png
    :alt: Note the three fragile antenna wires on the board.
@@ -72,16 +66,14 @@ Tilt the board up (towards the short grey antenna cable) to expose the metal shi
 
 .. note:: When you perform this step, you may notice that there is a small reset button on the underside of the board that is larger than the hole in the case. Note that pressing the reset button with the FRC firmware installed has no effect and that drilling the case of the radio is not a permitted modification.
 
-Apply Tape
-----------
+## Apply Tape
 
 .. image:: images/om5p-ac-radio-modification/electrical-tape.png
    :alt: Applying electrical tape at the front of the shield near the Ethernet ports.
 
 Apply a piece of electrical tape to the metal shield in the area just inside of the network port/barrel jack openings. This will prevent the exposed leads on the underside of the board from short circuiting on this plate.
 
-Re-assemble Radio
------------------
+## Re-assemble Radio
 
 Re-assemble the radio by reversing the instructions to open it:
 
diff --git a/source/docs/networking/networking-introduction/roborio-network-troubleshooting.rst b/source/docs/networking/networking-introduction/roborio-network-troubleshooting.rst
index 821fa96384..e006d08813 100644
--- a/source/docs/networking/networking-introduction/roborio-network-troubleshooting.rst
+++ b/source/docs/networking/networking-introduction/roborio-network-troubleshooting.rst
@@ -1,33 +1,28 @@
 .. include:: <isonum.txt>
 
-roboRIO Network Troubleshooting
-===============================
+# roboRIO Network Troubleshooting
 
-The roboRIO and FRC\ |reg| tools use dynamic IP addresses (DHCP) for network connectivity. This article describes steps for troubleshooting networking connectivity between your PC and your roboRIO
+The roboRIO and FRC\ |reg| tools use dynamic IP addresses (:term:`DHCP`) for network connectivity. This article describes steps for troubleshooting networking connectivity between your PC and your roboRIO
 
-Ping the roboRIO using mDNS
----------------------------
+## Ping the roboRIO using mDNS
 
-The first step to identifying roboRIO networking issues is to isolate if it is an application issue or a general network issue. To do this, click **Start -> type cmd -> press Enter** to open the command prompt. Type ``ping roboRIO-####-FRC.local`` where #### is your team number (with no leading zeroes) and press enter. If the ping succeeds, the issue is likely with the specific application, verify your team number configuration in the application, and check your firewall configuration.
+The first step to identifying roboRIO networking issues is to isolate if it is an application issue or a general network issue. To do this, click **Start -> type cmd -> press Enter** to open the command prompt. Type ``ping roboRIO-#####-FRC.local`` where ##### is your team number (with no leading zeroes) and press enter. If the ping succeeds, the issue is likely with the specific application, verify your team number configuration in the application, and check your firewall configuration.
 
-Ping the roboRIO IP Address
----------------------------
+## Ping the roboRIO IP Address
 
 If there is no response, try pinging ``10.TE.AM.2`` (:ref:`TE.AM IP Notation <docs/networking/networking-introduction/ip-configurations:TE.AM IP Notation>`) using the command prompt as described above. If this works, you have an issue resolving the mDNS address on your PC. The two most common causes are not having an mDNS resolver installed on the system and a DNS server on the network that is trying to resolve the .local address using regular DNS.
 
 - Verify that you have an mDNS resolver installed on your system. On Windows, this is typically fulfilled by the NI FRC Game Tools. For more information on mDNS resolvers, see the :ref:`Network Basics article <docs/networking/networking-introduction/networking-basics:mDNS>`.
 - Disconnect your computer from any other networks and make sure you have the OM5P-AN configured as an access point, using the :ref:`FRC Radio Configuration Utility <docs/zero-to-robot/step-3/radio-programming:Programming your Radio>`. Removing any other routers from the system will help verify that there is not a DNS server causing the issue.
 
-Ping Fails
-----------
+## Ping Fails
 
    .. image:: images/roborio-troubleshooting/win10-dhcp.png
       :alt: Windows 10+ image of the adapter setting
 
    If pinging the IP address directly fails, you may have an issue with the network configuration of the PC. The PC should be configured to **Automatic**. To check this, click :guilabel:`Start` -> :guilabel:`Settings` -> :guilabel:`Network & Internet`. Depending on your network, select :guilabel:`Wifi` or :guilabel:`Ethernet`. Then click on your connected network. Scroll down to **IP settings** and click :guilabel:`Edit` and ensure the :guilabel:`Automatic (DHCP)` option is selected.
 
-USB Connection Troubleshooting
-------------------------------
+## USB Connection Troubleshooting
 
 If you are attempting to troubleshoot the USB connection, try pinging the roboRIO's IP address. As long as there is only one roboRIO connected to the PC, it should be configured as 172.22.11.2. If this ping fails, make sure you have the roboRIO connected and powered, and that you have installed the NI FRC Game Tools. The game tools installs the roboRIO drivers needed for the USB connection.
 
@@ -36,16 +31,14 @@ If this ping succeeds, but the .local ping fails, it is likely that either the r
 - Verify that your roboRIO has been imaged for your team number: :doc:`roboRIO 1</docs/zero-to-robot/step-3/imaging-your-roborio>` :doc:`roboRIO 2</docs/zero-to-robot/step-3/roborio2-imaging>`. This sets the hostname used by mDNS.
 - :ref:`Disable all other network adapters <docs/networking/networking-introduction/roborio-network-troubleshooting:Disabling Network Adapters>`
 
-Ethernet Connection
--------------------
+## Ethernet Connection
 
 .. image:: images/roborio-troubleshooting/roborio-ip-address.png
    :alt: The IP address from the roboRIO webdashboard.
 
-If you are troubleshooting an Ethernet connection, it may be helpful to first make sure that you can connect to the roboRIO using the USB connection. Using the USB connection, open the :ref:`roboRIO webdashboard <docs/software/roborio-info/roborio-web-dashboard:roboRIO Web Dashboard>` and verify that the roboRIO has an IP address on the ethernet interface. If you are tethering to the roboRIO directly this should be a self-assigned ``169.*.*.*`` address, if you are connected to the OM5P-AN radio, it should be an address of the form ``10.TE.AM.XX`` where TEAM is your four digit FRC team number. If the only IP address here is the USB address, verify the physical roboRIO ethernet connection.
+If you are troubleshooting an Ethernet connection, it may be helpful to first make sure that you can connect to the roboRIO using the USB connection. Using the USB connection, open the :ref:`roboRIO webdashboard <docs/software/roborio-info/roborio-web-dashboard:roboRIO Web Dashboard>` and verify that the roboRIO has an IP address on the ethernet interface. If you are tethering to the roboRIO directly this should be a self-assigned ``169.*.*.*`` address, if you are connected to the OM5P-AN radio, it should be an address of the form ``10.TE.AM.XX`` where TEAM is your five digit FRC team number(:ref:`TE.AM IP Notation <docs/networking/networking-introduction/ip-configurations:TE.AM IP Notation>`). If the only IP address here is the USB address, verify the physical roboRIO ethernet connection.
 
-Disabling Network Adapters
---------------------------
+## Disabling Network Adapters
 
 This is not always the same as turning the adapters off with a physical button or putting the PC into airplane mode. The following steps provide more detail on how to disable adapters.
 
@@ -74,7 +67,6 @@ On the left pane, click :guilabel:`Change Adapter Settings`.
 
 For each adapter other than the one connected to the radio, right click on the adapter and select :guilabel:`Disable` from the menu.
 
-Proxies
--------
+## Proxies
 
 - Proxies. Having a proxy enabled may cause issues with the roboRIO networking.
diff --git a/source/docs/networking/networking-introduction/windows-firewall-configuration.rst b/source/docs/networking/networking-introduction/windows-firewall-configuration.rst
index 3d911c794a..780b6d0d67 100644
--- a/source/docs/networking/networking-introduction/windows-firewall-configuration.rst
+++ b/source/docs/networking/networking-introduction/windows-firewall-configuration.rst
@@ -1,12 +1,10 @@
 .. include:: <isonum.txt>
 
-Windows Firewall Configuration
-==============================
+# Windows Firewall Configuration
 
 Many of the programming tools used in FRC\ |reg| need network access for various reasons. Depending on the exact configuration, the Windows Firewall may potentially interfere with this access for one or more of these programs.
 
-Disabling Windows Firewall
---------------------------
+## Disabling Windows Firewall
 
 .. important:: Disabling your firewall requires administrator privileges to the PC. Additionally note that disabling the firewall is not recommended for computers that connect to the internet.
 
@@ -42,8 +40,7 @@ Then click on the **On** toggle to turn it off.
 .. image:: images/windows-firewall/disable-firewall-toggle.png
    :alt: The toggle button in the center for each option.
 
-Whitelisting Apps
------------------
+## Whitelisting Apps
 
 Alternatively, you can add exceptions to the Firewall for any FRC programs you are having issues with.
 
diff --git a/source/docs/networking/networking-utilities/index.rst b/source/docs/networking/networking-utilities/index.rst
index 333f2eb9eb..3aa7da8e6b 100644
--- a/source/docs/networking/networking-utilities/index.rst
+++ b/source/docs/networking/networking-utilities/index.rst
@@ -1,5 +1,4 @@
-Networking Utilities
-====================
+# Networking Utilities
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/networking/networking-utilities/portforwarding.rst b/source/docs/networking/networking-utilities/portforwarding.rst
index e647d94bf8..56db516a75 100644
--- a/source/docs/networking/networking-utilities/portforwarding.rst
+++ b/source/docs/networking/networking-utilities/portforwarding.rst
@@ -1,54 +1,52 @@
-Port Forwarding
-===============
+# Port Forwarding
 
 This class provides an easy way to forward local ports to another host/port. This is useful to provide a way to access Ethernet-connected devices from a computer tethered to the roboRIO USB port. This class acts as a raw TCP port forwarder, this means you can forward connections such as SSH.
 
-Forwarding a Remote Port
-------------------------
+## Forwarding a Remote Port
 
-Often teams may wish to connect directly to the roboRIO for controlling their robot. The PortForwarding class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/net/PortForwarder.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classwpi_1_1_port_forwarder.html>`__) can be used to forward the Raspberry Pi connection for usage during these times. The PortForwarding class establishes a bridge between the remote and the client. To forward a port in Java, simply do ``PortForwarder.add(int port, String remoteName, int remotePort)``.
+Often teams may wish to connect directly to the roboRIO for controlling their robot. The PortForwarding class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/net/PortForwarder.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classwpi_1_1_port_forwarder.html)) can be used to forward the Raspberry Pi connection for usage during these times. The PortForwarding class establishes a bridge between the remote and the client. To forward a port in Java, simply do ``PortForwarder.add(int port, String remoteName, int remotePort)``.
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   @Override
+   public void robotInit() {
+      PortForwarder.add(8888, "wpilibpi.local", 80);
+   }
+   ```
 
-      @Override
-      public void robotInit() {
-         PortForwarder.add(8888, "wpilibpi.local", 80);
-      }
+   ```c++
+   void Robot::RobotInit {
+      wpi::PortForwarder::GetInstance().Add(8888, "wpilibpi.local", 80);
+   }
+   ```
 
-   .. code-block:: c++
-
-      void Robot::RobotInit {
-         wpi::PortForwarder::GetInstance().Add(8888, "wpilibpi.local", 80);
-      }
-
-   .. code-block:: python
-
-      wpiutil.PortForwarder.getInstance().add(8888, "wpilibpi.local", 80)
+   ```python
+   wpinet.PortForwarder.getInstance().add(8888, "wpilibpi.local", 80)
+   ```
 
 .. important:: You **can not** use a port less than 1024 as your local forwarded port. It is also important to note that you **can not** use full URLs (``http://wpilibpi.local``) and should only use IP Addresses or DNS names.
 
-Removing a Forwarded Port
--------------------------
+## Removing a Forwarded Port
 
 To stop forwarding on a specified port, simply call ``remove(int port)`` with port being the port number. If you call ``remove()`` on a port that is not being forwarded, nothing will happen.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      @Override
-      public void robotInit() {
-         PortForwarder.remove(8888);
-      }
-
-   .. code-block:: c++
+   ```java
+   @Override
+   public void robotInit() {
+      PortForwarder.remove(8888);
+   }
+   ```
 
-      void Robot::RobotInit {
-         wpi::PortForwarder::GetInstance().Remove(8888);
-      }
+   ```c++
+   void Robot::RobotInit {
+      wpi::PortForwarder::GetInstance().Remove(8888);
+   }
+   ```
 
-   .. code-block:: python
+   ```python
+   wpinet.PortForwarder.getInstance().remove(8888)
+   ```
 
-      wpiutil.PortForwarder.getInstance().remove(8888)
diff --git a/source/docs/romi-robot/getting-to-know-romi.rst b/source/docs/romi-robot/getting-to-know-romi.rst
index 2870571ff1..4bb68d96be 100644
--- a/source/docs/romi-robot/getting-to-know-romi.rst
+++ b/source/docs/romi-robot/getting-to-know-romi.rst
@@ -1,8 +1,6 @@
-Getting to know your Romi
-=========================
+# Getting to know your Romi
 
-Directional Conventions
------------------------
+## Directional Conventions
 
 The front of the Romi is where the Raspberry Pi USB ports, GPIO pins and suspended caster wheel are.
 
@@ -14,8 +12,7 @@ In all Romi documentation, references to driving forward use the above definitio
 .. image:: images/getting-to-know-romi/romi-forward.png
    :alt: Romi Forward Driving Direction
 
-Hardware, Sensors, and GPIO
----------------------------
+## Hardware, Sensors, and GPIO
 
 The Romi has the following built-in hardware/peripherals:
 
@@ -28,8 +25,7 @@ The Romi has the following built-in hardware/peripherals:
 
 .. note:: The Buzzer is currently not supported by WPILib.
 
-Motors, Wheels, and Encoders
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Motors, Wheels, and Encoders
 
 The motors used on the Romi have a 120:1 gear reduction, and a no-load output speed of 150 RPM at 4.5V. The free current is 0.13 amps and the stall current is 1.25 amps. Stall torque is 25 oz-in (0.1765 N-m) but the built-in safety clutch might start slipping at lower torques.
 
@@ -37,7 +33,7 @@ The wheels have a diameter of 70mm (2.75"). They have a trackwidth of 141mm (5.5
 
 The encoders are connected directly to the motor output shaft and have 12 Counts Per Revolution (CPR). With the provided gear ratio, this nets 1440 counts per wheel revolution.
 
-The motor PWM channels are listed in the table below.
+The motor :term:`PWM` channels are listed in the table below.
 
 +-------------+--------------------------+
 | Channel     | Romi Hardware Component  |
@@ -65,8 +61,7 @@ The encoder channels are listed in the table below.
 
 .. note:: By default, the encoders count up when the Romi moves forward.
 
-Inertial Measurement Unit
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Inertial Measurement Unit
 
 The Romi includes an STMicroelectronics LSM6DS33 Inertial Measurement Unit (IMU) which contains a 3-axis gyro and a 3-axis accelerometer.
 
@@ -74,8 +69,7 @@ The accelerometer has selectable sensitivity of 2G, 4G, 8G, and 16G. The gyro ha
 
 The Romi Web UI also provides a means to calibrate the gyro and measure its zero-offsets before use with robot code.
 
-Onboard LEDs and Push Buttons
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Onboard LEDs and Push Buttons
 
 The Romi 32U4 control board has 3 push buttons and 3 LEDs onboard that are exposed as Digital IO (DIO) channels to robot code.
 
@@ -94,10 +88,9 @@ The Romi 32U4 control board has 3 push buttons and 3 LEDs onboard that are expos
 | DIO 3       | Yellow LED (output only)             |
 +-------------+--------------------------------------+
 
-Writes to DIO 0, 4, 5, 6 and 7 will result in no-ops.
+Writes to DIO 0, 4, 5, 6 and 7 will result in a :term:`no-op`.
 
-Configurable GPIO Pins
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Configurable GPIO Pins
 
 The control board has 5 configurable GPIO pins (named EXT0 through EXT4) that allow a user to connect external sensors and actuators to the Romi.
 
@@ -110,8 +103,7 @@ The GPIO channels are exposed via a 3-pin, servo style interface, with connectio
 
 The power connections for the GPIO pins are initially left unconnected but can be hooked into the Romi's on-board 5V supply by using a jumper to connect the 5V pin to the power bus (as seen in the image above). Additionally, if more power than the Romi can provide is needed, the user can provide their own 5V power supply and connect it directly to power bus and ground pins.
 
-GPIO Default Configuration
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### GPIO Default Configuration
 
 The table below shows the default configuration of the GPIO pins (EXT0 through EXT4). :ref:`The Romi Web UI <docs/romi-robot/web-ui:External IO Configuration>` allows the user to customize the functions of the 5 configurable GPIO pins. The UI will also provide the appropriate WPILib channel/device mappings on screen once the IO configuration is complete.
 
diff --git a/source/docs/romi-robot/hardware-support.rst b/source/docs/romi-robot/hardware-support.rst
index ada9ffd115..93dfe97fe3 100644
--- a/source/docs/romi-robot/hardware-support.rst
+++ b/source/docs/romi-robot/hardware-support.rst
@@ -1,19 +1,16 @@
-Romi Hardware Support
-=====================
+# Romi Hardware Support
 
 The Romi robot, having a different hardware architecture than a roboRIO, is compatible with a subset of commonly used FRC control system components.
 
-Compatible Hardware
-------------------------
+## Compatible Hardware
 
 In general, the Romi is compatible with the following:
 
 - Simple Digital Input/Output devices (e.g. bumper switches, single LEDs)
-- Standard RC-style PWM output devices (e.g. servos, PWM based motor controllers)
+- Standard RC-style :term:`PWM` output devices (e.g. servos, PWM based motor controllers)
 - Analog Input sensors (e.g distance sensors that report distance as a voltage)
 
-Incompatible Hardware
----------------------
+## Incompatible Hardware
 
 Due to hardware limitations, the Romi Robot is not compatible with the following:
 
@@ -23,8 +20,7 @@ Due to hardware limitations, the Romi Robot is not compatible with the following
 - CAN based devices
 - Romi built-in buzzer
 
-Compatible Classes
-------------------
+## Compatible Classes
 
 All classes listed here are supported by the Romi Robot. If a class is not listed here, assume that it is not supported and *will not* work.
 
@@ -36,7 +32,7 @@ All classes listed here are supported by the Romi Robot. If a class is not liste
 - ``Servo``
 - ``BuiltInAccelerometer``
 
-The following classes are provided by the `Romi Vendordep <https://raw.githubusercontent.com/wpilibsuite/romi-vendordep/main/RomiVendordep.json>`__.
+The following classes are provided by the [Romi Vendordep](https://raw.githubusercontent.com/wpilibsuite/romi-vendordep/main/RomiVendordep.json).
 
 - ``RomiGyro``
 - ``RomiMotor``
diff --git a/source/docs/romi-robot/hardware.rst b/source/docs/romi-robot/hardware.rst
index 903e1cd376..0c1531dc91 100644
--- a/source/docs/romi-robot/hardware.rst
+++ b/source/docs/romi-robot/hardware.rst
@@ -1,16 +1,14 @@
-Romi Hardware & Assembly
-========================
+# Romi Hardware & Assembly
 
 To get started with the Romi, you will need to have the necessary hardware.
 
-1. `Romi Kit from Pololu <https://www.pololu.com/product/4022>`__ – Order qualifies for free shipping
-2. `Raspberry Pi <https://www.amazon.com/gp/product/B07BFH96M3/>`__ – 3B+ or 4
-3. `8GB (or larger) Micro SD card <https://www.amazon.com/dp/B073K14CVB/>`__
-4. `Micro SD card reader <https://www.amazon.com/gp/product/B0779V61XB/>`__ - if you don't already have one
-5. `6 AA batteries <https://www.amazon.com/gp/product/B07TW9T8JW/>`__ – Rechargeable is best (don't forget the charger)
+1. [Romi Kit from Pololu](https://www.pololu.com/product/4022) – Order qualifies for free shipping
+2. [Raspberry Pi](https://www.amazon.com/gp/product/B07BFH96M3/) – 3B+ or 4
+3. [8GB (or larger) Micro SD card](https://www.amazon.com/dp/B073K14CVB/)
+4. [Micro SD card reader](https://www.amazon.com/gp/product/B0779V61XB/) - if you don't already have one
+5. [6 AA batteries](https://www.amazon.com/gp/product/B07TW9T8JW/) – Rechargeable is best (don't forget the charger)
 
-Assembly
---------
+## Assembly
 
 The Romi Robot Kit for FIRST comes pre-soldered and only has to be put together before it can be used. Once you have gathered all the materials you can begin assembly:
 
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diff --git a/source/docs/romi-robot/imaging-romi.rst b/source/docs/romi-robot/imaging-romi.rst
index 09dc89ada2..7a1d78dca2 100644
--- a/source/docs/romi-robot/imaging-romi.rst
+++ b/source/docs/romi-robot/imaging-romi.rst
@@ -1,5 +1,4 @@
-Imaging your Romi
-=================
+# Imaging your Romi
 
 The Romi has 2 microprocessor boards:
 
@@ -8,28 +7,24 @@ The Romi has 2 microprocessor boards:
 
 Both boards need to have firmware installed so that the robot operates properly.
 
-Raspberry Pi
-------------
+## Raspberry Pi
 
-Download
-^^^^^^^^
+### Download
 
 The Raspberry Pi firmware is based on WPILibPi (formerly FRCVision) and must be downloaded and written to the Raspberry Pi micro SD card. Click on ``Assets`` at the bottom of the description to see the available image files:
 
-`Romi WPILibPi <https://github.com/wpilibsuite/WPILibPi/releases>`__
+[Romi WPILibPi](https://github.com/wpilibsuite/WPILibPi/releases)
 
 Be sure to download the Romi version and not the standard release of WPILibPi. The Romi version is suffixed with ``-Romi``. See the below image for an example.
 
 .. image:: images/imaging-romi/romi-download.png
    :alt: GitHub Romi Release
 
-Imaging
-^^^^^^^
+### Imaging
 
 The procedure for installing the image is described here: :doc:`WPILibPi Installation</docs/software/vision-processing/wpilibpi/installing-the-image-to-your-microsd-card>`.
 
-Wireless Network Setup
-^^^^^^^^^^^^^^^^^^^^^^
+### Wireless Network Setup
 
 Perform the following steps to get your Raspberry Pi ready to use with the Romi:
 
@@ -58,8 +53,7 @@ Be sure to set the Dashboard to ``Read-only`` when all the changes have been com
 .. image:: images/imaging-romi/network-settings.png
    :alt: Romi web dashboard network settings
 
-32U4 Control Board
-------------------
+## 32U4 Control Board
 
 The Raspberry Pi can now be used to write the firmware image to the 32U4 Control Board.
 
diff --git a/source/docs/romi-robot/index.rst b/source/docs/romi-robot/index.rst
index 9c5d598c2d..7d2d2198a6 100644
--- a/source/docs/romi-robot/index.rst
+++ b/source/docs/romi-robot/index.rst
@@ -1,9 +1,8 @@
-Getting Started with Romi
-=========================
+# Getting Started with Romi
 
-The Romi is a small and inexpensive robot designed for learning about programming FRC robots. All the same tools used for programming full-sized FRC robots can be used to program the Romi. The Romi comes with two drive motors with integrated wheel encoders. It also includes an IMU sensor that can be used for measuring headings and accelerations. Using it is as simple as writing a robot program, and running it on your computer. It will command the Romi to follow the steps in the program.
+The Romi is a small and inexpensive robot designed for learning about programming FRC robots. All the same tools used for programming full-sized FRC robots can be used to program the Romi. The Romi comes with two drive motors with integrated wheel encoders. It also includes an :term:`IMU` sensor that can be used for measuring headings and accelerations. Using it is as simple as writing a robot program, and running it on your computer. It will command the Romi to follow the steps in the program.
 
-.. tip:: A course that teaches programming using the Romi Robot is available via Thinkscape. Information on this course is available `here <https://www.firstinspires.org/robotics/frc/blog/2021-skill-building-update-intro-to-programming-module>`__
+.. tip:: A course that teaches programming using the Romi Robot is available via Thinkscape. Information on this course is available [here](https://www.firstinspires.org/robotics/frc/blog/2021-skill-building-update-intro-to-programming-module)
 
 .. image:: images/romi.png
    :alt: Romi Robot
diff --git a/source/docs/romi-robot/programming-romi-in-labview.rst b/source/docs/romi-robot/programming-romi-in-labview.rst
index 9e66f0cf42..949abb8711 100644
--- a/source/docs/romi-robot/programming-romi-in-labview.rst
+++ b/source/docs/romi-robot/programming-romi-in-labview.rst
@@ -1,21 +1,18 @@
 .. include:: <isonum.txt>
 
-Programming the Romi (LabVIEW)
-==============================
+# Programming the Romi (LabVIEW)
 
 Writing a LabVIEW program for the Romi is very similar to writing a program for a regular roboRIO based robot. In fact, all the same tools can be used with the Romi.
 
-Creating a Romi Project
------------------------
+## Creating a Romi Project
 
 Creating a new program for a Romi is no different than creating a normal FRC \|reg| program, similar to the :doc:`Zero To Robot </docs/zero-to-robot/step-4/index>` programming steps. Initially, you may wish to create a separate project for use on just the Romi as the Romi hardware may be connected to different ports than on your roboRIO robot.
 
-The Romi Robot used PWM ports 0 and 1 for left and right side respectively.
+The Romi Robot used :term:`PWM` ports 0 and 1 for left and right side respectively.
 
 .. todo:: add information on romi gyro and encoders
 
-Installing the WebSockets VI
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Installing the WebSockets VI
 
 One aspect where a Romi project differs from a regular FRC \|reg| robot project is that the code is not deployed directly to the Romi. Instead, a Romi project runs on your development computer, and leverages the WPILib simulation framework to communicate with the Romi robot. WebSockets is the protocol that LabVIEW uses to converse with the Romi.
 
@@ -24,24 +21,21 @@ Open the :guilabel:`VI Package Manager` application. Type ``websockets`` into th
 .. image:: images/programming-romi-in-labview/installing-websockets.png
    :alt: Installing WebSockets via the VI Package Manager
 
-Changing the Project Target
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Changing the Project Target
 
 The primary step needed to run your LabVIEW program on the Romi is to change the target to the Desktop. To change the project target, locate the Robot Main VI in the Project Explorer and click and drag it from the ``Target`` section to the ``My Computer`` section.
 
 .. image:: images/programming-romi-in-labview/romi-labview-target.jpg
    :alt: An image showing moving Robot Main VI to the My Computer section
 
-Setting the Target IP
-^^^^^^^^^^^^^^^^^^^^^
+### Setting the Target IP
 
 By default, your LabVIEW program will attempt to connect to a Romi with the IP address of ``10.0.0.2``. If you wish to use a different IP, you can specify it as an input to the ``Driver Station Start Communication VI`` inside ``Robot Main``. Locate the pink input terminal for ``Simulation URL`` then right-click and select :guilabel:`Create Constant` to create a constant pre-filled with the default value. You can then modify the IP address portion of the text, taking care to leave the protocol section (at the beginning) and port and suffix (at the end) the same.
 
 .. image:: images/programming-romi-in-labview/alternate-romi-ip.jpg
    :alt: An image showing the constant for an alternate IP
 
-Running a Romi Program
-^^^^^^^^^^^^^^^^^^^^^^
+### Running a Romi Program
 
 To run a Romi program, first, ensure that your Romi is powered on. Once you connect to the ``WPILibPi-<number>`` network broadcast by the Romi, press the white :guilabel:`Run` arrow to start running the Romi program on your computer.
 
@@ -49,19 +43,18 @@ Your Romi code is now running! The program will automatically attempt to connect
 
 It is recommended to run the Driver Station software on the same computer as the LabVIEW code. Once your program successfully connects to the Driver Station, it will automatically notify the Driver Station that the code is running on the Desktop, allowing the Driver Station to connect without you changing any information inside the Driver Station. Next, you'll need to point the Driver Station to your Romi. This is done by setting the team number to ``127.0.0.1``. You can then use the controls in the Driver Station to set the robot mode and enable/disable as normal.
 
-.. note: If your robot code is unable to connect to the Romi, the Driver Station will also show no connectivity.
+.. note:: If your robot code is unable to connect to the Romi, the Driver Station will also show no connectivity.
 
-Using the Gyro or Encoder
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Using the Gyro or Encoder
 
 The gyro that is available on the Romi is available using the RomiGyro functions. This is located under
 
-.. code-block:: text
-
-   - WPI Robotics Library
-      - Sensors
-         - Third Party Libraries
-            - RomiGyro
+```text
+- WPI Robotics Library
+   - Sensors
+      - Third Party Libraries
+         - RomiGyro
+```
 
 .. image:: images/programming-romi-in-labview/adding-romi-gyro.png
    :alt: Tree structure of locating the RomiGyro function
diff --git a/source/docs/romi-robot/programming-romi.rst b/source/docs/romi-robot/programming-romi.rst
index f6b0c32a40..ed6b78e71a 100644
--- a/source/docs/romi-robot/programming-romi.rst
+++ b/source/docs/romi-robot/programming-romi.rst
@@ -1,19 +1,16 @@
-Programming the Romi
-====================
+# Programming the Romi
 
 Writing a program for the Romi is very similar to writing a program for a regular FRC robot. In fact, all the same tools (Visual Studio Code, Driver Station, SmartDashboard, etc) can be used with the Romi.
 
-Creating a Romi Program
------------------------
+## Creating a Romi Program
 
 Creating a new program for a Romi is like creating a normal FRC program, similar to the :doc:`Zero To Robot </docs/zero-to-robot/step-4/index>` programming steps.
 
 WPILib comes with two templates for Romi projects, including one based on TimedRobot, and a Command-Based project template. Additionally, an example project is provided which showcases some of the built-in functionality of the Romi. This article will walk through creating a project from this example.
 
-.. note:: In order to program the Romi using C++, a compatible C++ desktop compiler must be installed. See :ref:`Robot Simulation - Additional C++ Dependency <docs/software/wpilib-tools/robot-simulation/introduction:Additional C++ Dependency>`.
+.. note:: In order to program the Romi using C++, a compatible C++ desktop compiler must be installed. See :ref:`Robot Simulation - Additional C++ Dependency <cpp_sim_additional_dependency>`.
 
-Creating a New WPILib Romi Project
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Creating a New WPILib Romi Project
 
 Bring up the Visual Studio Code command palette with :kbd:`Ctrl+Shift+P`, and type "New project" into the prompt. Select the "Create a new project" command:
 
@@ -29,8 +26,7 @@ Next, a list of examples will appear. Scroll through the list to find the "RomiR
 
 Fill out the rest of the fields in the "New Project Creator" and click "Generate Project" to create the new robot project.
 
-Running a Romi Program
-^^^^^^^^^^^^^^^^^^^^^^
+### Running a Romi Program
 
 Once the robot project is generated, it is essentially ready to run. The project has a pre-built ``Drivetrain`` class and associated default command that lets you drive the Romi around using a joystick.
 
@@ -38,11 +34,11 @@ One aspect where a Romi project differs from a regular FRC robot project is that
 
 To run a Romi program, first, ensure that your Romi is powered on. Next, connect to the ``WPILibPi-<number>`` WiFi network broadcast by the Romi. If you changed the Romi network settings (for example, to connect it to your own WiFi network) you may change the IP address that your program uses to connect to the Romi. To do this, open the ``build.gradle`` file and update the ``wpi.sim.envVar`` line to the appropriate IP address.
 
-.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2024.1.1-beta-2/vscode-wpilib/resources/gradle/javaromi/build.gradle
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2024.3.2/vscode-wpilib/resources/gradle/javaromi/build.gradle
    :language: groovy
-   :lines: 44-47
+   :lines: 43-46
    :linenos:
-   :lineno-start: 44
+   :lineno-start: 43
    :emphasize-lines: 2
 
 Now to start your Romi robot code, open the WPILib Command Palette (type :kbd:`Ctrl+Shift+P`) and select "Simulate Robot Code", or press :kbd:`F5`.
diff --git a/source/docs/romi-robot/web-ui.rst b/source/docs/romi-robot/web-ui.rst
index 8f8c168543..bdd188a13b 100644
--- a/source/docs/romi-robot/web-ui.rst
+++ b/source/docs/romi-robot/web-ui.rst
@@ -1,5 +1,4 @@
-The Romi Web UI
-===============
+# The Romi Web UI
 
 The Romi Web UI comes installed as part of the WPILibPi Raspberry Pi image. It is accessible by clicking on the Romi tab in the navigation bar of the main WPILibPi Web UI.
 
@@ -8,8 +7,7 @@ The Romi Web UI comes installed as part of the WPILibPi Raspberry Pi image. It i
 
 The rest of this section will walk through the various parts of the Romi Web UI and describe the relevant functionality.
 
-Background Service Status
--------------------------
+## Background Service Status
 
 .. image:: images/web-ui/romi-ui-service-status.png
    :alt: Romi Background Service Status
@@ -18,8 +16,7 @@ This section of the Romi Web UI provides information about the currently running
 
 .. note:: Users will not need to use the functionality in this section often, but it can be useful for troubleshooting.
 
-Romi Status
------------
+## Romi Status
 
 .. image:: images/web-ui/romi-ui-status.png
    :alt: Romi Status
@@ -28,20 +25,18 @@ This section provides information about the Romi, including the service version,
 
 .. note:: If the firmware is not compatible, see the section on :doc:`Imaging your Romi </docs/romi-robot/imaging-romi>`
 
-Web Service Update
-------------------
+## Web Service Update
 
 .. image:: images/web-ui/romi-ui-service-update.png
    :alt: Web Service Update
 
 .. note:: The Raspberry Pi must be in **Writable** mode for this section to work.
 
-The Romi WPILibPi image ships with the latest (at publication time) version of the Romi web service. To support upgrading to newer versions of the Romi web service, this section allows users to upload a pre-built bundle that can be obtained via the Romi web service `GitHub releases page <https://github.com/wpilibsuite/wpilib-ws-robot-romi/releases>`__.
+The Romi WPILibPi image ships with the latest (at publication time) version of the Romi web service. To support upgrading to newer versions of the Romi web service, this section allows users to upload a pre-built bundle that can be obtained via the Romi web service [GitHub releases page](https://github.com/wpilibsuite/wpilib-ws-robot-romi/releases).
 
 To perform an upgrade, download the appropriate .tgz file from the GitHub Releases page. Next, select the downloaded .tgz file and click :guilabel:`Save`. The updated web service bundle will be uploaded to the Raspberry Pi, and be installed. After a short moment, the Romi Status section should update itself with the latest version information.
 
-External IO Configuration
--------------------------
+## External IO Configuration
 
 .. image:: images/web-ui/romi-ui-io-config.png
    :alt: External IO Configuration
@@ -50,12 +45,11 @@ This section allows users to configure the 5 external GPIO channels on the Romi.
 
 .. note:: The Raspberry Pi must be in **Writable** mode for this section to work.
 
-To change the configuration of a GPIO channel, select an appropriate option from the dropdown lists. All channels (with the exception of EXT 0) support Digital IO, Analog In and PWM as channel types. Once the appropriate selections are made, click on :guilabel:`Save External IO Configuration`. The web service will then restart and pick up the new IO configuration.
+To change the configuration of a GPIO channel, select an appropriate option from the dropdown lists. All channels (with the exception of EXT 0) support Digital IO, Analog In and :term:`PWM` as channel types. Once the appropriate selections are made, click on :guilabel:`Save External IO Configuration`. The web service will then restart and pick up the new IO configuration.
 
 The "Robot Port" row provides the appropriate WPILib mapping for each configured GPIO channel. For example, EXT 0 is configured as a Digital IO channel, and will be accessible in WPILib as a DigitalInput (or DigitalOutput) channel 8.
 
-IMU Calibration
----------------
+## IMU Calibration
 
 .. image:: images/web-ui/romi-ui-imu-calibration.png
    :alt: IMU Calibration
@@ -68,21 +62,18 @@ To begin calibration, place the Romi on a flat, stable surface. Then, click the
 
 These offset values are saved to disk and persist between reboots.
 
-Firmware
---------
+## Firmware
 
 .. note:: See the section on :doc:`Imaging your Romi </docs/romi-robot/imaging-romi>`
 
-Console Output
---------------
+## Console Output
 
 .. image:: images/web-ui/romi-ui-console.png
    :alt: Console Output
 
 When enabled, this section allows users to view the raw console output that the Romi web service provides. This is useful for troubleshooting issues with the Romi, or just to find out more about what goes on behind the scenes.
 
-Bridge Mode
------------
+## Bridge Mode
 
 Bridge mode allows your Romi robot to connect to a WiFi network instead of acting as an Access Point (AP). This is especially useful in remote learning environments, as you can use the internet while using the Romi without extra hardware.
 
@@ -111,14 +102,13 @@ Bridge mode allows your Romi robot to connect to a WiFi network instead of actin
 
 Once the settings are applied, please reboot the Romi. You should now be able to navigate to ``wpilibpi.local`` in your web browser while connected to your specified network.
 
-Unable to Access Romi
-^^^^^^^^^^^^^^^^^^^^^
+### Unable to Access Romi
 
 If the Romi has the correct bridge settings and you are unable to access it, we have a few workarounds.
 
 - Ethernet into the Romi
 - Reimage the Romi
 
-Some restricted networks can interfere with the hostname of the Romi resolving, you can workaround this by using `Angry IP Scanner <https://angryip.org/>`__ to find the IP address.
+Some restricted networks can interfere with the hostname of the Romi resolving, you can workaround this by using [Angry IP Scanner](https://angryip.org/) to find the IP address.
 
 .. warning:: Angry IP Scanner is flagged by some antivirus as spyware as it pings devices on your network! It is a safe application!
diff --git a/source/docs/software/advanced-controls/controllers/bang-bang.rst b/source/docs/software/advanced-controls/controllers/bang-bang.rst
index 34acb75e2d..2d85acc59d 100644
--- a/source/docs/software/advanced-controls/controllers/bang-bang.rst
+++ b/source/docs/software/advanced-controls/controllers/bang-bang.rst
@@ -1,5 +1,4 @@
-Bang-Bang Control with BangBangController
-=========================================
+# Bang-Bang Control with BangBangController
 
 The :term:`bang-bang control` algorithm is a control strategy that employs only two states: on (when the measurement is below the setpoint) and off (otherwise).  This is roughly equivalent to a proportional loop with infinite gain.
 
@@ -7,32 +6,31 @@ This may initially seem like a poor control strategy, as PID loops are known to
 
 However, when controlling the velocity of high-inertia mechanisms under varying loads (like a shooter flywheel), a bang-bang controller can yield faster recovery time and thus better/more consistent performance than a proportional controller.  Unlike an ordinary P loop, a bang-bang controller is *asymmetric* - that is, the controller turns on when the process variable is below the setpoint, and does nothing otherwise.  This allows the control effort in the forward direction to be made as large as possible without risking destructive oscillations as the control loop tries to correct a resulting overshoot.
 
-Asymmetric bang-bang control is provided in WPILib by the BangBangController class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/BangBangController.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_bang_bang_controller.html>`__).
+Asymmetric bang-bang control is provided in WPILib by the BangBangController class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/BangBangController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_bang_bang_controller.html), :external:py:class:`Python <wpimath.controller.BangBangController>`).
 
-Constructing a BangBangController
----------------------------------
+## Constructing a BangBangController
 
 Since a bang-bang controller does not have any gains, it does not need any constructor arguments (one can optionally specify the controller tolerance used by ``atSetpoint``, but it is not required).
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Creates a BangBangController
+  BangBangController controller = new BangBangController();
+  ```
 
-    // Creates a BangBangController
-    BangBangController controller = new BangBangController();
+  ```c++
+  // Creates a BangBangController
+  frc::BangBangController controller;
+  ```
 
-  .. code-block:: c++
+  ```python
+  from wpimath.controller import BangBangController
+    # Creates a BangBangController
+  controller = BangBangController()
+  ```
 
-    // Creates a BangBangController
-    frc::BangBangController controller;
-
-  .. code-block:: python
-
-     # Creates a BangBangController
-     controller = wpimath.BangBangController()
-
-Using a BangBangController
---------------------------
+## Using a BangBangController
 
 .. warning:: Bang-bang control is an extremely aggressive algorithm that relies on response asymmetry to remain stable.  Be *absolutely certain* that your motor controllers have been set to "coast mode" before attempting to control them with a bang-bang controller, or else the braking action will fight the controller and cause potentially destructive oscillation.
 
@@ -40,41 +38,41 @@ Using a bang-bang controller is easy:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Controls a motor with the output of the BangBang controller
-    motor.set(controller.calculate(encoder.getRate(), setpoint));
+  ```java
+  // Controls a motor with the output of the BangBang controller
+  motor.set(controller.calculate(encoder.getRate(), setpoint));
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // Controls a motor with the output of the BangBang controller
+  motor.Set(controller.Calculate(encoder.GetRate(), setpoint));
+  ```
 
-    // Controls a motor with the output of the BangBang controller
-    motor.Set(controller.Calculate(encoder.GetRate(), setpoint));
+  ```python
+  # Controls a motor with the output of the BangBang controller
+  motor.set(controller.calculate(encoder.getRate(), setpoint))
+  ```
 
-  .. code-block:: python
-
-    # Controls a motor with the output of the BangBang controller
-    motor.set(controller.calculate(encoder.getRate(), setpoint))
-
-Combining Bang Bang Control with Feedforward
---------------------------------------------
+## Combining Bang Bang Control with Feedforward
 
 Like a PID controller, best results are obtained in conjunction with a :ref:`feedforward <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>` controller that provides the necessary voltage to sustain the system output at the desired speed, so that the bang-bang controller is only responsible for rejecting disturbances.  Since the bang-bang controller can *only* correct in the forward direction, however, it may be preferable to use a slightly conservative feedforward estimate to ensure that the shooter does not over-speed.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Controls a motor with the output of the BangBang controller and a feedforward
-    // Shrinks the feedforward slightly to avoid overspeeding the shooter
-    motor.setVoltage(controller.calculate(encoder.getRate(), setpoint) * 12.0 + 0.9 * feedforward.calculate(setpoint));
-
-  .. code-block:: c++
+  ```java
+  // Controls a motor with the output of the BangBang controller and a feedforward
+  // Shrinks the feedforward slightly to avoid overspeeding the shooter
+  motor.setVoltage(controller.calculate(encoder.getRate(), setpoint) * 12.0 + 0.9 * feedforward.calculate(setpoint));
+  ```
 
-    // Controls a motor with the output of the BangBang controller and a feedforward
-    // Shrinks the feedforward slightly to avoid overspeeding the shooter
-    motor.SetVoltage(controller.Calculate(encoder.GetRate(), setpoint) * 12.0 + 0.9 * feedforward.Calculate(setpoint));
+  ```c++
+  // Controls a motor with the output of the BangBang controller and a feedforward
+  // Shrinks the feedforward slightly to avoid overspeeding the shooter
+  motor.SetVoltage(controller.Calculate(encoder.GetRate(), setpoint) * 12.0 + 0.9 * feedforward.Calculate(setpoint));
+  ```
 
-  .. code-block:: python
+  ```python
+  # Controls a motor with the output of the BangBang controller and a feedforward
+  motor.setVoltage(controller.calculate(encoder.getRate(), setpoint) * 12.0 + 0.9 * feedforward.calculate(setpoint))
+  ```
 
-    # Controls a motor with the output of the BangBang controller and a feedforward
-    motor.setVoltage(controller.calculate(encoder.getRate(), setpoint) * 12.0 + 0.9 * feedforward.calculate(setpoint))
diff --git a/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst b/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst
index 490e6fdb11..108c5cd64a 100644
--- a/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst
+++ b/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Combining Feedforward and PID Control
-=====================================
+# Combining Feedforward and PID Control
 
 .. todo:: link to conceptual article when available
 
@@ -9,71 +8,69 @@ Combining Feedforward and PID Control
 
 Feedforward and feedback controllers can each be used in isolation, but are most effective when combined together.  Thankfully, combining these two control methods is *exceedingly* straightforward - one simply adds their outputs together.
 
-Using Feedforward with a PIDController
---------------------------------------
+## Using Feedforward with a PIDController
 
 Users may add any feedforward they like to the output of the controller before sending it to their motors:
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Adds a feedforward to the loop output before sending it to the motor
+  motor.setVoltage(pid.calculate(encoder.getDistance(), setpoint) + feedforward);
+  ```
 
-    // Adds a feedforward to the loop output before sending it to the motor
-    motor.setVoltage(pid.calculate(encoder.getDistance(), setpoint) + feedforward);
+  ```c++
+  // Adds a feedforward to the loop output before sending it to the motor
+  motor.SetVoltage(pid.Calculate(encoder.GetDistance(), setpoint) + feedforward);
+  ```
 
-  .. code-block:: c++
-
-    // Adds a feedforward to the loop output before sending it to the motor
-    motor.SetVoltage(pid.Calculate(encoder.GetDistance(), setpoint) + feedforward);
-
-  .. code-block:: python
-
-     // Adds a feedforward to the loop output before sending it to the motor
-     motor.setVoltage(pid.calculate(encoder.getDistance(), setpoint) + feedforward)
+  ```python
+  # Adds a feedforward to the loop output before sending it to the motor
+  motor.setVoltage(pid.calculate(encoder.getDistance(), setpoint) + feedforward)
+  ```
 
 Moreover, feedforward is a separate feature entirely from feedback, and thus has no reason to be handled in the same controller object, as this violates separation of concerns.  WPILib comes with several helper classes to compute accurate feedforward voltages for common FRC\ |reg| mechanisms - for more information, see :ref:`docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib`.
 
-Using Feedforward Components with PID
--------------------------------------
+## Using Feedforward Components with PID
 
-.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e>`__) method when applying them to motors to compensate for "voltage sag" from the battery.
+.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e), :external:py:meth:`Python <wpilib.interfaces.MotorController.setVoltage>`) method when applying them to motors to compensate for "voltage sag" from the battery.
 
 What might a more complete example of combined feedforward/PID control look like?  Consider the :ref:`drive example <docs/software/advanced-controls/controllers/feedforward:Using Feedforward to Control Mechanisms>` from the feedforward page.  We can easily modify this to include feedback control (with a ``SimpleMotorFeedforward`` component):
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    public void tankDriveWithFeedforwardPID(double leftVelocitySetpoint, double rightVelocitySetpoint) {
-      leftMotor.setVoltage(feedforward.calculate(leftVelocitySetpoint)
-          + leftPID.calculate(leftEncoder.getRate(), leftVelocitySetpoint));
-      rightMotor.setVoltage(feedForward.calculate(rightVelocitySetpoint)
-          + rightPID.calculate(rightEncoder.getRate(), rightVelocitySetpoint));
-    }
-
-  .. code-block:: c++
-
-    void TankDriveWithFeedforwardPID(units::meters_per_second_t leftVelocitySetpoint,
-                                     units::meters_per_second_t rightVelocitySetpoint) {
-      leftMotor.SetVoltage(feedforward.Calculate(leftVelocitySetpoint)
-          + leftPID.Calculate(leftEncoder.getRate(), leftVelocitySetpoint.value()));
-      rightMotor.SetVoltage(feedforward.Calculate(rightVelocitySetpoint)
-          + rightPID.Calculate(rightEncoder.getRate(), rightVelocitySetpoint.value()));
-    }
-
-  .. code-block:: python
-
-    def tank_drive_with_feedforward_PID(
-        left_velocity_setpoint: float,
-        right_velocity_setpoint: float,
-    ) -> None:
-        leftMotor.setVoltage(
-            feedforward.calculate(left_velocity_setpoint)
-            + leftPID.calculate(leftEncoder.getRate(), left_velocity_setpoint)
-        )
-        rightMotor.setVoltage(
-            feedforward.calculate(right_velocity_setpoint)
-            + rightPID.calculate(rightEncoder.getRate(), right_velocity_setpoint)
-        )
+  ```java
+  public void tankDriveWithFeedforwardPID(double leftVelocitySetpoint, double rightVelocitySetpoint) {
+    leftMotor.setVoltage(feedforward.calculate(leftVelocitySetpoint)
+        + leftPID.calculate(leftEncoder.getRate(), leftVelocitySetpoint));
+    rightMotor.setVoltage(feedForward.calculate(rightVelocitySetpoint)
+        + rightPID.calculate(rightEncoder.getRate(), rightVelocitySetpoint));
+  }
+  ```
+
+  ```c++
+  void TankDriveWithFeedforwardPID(units::meters_per_second_t leftVelocitySetpoint,
+                                   units::meters_per_second_t rightVelocitySetpoint) {
+    leftMotor.SetVoltage(feedforward.Calculate(leftVelocitySetpoint)
+        + leftPID.Calculate(leftEncoder.getRate(), leftVelocitySetpoint.value()));
+    rightMotor.SetVoltage(feedforward.Calculate(rightVelocitySetpoint)
+        + rightPID.Calculate(rightEncoder.getRate(), rightVelocitySetpoint.value()));
+  }
+  ```
+
+  ```python
+  def tank_drive_with_feedforward_PID(
+      left_velocity_setpoint: float,
+      right_velocity_setpoint: float,
+  ) -> None:
+      leftMotor.setVoltage(
+          feedforward.calculate(left_velocity_setpoint)
+          + leftPID.calculate(leftEncoder.getRate(), left_velocity_setpoint)
+      )
+      rightMotor.setVoltage(
+          feedforward.calculate(right_velocity_setpoint)
+          + rightPID.calculate(rightEncoder.getRate(), right_velocity_setpoint)
+      )
+  ```
 
 Other mechanism types can be handled similarly.
diff --git a/source/docs/software/advanced-controls/controllers/feedforward.rst b/source/docs/software/advanced-controls/controllers/feedforward.rst
index d583590108..8e66e14ab1 100644
--- a/source/docs/software/advanced-controls/controllers/feedforward.rst
+++ b/source/docs/software/advanced-controls/controllers/feedforward.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Feedforward Control in WPILib
-=============================
+# Feedforward Control in WPILib
 
 .. note:: This article focuses on in-code implementation of feedforward control in WPILib. For a conceptual explanation of the feedforward equations used by WPILib, see :ref:`docs/software/advanced-controls/introduction/introduction-to-feedforward:Introduction to DC Motor Feedforward`
 
@@ -9,26 +8,26 @@ You may have used feedback control (such as PID) for reference tracking (making
 
 A feedforward controller injects information about the system's dynamics (like a mathematical model does) or the intended movement. Feedforward handles parts of the control actions we already know must be applied to make a system track a reference, then feedback compensates for what we do not or cannot know about the system's behavior at runtime.
 
-The WPILib Feedforward Classes
-------------------------------
+## The WPILib Feedforward Classes
 
 WPILib provides a number of classes to help users implement accurate feedforward control for their mechanisms.  In many ways, an accurate feedforward is more important than feedback to effective control of a mechanism.  Since most FRC\ |reg| mechanisms closely obey well-understood system equations, starting with an accurate feedforward is both easy and hugely beneficial to accurate and robust mechanism control.
 
-The WPILib feedforward classes closely match the available mechanism characterization tools available in the :ref:`SysId toolsuite <docs/software/pathplanning/system-identification/introduction:Introduction to System Identification>`.  The system identification toolsuite can be used to quickly and effectively determine the correct gains for each type of feedforward.  If you are unable to empirically characterize your mechanism (due to space and/or time constraints), reasonable estimates of ``kG``, ``kV``, and ``kA`` can be obtained by fairly simple computation, and are also available from `ReCalc <https://www.reca.lc/>`__.  ``kS`` is nearly impossible to model, and must be measured empirically.
+The WPILib feedforward classes closely match the available mechanism characterization tools available in the :ref:`SysId toolsuite <docs/software/advanced-controls/system-identification/introduction:Introduction to System Identification>`.  The system identification toolsuite can be used to quickly and effectively determine the correct gains for each type of feedforward.  If you are unable to empirically characterize your mechanism (due to space and/or time constraints), reasonable estimates of ``kG``, ``kV``, and ``kA`` can be obtained by fairly simple computation, and are also available from [ReCalc](https://www.reca.lc/).  ``kS`` is nearly impossible to model, and must be measured empirically.
 
 WPILib currently provides the following three helper classes for feedforward control:
 
-* `SimpleMotorFeedforward`_ (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_simple_motor_feedforward.html>`__)
-* `ArmFeedforward`_ (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/ArmFeedforward.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_arm_feedforward.html>`__)
-* `ElevatorFeedforward`_ (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/ElevatorFeedforward.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_elevator_feedforward.html>`__)
+* `SimpleMotorFeedforward`_ (Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_simple_motor_feedforward.html), :external:py:class:`Python <wpimath.controller.SimpleMotorFeedforwardMeters>`)
+* `ArmFeedforward`_ (Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/ArmFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_arm_feedforward.html), :external:py:class:`Python <wpimath.controller.ArmFeedforward>`)
+* `ElevatorFeedforward`_ (Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/ElevatorFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_elevator_feedforward.html), :external:py:class:`Python <wpimath.controller.ElevatorFeedforward>`)
 
-SimpleMotorFeedforward
-----------------------
+## SimpleMotorFeedforward
 
 .. note:: In C++, the ``SimpleMotorFeedforward`` class is templated on the unit type used for distance measurements, which may be angular or linear.  The passed-in gains *must* have units consistent with the distance units, or a compile-time error will be thrown.  ``kS`` should have units of ``volts``, ``kV`` should have units of ``volts * seconds / distance``, and ``kA`` should have units of ``volts * seconds^2 / distance``.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
 .. note:: The Java feedforward components will calculate outputs in units determined by the units of the user-provided feedforward gains.  Users *must* take care to keep units consistent, as WPILibJ does not have a type-safe unit system.
 
+.. note:: The API documentation for Python feedforward components indicate which unit is being used as ``wpimath.units.NAME``. Users *must* take care to use correct units, as Python does not have a type-safe unit system.
+
 The ``SimpleMotorFeedforward`` class calculates feedforwards for mechanisms that consist of permanent-magnet DC motors with no external loading other than friction and inertia, such as flywheels and robot drives.
 
 To create a ``SimpleMotorFeedforward``, simply construct it with the required gains:
@@ -37,16 +36,23 @@ To create a ``SimpleMotorFeedforward``, simply construct it with the required ga
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Create a new SimpleMotorFeedforward with gains kS, kV, and kA
-    SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(kS, kV, kA);
+  ```java
+  // Create a new SimpleMotorFeedforward with gains kS, kV, and kA
+  SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(kS, kV, kA);
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // Create a new SimpleMotorFeedforward with gains kS, kV, and kA
+  // Distance is measured in meters
+  frc::SimpleMotorFeedforward<units::meters> feedforward(kS, kV, kA);
+  ```
 
-    // Create a new SimpleMotorFeedforward with gains kS, kV, and kA
-    // Distance is measured in meters
-    frc::SimpleMotorFeedforward<units::meters> feedforward(kS, kV, kA);
+  ```python
+  from wpimath.controller import SimpleMotorFeedforwardMeters
+    # Create a new SimpleMotorFeedforward with gains kS, kV, and kA
+  # Distance is measured in meters
+  feedforward = SimpleMotorFeedforwardMeters(kS, kV, kA)
+  ```
 
 To calculate the feedforward, simply call the ``calculate()`` method with the desired motor velocity and acceleration:
 
@@ -54,25 +60,32 @@ To calculate the feedforward, simply call the ``calculate()`` method with the de
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Calculates the feedforward for a velocity of 10 units/second and an acceleration of 20 units/second^2
+  // Units are determined by the units of the gains passed in at construction.
+  feedforward.calculate(10, 20);
+  ```
 
-    // Calculates the feedforward for a velocity of 10 units/second and an acceleration of 20 units/second^2
-    // Units are determined by the units of the gains passed in at construction.
-    feedforward.calculate(10, 20);
+  ```c++
+  // Calculates the feedforward for a velocity of 10 meters/second and an acceleration of 20 meters/second^2
+  // Output is in volts
+  feedforward.Calculate(10_mps, 20_mps_sq);
+  ```
 
-  .. code-block:: c++
+  ```python
+  # Calculates the feedforward for a velocity of 10 meters/second and an acceleration of 20 meters/second^2
+  # Output is in volts
+  feedforward.calculate(10, 20)
+  ```
 
-    // Calculates the feedforward for a velocity of 10 meters/second and an acceleration of 20 meters/second^2
-    // Output is in volts
-    feedforward.Calculate(10_mps, 20_mps_sq);
-
-ArmFeedforward
---------------
+## ArmFeedforward
 
 .. note:: In C++, the ``ArmFeedforward`` class assumes distances are angular, not linear.  The passed-in gains *must* have units consistent with the angular unit, or a compile-time error will be thrown.  ``kS`` and ``kG`` should have units of ``volts``, ``kV`` should have units of ``volts * seconds / radians``, and ``kA`` should have units of ``volts * seconds^2 / radians``.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
 .. note:: The Java feedforward components will calculate outputs in units determined by the units of the user-provided feedforward gains.  Users *must* take care to keep units consistent, as WPILibJ does not have a type-safe unit system.
 
+.. note:: The API documentation for Python feedforward components indicate which unit is being used as ``wpimath.units.NAME``. Users *must* take care to use correct units, as Python does not have a type-safe unit system.
+
 The ``ArmFeedforward`` class calculates feedforwards for arms that are controlled directly by a permanent-magnet DC motor, with external loading of friction, inertia, and mass of the arm.  This is an accurate model of most arms in FRC.
 
 To create an ``ArmFeedforward``, simply construct it with the required gains:
@@ -81,15 +94,21 @@ To create an ``ArmFeedforward``, simply construct it with the required gains:
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Create a new ArmFeedforward with gains kS, kG, kV, and kA
+  ArmFeedforward feedforward = new ArmFeedforward(kS, kG, kV, kA);
+  ```
 
-    // Create a new ArmFeedforward with gains kS, kG, kV, and kA
-    ArmFeedforward feedforward = new ArmFeedforward(kS, kG, kV, kA);
+  ```c++
+  // Create a new ArmFeedforward with gains kS, kG, kV, and kA
+  frc::ArmFeedforward feedforward(kS, kG, kV, kA);
+  ```
 
-  .. code-block:: c++
-
-    // Create a new ArmFeedforward with gains kS, kG, kV, and kA
-    frc::ArmFeedforward feedforward(kS, kG, kV, kA);
+  ```python
+  from wpimath.controller import ArmFeedforward
+    # Create a new ArmFeedforward with gains kS, kG, kV, and kA
+  feedforward = ArmFeedforward(kS, kG, kV, kA)
+  ```
 
 To calculate the feedforward, simply call the ``calculate()`` method with the desired arm position, velocity, and acceleration:
 
@@ -97,27 +116,35 @@ To calculate the feedforward, simply call the ``calculate()`` method with the de
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Calculates the feedforward for a position of 1 units, a velocity of 2 units/second, and
-    // an acceleration of 3 units/second^2
-    // Units are determined by the units of the gains passed in at construction.
-    feedforward.calculate(1, 2, 3);
-
-  .. code-block:: c++
-
-    // Calculates the feedforward for a position of 1 radians, a velocity of 2 radians/second, and
-    // an acceleration of 3 radians/second^2
-    // Output is in volts
-    feedforward.Calculate(1_rad, 2_rad_per_s, 3_rad/(1_s * 1_s));
-
-ElevatorFeedforward
--------------------
+  ```java
+  // Calculates the feedforward for a position of 1 units, a velocity of 2 units/second, and
+  // an acceleration of 3 units/second^2
+  // Units are determined by the units of the gains passed in at construction.
+  feedforward.calculate(1, 2, 3);
+  ```
+
+  ```c++
+  // Calculates the feedforward for a position of 1 radians, a velocity of 2 radians/second, and
+  // an acceleration of 3 radians/second^2
+  // Output is in volts
+  feedforward.Calculate(1_rad, 2_rad_per_s, 3_rad/(1_s * 1_s));
+  ```
+
+  ```python
+  # Calculates the feedforward for a position of 1 radians, a velocity of 2 radians/second, and
+  # an acceleration of 3 radians/second^2
+  # Output is in volts
+  feedforward.calculate(1, 2, 3)
+  ```
+
+## ElevatorFeedforward
 
 .. note:: In C++, the passed-in gains *must* have units consistent with the distance units, or a compile-time error will be thrown.  ``kS`` and ``kG`` should have units of ``volts``, ``kV`` should have units of ``volts * seconds / distance``, and ``kA`` should have units of ``volts * seconds^2 / distance``.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
 .. note:: The Java feedforward components will calculate outputs in units determined by the units of the user-provided feedforward gains.  Users *must* take care to keep units consistent, as WPILibJ does not have a type-safe unit system.
 
+.. note:: The API documentation for Python feedforward components indicate which unit is being used as ``wpimath.units.NAME``. Users *must* take care to use correct units, as Python does not have a type-safe unit system.
+
 The ``ElevatorFeedforward`` class calculates feedforwards for elevators that consist of permanent-magnet DC motors loaded by friction, inertia, and the mass of the elevator.  This is an accurate model of most elevators in FRC.
 
 To create a ``ElevatorFeedforward``, simply construct it with the required gains:
@@ -126,16 +153,23 @@ To create a ``ElevatorFeedforward``, simply construct it with the required gains
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Create a new ElevatorFeedforward with gains kS, kG, kV, and kA
-    ElevatorFeedforward feedforward = new ElevatorFeedforward(kS, kG, kV, kA);
+  ```java
+  // Create a new ElevatorFeedforward with gains kS, kG, kV, and kA
+  ElevatorFeedforward feedforward = new ElevatorFeedforward(kS, kG, kV, kA);
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // Create a new ElevatorFeedforward with gains kS, kV, and kA
+  // Distance is measured in meters
+  frc::ElevatorFeedforward feedforward(kS, kG, kV, kA);
+  ```
 
-    // Create a new ElevatorFeedforward with gains kS, kV, and kA
-    // Distance is measured in meters
-    frc::ElevatorFeedforward feedforward(kS, kG, kV, kA);
+  ```python
+  from wpimath.controller import ElevatorFeedforward
+    # Create a new ElevatorFeedforward with gains kS, kV, and kA
+  # Distance is measured in meters
+  feedforward = ElevatorFeedforward(kS, kG, kV, kA)
+  ```
 
 To calculate the feedforward, simply call the ``calculate()`` method with the desired motor velocity and acceleration:
 
@@ -143,40 +177,53 @@ To calculate the feedforward, simply call the ``calculate()`` method with the de
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Calculates the feedforward for a velocity of 20 units/second
+  // and an acceleration of 30 units/second^2
+  // Units are determined by the units of the gains passed in at construction.
+  feedforward.calculate(20, 30);
+  ```
 
-    // Calculates the feedforward for a velocity of 20 units/second
-    // and an acceleration of 30 units/second^2
-    // Units are determined by the units of the gains passed in at construction.
-    feedforward.calculate(20, 30);
+  ```c++
+  // Calculates the feedforward for a velocity of 20 meters/second
+  // and an acceleration of 30 meters/second^2
+  // Output is in volts
+  feedforward.Calculate(20_mps, 30_mps_sq);
+  ```
 
-  .. code-block:: c++
+  ```python
+  # Calculates the feedforward for a velocity of 20 meters/second
+  # and an acceleration of 30 meters/second^2
+  # Output is in volts
+  feedforward.calculate(20, 30)
+  ```
 
-    // Calculates the feedforward for a velocity of 20 meters/second
-    // and an acceleration of 30 meters/second^2
-    // Output is in volts
-    feedforward.Calculate(20_mps, 30_mps_sq);
+## Using Feedforward to Control Mechanisms
 
-Using Feedforward to Control Mechanisms
----------------------------------------
-
-.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e>`__) method when applying them to motors to compensate for "voltage sag" from the battery.
+.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e), :external:py:meth:`Python <wpilib.interfaces.MotorController.setVoltage>`) method when applying them to motors to compensate for "voltage sag" from the battery.
 
 Feedforward control can be used entirely on its own, without a feedback controller.  This is known as "open-loop" control, and for many mechanisms (especially robot drives) can be perfectly satisfactory.  A ``SimpleMotorFeedforward`` might be employed to control a robot drive as follows:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    public void tankDriveWithFeedforward(double leftVelocity, double rightVelocity) {
-      leftMotor.setVoltage(feedforward.calculate(leftVelocity));
-      rightMotor.setVoltage(feedForward.calculate(rightVelocity));
-    }
-
-  .. code-block:: c++
+  ```java
+  public void tankDriveWithFeedforward(double leftVelocity, double rightVelocity) {
+    leftMotor.setVoltage(feedforward.calculate(leftVelocity));
+    rightMotor.setVoltage(feedForward.calculate(rightVelocity));
+  }
+  ```
+
+  ```c++
+  void TankDriveWithFeedforward(units::meters_per_second_t leftVelocity,
+                                units::meters_per_second_t rightVelocity) {
+    leftMotor.SetVoltage(feedforward.Calculate(leftVelocity));
+    rightMotor.SetVoltage(feedforward.Calculate(rightVelocity));
+  }
+  ```
+
+  ```python
+  def tankDriveWithFeedforward(self, leftVelocity: float, rightVelocity: float):
+      self.leftMotor.setVoltage(feedForward.calculate(leftVelocity))
+      self.rightMotor.setVoltage(feedForward.calculate(rightVelocity))
+  ```
 
-    void TankDriveWithFeedforward(units::meters_per_second_t leftVelocity,
-                                  units::meters_per_second_t rightVelocity) {
-      leftMotor.SetVoltage(feedforward.Calculate(leftVelocity));
-      rightMotor.SetVoltage(feedforward.Calculate(rightVelocity));
-    }
diff --git a/source/docs/software/advanced-controls/controllers/index.rst b/source/docs/software/advanced-controls/controllers/index.rst
index 9b512d2f08..63aa58985c 100644
--- a/source/docs/software/advanced-controls/controllers/index.rst
+++ b/source/docs/software/advanced-controls/controllers/index.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Controllers
-===========
+# Controllers
 
 This section describes various WPILib feedback and feedforward controller classes that are useful for controlling the motion of robot mechanisms, as well as motion-profiling classes that can automatically generate setpoints for use with these controllers.
 
diff --git a/source/docs/software/advanced-controls/controllers/pidcontroller.rst b/source/docs/software/advanced-controls/controllers/pidcontroller.rst
index ecdae1ff17..adda28cba7 100644
--- a/source/docs/software/advanced-controls/controllers/pidcontroller.rst
+++ b/source/docs/software/advanced-controls/controllers/pidcontroller.rst
@@ -1,17 +1,14 @@
-PID Control in WPILib
-=====================
+# PID Control in WPILib
 
 .. note:: This article focuses on in-code implementation of PID control in WPILib. For a conceptual explanation of the working of a PIDController, see :ref:`docs/software/advanced-controls/introduction/introduction-to-pid:Introduction to PID`
 
-.. note:: For a guide on implementing PID control through the :ref:`command-based framework <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>`, see :ref:`docs/software/commandbased/pid-subsystems-commands:PID Control through PIDSubsystems and PIDCommands`.
+.. note:: For a guide on implementing PID control through the :ref:`command-based framework <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>`, see :ref:`docs/software/commandbased/pid-subsystems-commands:PID Control in Command-based`.
 
-WPILib supports PID control of mechanisms through the ``PIDController`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/PIDController.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_p_i_d_controller.html>`__).  This class handles the feedback loop calculation for the user, as well as offering methods for returning the error, setting tolerances, and checking if the control loop has reached its setpoint within the specified tolerances.
+WPILib supports PID control of mechanisms through the ``PIDController`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/PIDController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_p_i_d_controller.html), :external:py:class:`Python <wpimath.controller.PIDController>`).  This class handles the feedback loop calculation for the user, as well as offering methods for returning the error, setting tolerances, and checking if the control loop has reached its setpoint within the specified tolerances.
 
-Using the PIDController Class
------------------------------
+## Using the PIDController Class
 
-Constructing a PIDController
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Constructing a PIDController
 
 .. note:: While ``PIDController`` may be used asynchronously, it does *not* provide any thread safety features - ensuring threadsafe operation is left entirely to the user, and thus asynchronous usage is recommended only for advanced teams.
 
@@ -19,20 +16,25 @@ In order to use WPILib's PID control functionality, users must first construct a
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Creates a PIDController with gains kP, kI, and kD
+  PIDController pid = new PIDController(kP, kI, kD);
+  ```
 
-    // Creates a PIDController with gains kP, kI, and kD
-    PIDController pid = new PIDController(kP, kI, kD);
+  ```c++
+  // Creates a PIDController with gains kP, kI, and kD
+  frc::PIDController pid{kP, kI, kD};
+  ```
 
-  .. code-block:: c++
-
-    // Creates a PIDController with gains kP, kI, and kD
-    frc::PIDController pid{kP, kI, kD};
+  ```python
+  from wpimath.controller import PIDController
+    # Creates a PIDController with gains kP, kI, and kD
+  pid = PIDController(kP, kI, kD)
+  ```
 
 An optional fourth parameter can be provided to the constructor, specifying the period at which the controller will be run.  The ``PIDController`` object is intended primarily for synchronous use from the main robot loop, and so this value is defaulted to 20ms.
 
-Using the Feedback Loop Output
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Using the Feedback Loop Output
 
 .. note:: The ``PIDController`` assumes that the ``calculate()`` method is being called regularly at an interval consistent with the configured period.  Failure to do this will result in unintended loop behavior.
 
@@ -40,27 +42,31 @@ Using the constructed ``PIDController`` is simple: simply call the ``calculate()
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Calculates the output of the PID algorithm based on the sensor reading
-    // and sends it to a motor
-    motor.set(pid.calculate(encoder.getDistance(), setpoint));
+  ```java
+  // Calculates the output of the PID algorithm based on the sensor reading
+  // and sends it to a motor
+  motor.set(pid.calculate(encoder.getDistance(), setpoint));
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // Calculates the output of the PID algorithm based on the sensor reading
+  // and sends it to a motor
+  motor.Set(pid.Calculate(encoder.GetDistance(), setpoint));
+  ```
 
-    // Calculates the output of the PID algorithm based on the sensor reading
-    // and sends it to a motor
-    motor.Set(pid.Calculate(encoder.GetDistance(), setpoint));
+  ```python
+  # Calculates the output of the PID algorithm based on the sensor reading
+  # and sends it to a motor
+  motor.set(pid.calculate(encoder.getDistance(), setpoint))
+  ```
 
-Checking Errors
-^^^^^^^^^^^^^^^
+### Checking Errors
 
 .. note:: ``getPositionError()`` and ``getVelocityError()`` are named assuming that the loop is controlling a position - for a loop that is controlling a velocity, these return the velocity error and the acceleration error, respectively.
 
 The current error of the measured process variable is returned by the ``getPositionError()`` function, while its derivative is returned by the ``getVelocityError()`` function:
 
-Specifying and Checking Tolerances
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Specifying and Checking Tolerances
 
 .. note:: If only a position tolerance is specified, the velocity tolerance defaults to infinity.
 
@@ -74,31 +80,35 @@ To do this, we first must specify the tolerances with the ``setTolerance()`` met
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Sets the error tolerance to 5, and the error derivative tolerance to 10 per second
-    pid.setTolerance(5, 10);
-
+  ```java
+  // Sets the error tolerance to 5, and the error derivative tolerance to 10 per second
+  pid.setTolerance(5, 10);
     // Returns true if the error is less than 5 units, and the
-    // error derivative is less than 10 units
-    pid.atSetpoint();
-
-  .. code-block:: c++
-
-    // Sets the error tolerance to 5, and the error derivative tolerance to 10 per second
-    pid.SetTolerance(5, 10);
+  // error derivative is less than 10 units
+  pid.atSetpoint();
+  ```
 
+  ```c++
+  // Sets the error tolerance to 5, and the error derivative tolerance to 10 per second
+  pid.SetTolerance(5, 10);
     // Returns true if the error is less than 5 units, and the
-    // error derivative is less than 10 units
-    pid.AtSetpoint();
+  // error derivative is less than 10 units
+  pid.AtSetpoint();
+  ```
 
-Resetting the Controller
-^^^^^^^^^^^^^^^^^^^^^^^^
+  ```python
+  # Sets the error tolerance to 5, and the error derivative tolerance to 10 per second
+  pid.setTolerance(5, 10)
+    # Returns true if the error is less than 5 units, and the
+  # error derivative is less than 10 units
+  pid.atSetpoint()
+  ```
+
+### Resetting the Controller
 
 It is sometimes desirable to clear the internal state (most importantly, the integral accumulator) of a ``PIDController``, as it may be no longer valid (e.g. when the ``PIDController`` has been disabled and then re-enabled).  This can be accomplished by calling the ``reset()`` method.
 
-Setting a Max Integrator Value
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Setting a Max Integrator Value
 
 .. note:: Integrators introduce instability and hysteresis into feedback loop systems.  It is strongly recommended that teams avoid using integral gain unless absolutely no other solution will do - very often, problems that can be solved with an integrator can be better solved through use of a more-accurate :ref:`feedforward <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>`.
 
@@ -110,20 +120,25 @@ The range limits may be increased or decreased using the ``setIntegratorRange()`
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // The integral gain term will never add or subtract more than 0.5 from
-    // the total loop output
-    pid.setIntegratorRange(-0.5, 0.5);
+  ```java
+  // The integral gain term will never add or subtract more than 0.5 from
+  // the total loop output
+  pid.setIntegratorRange(-0.5, 0.5);
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // The integral gain term will never add or subtract more than 0.5 from
+  // the total loop output
+  pid.SetIntegratorRange(-0.5, 0.5);
+  ```
 
-    // The integral gain term will never add or subtract more than 0.5 from
-    // the total loop output
-    pid.SetIntegratorRange(-0.5, 0.5);
+  ```python
+  # The integral gain term will never add or subtract more than 0.5 from
+  # the total loop output
+  pid.setIntegratorRange(-0.5, 0.5)
+  ```
 
-Disabling Integral Gain if the Error is Too High
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Disabling Integral Gain if the Error is Too High
 
 Another way integral "wind-up" can be alleviated is by limiting the error range where integral gain is active. This can be achieved by setting ``IZone``. If the error is more than ``IZone``, the total accumulated error is reset, disabling integral gain. When the error is equal to or less than IZone, integral gain is enabled.
 
@@ -133,30 +148,33 @@ By default, ``IZone`` is disabled.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Disable IZone
-    pid.setIZone(Double.POSITIVE_INFINITY);
-
+  ```java
+  // Disable IZone
+  pid.setIZone(Double.POSITIVE_INFINITY);
     // Integral gain will not be applied if the absolute value of the error is
-    // more than 2
-    pid.setIZone(2);
-
-  .. code-block:: c++
-
-    // Disable IZone
-    pid.SetIZone(std::numeric_limits<double>::infinity());
+  // more than 2
+  pid.setIZone(2);
+  ```
 
+  ```c++
+  // Disable IZone
+  pid.SetIZone(std::numeric_limits<double>::infinity());
     // Integral gain will not be applied if the absolute value of the error is
-    // more than 2
-    pid.SetIZone(2);
+  // more than 2
+  pid.SetIZone(2);
+  ```
 
-Setting Continuous Input
-^^^^^^^^^^^^^^^^^^^^^^^^
+  ```python
+  # Disable IZone
+  pid.setIZone(math.inf)
+    # Integral gain will not be applied if the absolute value of the error is
+  # more than 2
+  pid.setIZone(2)
+  ```
 
-.. warning:: If your mechanism is not capable of fully continuous rotational motion (e.g. a turret without a slip ring, whose wires twist as it rotates), *do not* enable continuous input unless you have implemented an additional safety feature to prevent the mechanism from moving past its limit!
+### Setting Continuous Input
 
-.. warning:: The continuous input function does *not* automatically wrap your input values - be sure that your input values, when using this feature, are never outside of the specified range!
+.. warning:: If your mechanism is not capable of fully continuous rotational motion (e.g. a turret without a slip ring, whose wires twist as it rotates), *do not* enable continuous input unless you have implemented an additional safety feature to prevent the mechanism from moving past its limit!
 
 Some process variables (such as the angle of a turret) are measured on a circular scale, rather than a linear one - that is, each "end" of the process variable range corresponds to the same point in reality (e.g. 360 degrees and 0 degrees).  In such a configuration, there are two possible values for any given error, corresponding to which way around the circle the error is measured.  It is usually best to use the smaller of these errors.
 
@@ -164,27 +182,40 @@ To configure a ``PIDController`` to automatically do this, use the ``enableConti
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Enables continuous input on a range from -180 to 180
-    pid.enableContinuousInput(-180, 180);
+  ```java
+  // Enables continuous input on a range from -180 to 180
+  pid.enableContinuousInput(-180, 180);
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // Enables continuous input on a range from -180 to 180
+  pid.EnableContinuousInput(-180, 180);
+  ```
 
-    // Enables continuous input on a range from -180 to 180
-    pid.EnableContinuousInput(-180, 180);
+  ```python
+  # Enables continuous input on a range from -180 to 180
+  pid.enableContinuousInput(-180, 180)
+  ```
 
-Clamping Controller Output
---------------------------
+## Clamping Controller Output
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Clamps the controller output to between -0.5 and 0.5
+  MathUtil.clamp(pid.calculate(encoder.getDistance(), setpoint), -0.5, 0.5);
+  ```
 
-    // Clamps the controller output to between -0.5 and 0.5
-    MathUtil.clamp(pid.calculate(encoder.getDistance(), setpoint), -0.5, 0.5);
+  ```c++
+  // Clamps the controller output to between -0.5 and 0.5
+  std::clamp(pid.Calculate(encoder.GetDistance(), setpoint), -0.5, 0.5);
+  ```
 
-  .. code-block:: c++
+  ```python
+  # Python doesn't have a builtin clamp function
+  def clamp(v, minval, maxval):
+      return max(min(v, maxval), minval)
+    # Clamps the controller output to between -0.5 and 0.5
+  clamp(pid.calculate(encoder.getDistance(), setpoint), -0.5, 0.5)
+  ```
 
-    // Clamps the controller output to between -0.5 and 0.5
-    std::clamp(pid.Calculate(encoder.GetDistance(), setpoint), -0.5, 0.5);
diff --git a/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst b/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
index 140d6a29f4..5c3c0fc09e 100644
--- a/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
+++ b/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
@@ -1,22 +1,19 @@
-Combining Motion Profiling and PID Control with ProfiledPIDController
-=====================================================================
+# Combining Motion Profiling and PID Control with ProfiledPIDController
 
 .. note:: For a guide on implementing the ``ProfiledPIDController`` class in the :ref:`command-based framework <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>` framework, see :ref:`docs/software/commandbased/profilepid-subsystems-commands:Combining Motion Profiling and PID in Command-Based`.
 
 In the previous article, we saw how to use the ``TrapezoidProfile`` class to create and use a trapezoidal motion profile.  The example code from that article demonstrates manually composing the ``TrapezoidProfile`` class with the external PID control feature of a "smart" motor controller.
 
-This combination of functionality (a motion profile for generating setpoints combined with a PID controller for following them) is extremely common.  To facilitate this, WPILib comes with a ``ProfiledPIDController`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/ProfiledPIDController.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_profiled_p_i_d_controller.html>`__) that does most of the work of combining these two functionalities.  The API of the ``ProfiledPIDController`` is very similar to that of the ``PIDController``, allowing users to add motion profiling to a PID-controlled mechanism with very few changes to their code.
+This combination of functionality (a motion profile for generating setpoints combined with a PID controller for following them) is extremely common.  To facilitate this, WPILib comes with a ``ProfiledPIDController`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/ProfiledPIDController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_profiled_p_i_d_controller.html), :external:py:class:`Python <wpimath.controller.ProfiledPIDController>`) that does most of the work of combining these two functionalities.  The API of the ``ProfiledPIDController`` is very similar to that of the ``PIDController``, allowing users to add motion profiling to a PID-controlled mechanism with very few changes to their code.
 
-Using the ProfiledPIDController class
--------------------------------------
+## Using the ProfiledPIDController class
 
 .. note:: In C++, the ``ProfiledPIDController`` class is templated on the unit type used for distance measurements, which may be angular or linear.  The passed-in values *must* have units consistent with the distance units, or a compile-time error will be thrown.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
 .. note:: Much of the functionality of ``ProfiledPIDController`` is effectively identical to that of ``PIDController``.  Accordingly, this article will only cover features that are substantially-changed to accommodate the motion profiling functionality.  For information on standard ``PIDController`` features, see :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib`.
 
 
-Constructing a ProfiledPIDController
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Constructing a ProfiledPIDController
 
 .. note:: C++ is often able to infer the type of the inner classes, and thus a simple initializer list (without the class name) can be sent as a parameter.  The full class name is included in the example below for clarity.
 
@@ -24,47 +21,62 @@ Creating a ``ProfiledPIDController`` is nearly identical to :ref:`creating a PID
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Creates a ProfiledPIDController
-    // Max velocity is 5 meters per second
-    // Max acceleration is 10 meters per second
-    ProfiledPIDController controller = new ProfiledPIDController(
-      kP, kI, kD,
-      new TrapezoidProfile.Constraints(5, 10));
-
-  .. code-block:: c++
-
-    // Creates a ProfiledPIDController
-    // Max velocity is 5 meters per second
-    // Max acceleration is 10 meters per second
-    frc::ProfiledPIDController<units::meters> controller(
-      kP, kI, kD,
-      frc::TrapezoidProfile<units::meters>::Constraints{5_mps, 10_mps_sq});
-
-Goal vs Setpoint
-^^^^^^^^^^^^^^^^
+  ```java
+  // Creates a ProfiledPIDController
+  // Max velocity is 5 meters per second
+  // Max acceleration is 10 meters per second
+  ProfiledPIDController controller = new ProfiledPIDController(
+    kP, kI, kD,
+    new TrapezoidProfile.Constraints(5, 10));
+  ```
+
+  ```c++
+  // Creates a ProfiledPIDController
+  // Max velocity is 5 meters per second
+  // Max acceleration is 10 meters per second
+  frc::ProfiledPIDController<units::meters> controller(
+    kP, kI, kD,
+    frc::TrapezoidProfile<units::meters>::Constraints{5_mps, 10_mps_sq});
+  ```
+
+  ```python
+  from wpimath.controller import ProfiledPIDController
+  from wpimath.trajectory import TrapezoidProfile
+    # Creates a ProfiledPIDController
+  # Max velocity is 5 meters per second
+  # Max acceleration is 10 meters per second
+  controller = ProfiledPIDController(
+    kP, kI, kD,
+    TrapezoidProfile.Constraints(5, 10))
+  ```
+
+### Goal vs Setpoint
 
 A major difference between a standard ``PIDController`` and a ``ProfiledPIDController`` is that the actual *setpoint* of the control loop is not directly specified by the user.  Rather, the user specifies a *goal* position or state, and the setpoint for the controller is computed automatically from the generated motion profile between the current state and the goal.  So, while the user-side call looks mostly identical:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Calculates the output of the PID algorithm based on the sensor reading
-    // and sends it to a motor
-    motor.set(controller.calculate(encoder.getDistance(), goal));
+  ```java
+  // Calculates the output of the PID algorithm based on the sensor reading
+  // and sends it to a motor
+  motor.set(controller.calculate(encoder.getDistance(), goal));
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // Calculates the output of the PID algorithm based on the sensor reading
+  // and sends it to a motor
+  motor.Set(controller.Calculate(encoder.GetDistance(), goal));
+  ```
 
-    // Calculates the output of the PID algorithm based on the sensor reading
-    // and sends it to a motor
-    motor.Set(controller.Calculate(encoder.GetDistance(), goal));
+  ```python
+  # Calculates the output of the PID algorithm based on the sensor reading
+  # and sends it to a motor
+  motor.set(controller.calculate(encoder.getDistance(), goal))
+  ```
 
 The specified ``goal`` value (which can be either a position value or a ``TrapezoidProfile.State``, if nonzero velocity is desired) is *not* necessarily the *current* setpoint of the loop - rather, it is the *eventual* setpoint once the generated profile terminates.
 
-Getting/Using the Setpoint
-~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Getting/Using the Setpoint
 
 Since the ``ProfiledPIDController`` goal differs from the setpoint, is if often desirable to poll the current setpoint of the controller (for instance, to get values to use with :ref:`feedforward <docs/software/advanced-controls/controllers/combining-feedforward-feedback:Using Feedforward Components with PID>`).  This can be done with the ``getSetpoint()`` method.
 
@@ -72,56 +84,79 @@ The returned setpoint might then be used as in the following example:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    double lastSpeed = 0;
-    double lastTime = Timer.getFPGATimestamp();
-
+  ```java
+  double lastSpeed = 0;
+  double lastTime = Timer.getFPGATimestamp();
+    // Controls a simple motor's position using a SimpleMotorFeedforward
+  // and a ProfiledPIDController
+  public void goToPosition(double goalPosition) {
+    double pidVal = controller.calculate(encoder.getDistance(), goalPosition);
+    double acceleration = (controller.getSetpoint().velocity - lastSpeed) / (Timer.getFPGATimestamp() - lastTime);
+    motor.setVoltage(
+        pidVal
+        + feedforward.calculate(controller.getSetpoint().velocity, acceleration));
+    lastSpeed = controller.getSetpoint().velocity;
+    lastTime = Timer.getFPGATimestamp();
+  }
+  ```
+
+  ```c++
+  units::meters_per_second_t lastSpeed = 0_mps;
+  units::second_t lastTime = frc2::Timer::GetFPGATimestamp();
     // Controls a simple motor's position using a SimpleMotorFeedforward
-    // and a ProfiledPIDController
-    public void goToPosition(double goalPosition) {
-      double pidVal = controller.calculate(encoder.getDistance(), goalPosition);
-      double acceleration = (controller.getSetpoint().velocity - lastSpeed) / (Timer.getFPGATimestamp() - lastTime);
-      motor.setVoltage(
+  // and a ProfiledPIDController
+  void GoToPosition(units::meter_t goalPosition) {
+    auto pidVal = controller.Calculate(units::meter_t{encoder.GetDistance()}, goalPosition);
+    auto acceleration = (controller.GetSetpoint().velocity - lastSpeed) /
+        (frc2::Timer::GetFPGATimestamp() - lastTime);
+    motor.SetVoltage(
+         pidVal +
+        feedforward.Calculate(controller.GetSetpoint().velocity, acceleration));
+    lastSpeed = controller.GetSetpoint().velocity;
+    lastTime = frc2::Timer::GetFPGATimestamp();
+  }
+  ```
+
+  ```python
+  from wpilib import Timer
+  from wpilib.controller import ProfiledPIDController
+  from wpilib.controller import SimpleMotorFeedforward
+  def __init__(self):
+      # Assuming encoder, motor, controller are already defined
+      self.lastSpeed = 0
+      self.lastTime = Timer.getFPGATimestamp()
+      # Assuming feedforward is a SimpleMotorFeedforward object
+      self.feedforward = SimpleMotorFeedforward(ks=0.0, kv=0.0, ka=0.0)
+  def goToPosition(self, goalPosition: float):
+      pidVal = self.controller.calculate(self.encoder.getDistance(), goalPosition)
+      acceleration = (self.controller.getSetpoint().velocity - self.lastSpeed) / (Timer.getFPGATimestamp() - self.lastTime)
+      self.motor.setVoltage(
           pidVal
-          + feedforward.calculate(controller.getSetpoint().velocity, acceleration));
-      lastSpeed = controller.getSetpoint().velocity;
-      lastTime = Timer.getFPGATimestamp();
-    }
-
-  .. code-block:: c++
+          + self.feedforward.calculate(self.controller.getSetpoint().velocity, acceleration))
+      self.lastSpeed = controller.getSetpoint().velocity
+      self.lastTime = Timer.getFPGATimestamp()
+  ```
 
-    units::meters_per_second_t lastSpeed = 0_mps;
-    units::second_t lastTime = frc2::Timer::GetFPGATimestamp();
+## Complete Usage Example
 
-    // Controls a simple motor's position using a SimpleMotorFeedforward
-    // and a ProfiledPIDController
-    void GoToPosition(units::meter_t goalPosition) {
-      auto pidVal = controller.Calculate(units::meter_t{encoder.GetDistance()}, goalPosition);
-      auto acceleration = (controller.GetSetpoint().velocity - lastSpeed) /
-          (frc2::Timer::GetFPGATimestamp() - lastTime);
-      motor.SetVoltage(
-           pidVal +
-          feedforward.Calculate(controller.GetSetpoint().velocity, acceleration));
-      lastSpeed = controller.GetSetpoint().velocity;
-      lastTime = frc2::Timer::GetFPGATimestamp();
-    }
-
-Complete Usage Example
-----------------------
-
-A more complete example of ``ProfiledPIDController`` usage is provided in the ElevatorProfilePID example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp>`__):
+A more complete example of ``ProfiledPIDController`` usage is provided in the ElevatorProfilePID example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp), [Python](https://github.com/robotpy/examples/tree/main/ElevatorProfiledPID)):
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
     :language: java
     :lines: 5-
     :linenos:
     :lineno-start: 5
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
     :language: c++
     :lines: 5-
     :linenos:
     :lineno-start: 5
+
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/ElevatorProfiledPID/robot.py
+    :language: python
+    :lines: 8-
+    :linenos:
+    :lineno-start: 8
diff --git a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
index 073d5d7b69..4379764fad 100644
--- a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
+++ b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
@@ -1,67 +1,77 @@
-Trapezoidal Motion Profiles in WPILib
-=====================================
+# Trapezoidal Motion Profiles in WPILib
 
 .. todo:: link to conceptual motion profiling article
 
 .. note:: This article covers the in-code generation of trapezoidal motion profiles.  Documentation describing the involved concepts in more detail is forthcoming.
 
-.. note:: For a guide on implementing the ``TrapezoidProfile`` class in the :ref:`command-based framework <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>` framework, see :ref:`docs/software/commandbased/profile-subsystems-commands:Motion Profiling through TrapezoidProfileSubsystems and TrapezoidProfileCommands`.
+.. note:: For a guide on implementing the ``TrapezoidProfile`` class in the :ref:`command-based framework <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>` framework, see :doc:`/docs/software/commandbased/profile-subsystems-commands`.
 
 .. note:: The ``TrapezoidProfile`` class, used on its own, is most useful when composed with a custom controller (such as a "smart" motor controller with a built-in PID functionality).  To integrate it with a WPILib ``PIDController``, see :doc:`profiled-pidcontroller`.
 
 While feedforward and feedback control offer convenient ways to achieve a given setpoint, we are often still faced with the problem of generating setpoints for our mechanisms.  While the naive approach of immediately commanding a mechanism to its desired state may work, it is often suboptimal.  To improve the handling of our mechanisms, we often wish to command mechanisms to a *sequence* of setpoints that smoothly interpolate between its current state, and its desired goal state.
 
-To help users do this, WPILib provides a ``TrapezoidProfile`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/trajectory/TrapezoidProfile.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_trapezoid_profile.html>`__).
+To help users do this, WPILib provides a ``TrapezoidProfile`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile.html), :external:py:class:`Python <wpimath.trajectory.TrapezoidProfile>`).
 
-Creating a TrapezoidProfile
----------------------------
+## Creating a TrapezoidProfile
 
 .. note:: In C++, the ``TrapezoidProfile`` class is templated on the unit type used for distance measurements, which may be angular or linear.  The passed-in values *must* have units consistent with the distance units, or a compile-time error will be thrown.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
-Constraints
-^^^^^^^^^^^
+### Constraints
 
 .. note:: The various :ref:`feedforward helper classes <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>` provide methods for calculating the maximum simultaneously-achievable velocity and acceleration of a mechanism.  These can be very useful for calculating appropriate motion constraints for your ``TrapezoidProfile``.
 
-In order to create a trapezoidal motion profile, we must first impose some constraints on the desired motion.  Namely, we must specify a maximum velocity and acceleration that the mechanism will be expected to achieve during the motion.  To do this, we create an instance of the ``TrapezoidProfile.Constraints`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/trajectory/TrapezoidProfile.Constraints.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_trapezoid_profile_1_1_constraints.html>`__):
+In order to create a trapezoidal motion profile, we must first impose some constraints on the desired motion.  Namely, we must specify a maximum velocity and acceleration that the mechanism will be expected to achieve during the motion.  To do this, we create an instance of the ``TrapezoidProfile.Constraints`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.Constraints.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile_1_1_constraints.html), :external:py:class:`Python <wpimath.trajectory.TrapezoidProfile.Constraints>`):
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Creates a new set of trapezoidal motion profile constraints
+  // Max velocity of 10 meters per second
+  // Max acceleration of 20 meters per second squared
+  new TrapezoidProfile.Constraints(10, 20);
+  ```
 
-    // Creates a new set of trapezoidal motion profile constraints
-    // Max velocity of 10 meters per second
-    // Max acceleration of 20 meters per second squared
-    new TrapezoidProfile.Constraints(10, 20);
+  ```c++
+  // Creates a new set of trapezoidal motion profile constraints
+  // Max velocity of 10 meters per second
+  // Max acceleration of 20 meters per second squared
+  frc::TrapezoidProfile<units::meters>::Constraints{10_mps, 20_mps_sq};
+  ```
 
-  .. code-block:: c++
+  ```python
+  from wpimath.trajectory import TrapezoidProfile
+  # Creates a new set of trapezoidal motion profile constraints
+  # Max velocity of 10 meters per second
+  # Max acceleration of 20 meters per second squared
+  TrapezoidProfile.Constraints(10, 20)
+  ```
 
-    // Creates a new set of trapezoidal motion profile constraints
-    // Max velocity of 10 meters per second
-    // Max acceleration of 20 meters per second squared
-    frc::TrapezoidProfile<units::meters>::Constraints{10_mps, 20_mps_sq};
+### Start and End States
 
-Start and End States
-^^^^^^^^^^^^^^^^^^^^
-
-Next, we must specify the desired starting and ending states for our mechanisms using the ``TrapezoidProfile.State`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/trajectory/TrapezoidProfile.State.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_trapezoid_profile_1_1_state.html>`__).  Each state has a position and a velocity:
+Next, we must specify the desired starting and ending states for our mechanisms using the ``TrapezoidProfile.State`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.State.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile_1_1_state.html), :external:py:class:`Python <wpimath.trajectory.TrapezoidProfile.State>`).  Each state has a position and a velocity:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Creates a new state with a position of 5 meters
-    // and a velocity of 0 meters per second
-    new TrapezoidProfile.State(5, 0);
+  ```java
+  // Creates a new state with a position of 5 meters
+  // and a velocity of 0 meters per second
+  new TrapezoidProfile.State(5, 0);
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // Creates a new state with a position of 5 meters
+  // and a velocity of 0 meters per second
+  frc::TrapezoidProfile<units::meters>::State{5_m, 0_mps};
+  ```
 
-    // Creates a new state with a position of 5 meters
-    // and a velocity of 0 meters per second
-    frc::TrapezoidProfile<units::meters>::State{5_m, 0_mps};
+  ```python
+  from wpimath.trajectory import TrapezoidProfile
+  # Creates a new state with a position of 5 meters
+  # and a velocity of 0 meters per second
+  TrapezoidProfile.State(5, 0)
+  ```
 
-Putting It All Together
-^^^^^^^^^^^^^^^^^^^^^^^
+### Putting It All Together
 
 .. note:: C++ is often able to infer the type of the inner classes, and thus a simple initializer list (without the class name) can be sent as a parameter.  The full class names are included in the example below for clarity.
 
@@ -69,81 +79,103 @@ Now that we know how to create a set of constraints and the desired start/end st
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Creates a new TrapezoidProfile
-    // Profile will have a max vel of 5 meters per second
-    // Profile will have a max acceleration of 10 meters per second squared
-    TrapezoidProfile profile = new TrapezoidProfile(new TrapezoidProfile.Constraints(5, 10));
-
-  .. code-block:: c++
-
-    // Creates a new TrapezoidProfile
-    // Profile will have a max vel of 5 meters per second
-    // Profile will have a max acceleration of 10 meters per second squared
-    frc::TrapezoidProfile<units::meters> profile{
-      frc::TrapezoidProfile<units::meters>::Constraints{5_mps, 10_mps_sq}};
-
-Using a ``TrapezoidProfile``
-----------------------------
-
-Sampling the Profile
-^^^^^^^^^^^^^^^^^^^^
+  ```java
+  // Creates a new TrapezoidProfile
+  // Profile will have a max vel of 5 meters per second
+  // Profile will have a max acceleration of 10 meters per second squared
+  TrapezoidProfile profile = new TrapezoidProfile(new TrapezoidProfile.Constraints(5, 10));
+  ```
+
+  ```c++
+  // Creates a new TrapezoidProfile
+  // Profile will have a max vel of 5 meters per second
+  // Profile will have a max acceleration of 10 meters per second squared
+  frc::TrapezoidProfile<units::meters> profile{
+    frc::TrapezoidProfile<units::meters>::Constraints{5_mps, 10_mps_sq}};
+  ```
+
+  ```python
+  from wpimath.trajectory import TrapezoidProfile
+  # Creates a new TrapezoidProfile
+  # Profile will have a max vel of 5 meters per second
+  # Profile will have a max acceleration of 10 meters per second squared
+  profile = TrapezoidProfile(TrapezoidProfile.Constraints(5, 10))
+  ```
+
+## Using a ``TrapezoidProfile``
+
+### Sampling the Profile
 
 Once we've created a ``TrapezoidProfile``, using it is very simple: to get the profile state at the given time after the profile has started, call the ``calculate()`` method with the goal state and initial state:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Profile will end stationary at 5 meters
-    // Profile will start stationary at zero position
-    // Returns the motion profile state after 5 seconds of motion
-    profile.calculate(5, new TrapezoidProfile.State(5, 0), new TrapezoidProfile.State(0, 0));
-
-  .. code-block:: c++
-
-    // Profile will end stationary at 5 meters
-    // Profile will start stationary at zero position
-    // Returns the motion profile state after 5 seconds of motion
-    profile.Calculate(5_s,
-    frc::TrapezoidProfile<units::meters>::State{5_m, 0_mps},
-    frc::TrapezoidProfile<units::meters>::State{0_m, 0_mps});
-
-Using the State
-^^^^^^^^^^^^^^^
+  ```java
+  // Profile will start stationary at zero position
+  // Profile will end stationary at 5 meters
+  // Returns the motion profile state after 5 seconds of motion
+  profile.calculate(5, new TrapezoidProfile.State(0, 0), new TrapezoidProfile.State(5, 0));
+  ```
+
+  ```c++
+  // Profile will start stationary at zero position
+  // Profile will end stationary at 5 meters
+  // Returns the motion profile state after 5 seconds of motion
+  profile.Calculate(5_s,
+  frc::TrapezoidProfile<units::meters>::State{0_m, 0_mps},
+  frc::TrapezoidProfile<units::meters>::State{5_m, 0_mps});
+  ```
+
+  ```python
+  # Profile will start stationary at zero position
+  # Profile will end stationary at 5 meters
+  # Returns the motion profile state after 5 seconds of motion
+  profile.calculate(5, TrapezoidProfile.State(0, 0), TrapezoidProfile.State(5, 0))
+  ```
+
+### Using the State
 
 The ``calculate`` method returns a ``TrapezoidProfile.State`` class (the same one that was used to specify the initial/end states when calculating the profile state).  To use this for actual control, simply pass the contained position and velocity values to whatever controller you wish (for example, a PIDController):
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  var setpoint = profile.calculate(elapsedTime, initialState, goalState);
+  controller.calculate(encoder.getDistance(), setpoint.position);
+  ```
 
-    var setpoint = profile.calculate(elapsedTime, goalState, initialState);
-    controller.calculate(encoder.getDistance(), setpoint.position);
+  ```c++
+  auto setpoint = profile.Calculate(elapsedTime, initialState, goalState);
+  controller.Calculate(encoder.GetDistance(), setpoint.position.value());
+  ```
 
-  .. code-block:: c++
+  ```python
+  setpoint = profile.calculate(elapsedTime, initialState, goalState)
+  controller.calculate(encoder.getDistance(), setpoint.position)
+  ```
 
-    auto setpoint = profile.Calculate(elapsedTime, goalState, initialState);
-    controller.Calculate(encoder.GetDistance(), setpoint.position.value());
-
-Complete Usage Example
-----------------------
+## Complete Usage Example
 
 .. note:: In this example, the initial state is re-computed every timestep. This is a somewhat different usage technique than is detailed above, but works according to the same principles - the profile is sampled at a time corresponding to the loop period to get the setpoint for the next loop iteration.
 
-A more complete example of ``TrapezoidProfile`` usage is provided in the ElevatorTrapezoidProfile example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp>`__):
+A more complete example of ``TrapezoidProfile`` usage is provided in the ElevatorTrapezoidProfile example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp), [Python](https://github.com/robotpy/examples/tree/main/ElevatorTrapezoidProfile)):
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
     :language: java
     :lines: 5-
     :linenos:
     :lineno-start: 5
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
     :language: c++
     :lines: 5-
     :linenos:
     :lineno-start: 5
+
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/ElevatorTrapezoidProfile/robot.py
+    :language: python
+    :lines: 8-
+    :linenos:
+    :lineno-start: 8
diff --git a/source/docs/software/advanced-controls/controls-glossary.rst b/source/docs/software/advanced-controls/controls-glossary.rst
index 204b060754..4f32953a36 100644
--- a/source/docs/software/advanced-controls/controls-glossary.rst
+++ b/source/docs/software/advanced-controls/controls-glossary.rst
@@ -1,13 +1,12 @@
-Controls Glossary
-=================
+# Controls Glossary
 
 .. glossary::
 
    bang-bang control
-      A very simple, no-tuning-required closed-loop control technique. It simply "turns on" the :term:`control effort` when the :term:`process variable` is too small, and "turns off" the control effort when the process variable is too big. It works well in some cases, but not all. See `"Bang-bang" control <https://en.wikipedia.org/wiki/Bang%E2%80%93bang_control>`__ on Wikipedia for more info.
+      A very simple, no-tuning-required closed-loop control technique. It simply "turns on" the :term:`control effort` when the :term:`process variable` is too small, and "turns off" the control effort when the process variable is too big. It works well in some cases, but not all. See ["Bang-bang" control](https://en.wikipedia.org/wiki/Bang%E2%80%93bang_control) on Wikipedia for more info.
 
    Cartesian coordinate system
-      A set of points in space where each point is described by a set of numbers, indicating its *coordinates* within that space. These coordinates are an expression of the :term:`orthogonal` distance of each point from a set of fixed, orthogonal axes (IE, a "rectangular" system). 2-dimension and 3-dimension spaces are most common in FRC (and likely what was learned in algebra 1), but any number of dimensions is theoretically possible. See `Cartesian coordinate system <https://en.wikipedia.org/wiki/Cartesian_coordinate_system>`__ on Wikipedia for more info.
+      A set of points in space where each point is described by a set of numbers, indicating its *coordinates* within that space. These coordinates are an expression of the :term:`orthogonal` distance of each point from a set of fixed, orthogonal axes (IE, a "rectangular" system). 2-dimension and 3-dimension spaces are most common in FRC (and likely what was learned in algebra 1), but any number of dimensions is theoretically possible. See [Cartesian coordinate system](https://en.wikipedia.org/wiki/Cartesian_coordinate_system) on Wikipedia for more info.
 
    churning losses
       Complex friction-like forces arising from the fact that when gears and bearings rotate, they must displace liquid lubricant. This reduces the efficiency of rotating mechanisms.
@@ -25,10 +24,10 @@ Controls Glossary
       Used in position or negative feedback with a :term:`plant` to bring about a desired :term:`system state <state>` by driving the difference between a :term:`reference` signal and the :term:`output` to zero.
 
    convolution
-      A mathematical operation that calculates a weighted moving average of one function, with the weights assigned by a second function. A common way to "filter" sensor input is to apply a *convolution* to it, using a carefully-chosen filtering function. See `convolution <https://en.wikipedia.org/wiki/Convolution>`__. on Wikipedia for more info.
+      A mathematical operation that calculates a weighted moving average of one function, with the weights assigned by a second function. A common way to "filter" sensor input is to apply a *convolution* to it, using a carefully-chosen filtering function. See [convolution](https://en.wikipedia.org/wiki/Convolution) on Wikipedia for more info.
 
    counter-electromotive force
-      A :term:`voltage` generated in a spinning motor. The voltage is a result of the fact that has a coil of wire rotating near a magnet. See `Counter-electromotive_force <https://en.wikipedia.org/wiki/Counter-electromotive_force>`__ on Wikipedia for more info.
+      A :term:`voltage` generated in a spinning motor. The voltage is a result of the fact that has a coil of wire rotating near a magnet. See [Counter-electromotive_force](https://en.wikipedia.org/wiki/Counter-electromotive_force) on Wikipedia for more info.
 
    current
       The flow of electrons through a conductor. Current is described with a unit of "Amps" (or simply "A"), and is measured at a single point in a circuit. One amp is equal to :math:`6241509074000000000` electrons moving past the measurement point in one second.
@@ -37,22 +36,22 @@ Controls Glossary
       A branch of physics concerned with the motion of bodies under the action of forces. In modern control, systems evolve according to their dynamics.
 
    derivative
-      A mathematical operation which evaluates the "rate-of-change" of a function at a given point. See `derivative <https://en.wikipedia.org/wiki/Derivative>`__ on Wikipedia for more info.
+      A mathematical operation which evaluates the "rate-of-change" of a function at a given point. See [derivative](https://en.wikipedia.org/wiki/Derivative) on Wikipedia for more info.
 
    error
       :term:`Reference <reference>` minus an :term:`output` or :term:`state`.
 
    exponential search
-      An iterative process of finding a specific value within a wide search range by applying a multiplicative factor to the search value. See `exponential search <https://en.wikipedia.org/wiki/Exponential_search>`__ on Wikipedia for more info.
+      An iterative process of finding a specific value within a wide search range by applying a multiplicative factor to the search value. See [exponential search](https://en.wikipedia.org/wiki/Exponential_search) on Wikipedia for more info.
 
    exponential smoothing
-      A very common way to implement a simple low-pass filter, using an exponential window function in a :term:`convolution` with an input signal. The convolution operation simplifies down to a very simple set of math operations on the current input and previous output. See `exponential smoothing <https://en.wikipedia.org/wiki/Exponential_smoothing>`__ on Wikipedia for more info.
+      A very common way to implement a simple low-pass filter, using an exponential window function in a :term:`convolution` with an input signal. The convolution operation simplifies down to a very simple set of math operations on the current input and previous output. See [exponential smoothing](https://en.wikipedia.org/wiki/Exponential_smoothing) on Wikipedia for more info.
 
    gain
       A scalar value that relates the magnitude of an input signal to the magnitude of an output signal. For example, ``gain`` in ``output = gain * input``. A gain greater than one would amplify an input signal, while a gain less than one would dampen an input signal. A negative gain would negate the input signal.
 
    Gaussian distribution
-      A special mathematical function that describes distributions of averages. The graph of a Gaussian function is a "bell curve" shape. This function is described by its mean (the location of the "peak" of the bell curve) and variance (a measure of how "spread out" the bell curve is). See `Gaussian distribution <https://en.wikipedia.org/wiki/Gaussian_function>`__  on Wikipedia for more info.
+      A special mathematical function that describes distributions of averages. The graph of a Gaussian function is a "bell curve" shape. This function is described by its mean (the location of the "peak" of the bell curve) and variance (a measure of how "spread out" the bell curve is). See [Gaussian distribution](https://en.wikipedia.org/wiki/Gaussian_function)  on Wikipedia for more info.
 
    gradient
       The :term:`derivative`, but applied to a function with multiple inputs. As a result, the output is both the magnitude of the rate of change, and the vector direction along which it occurs.
@@ -69,16 +68,16 @@ Controls Glossary
       Inputs are often represented by the variable :math:`\mathbf{u}`, a column vector with one entry per :term:`input` to the :term:`system`.
 
    least-squares regression
-      A curve-fitting technique which picks a curve to minimizes the *square* of the error between the fitted curve, and the actual measured data. See `ordinary least-squares regression <https://en.wikipedia.org/wiki/Linear_regression>`__ on Wikipedia for more info.
+      A curve-fitting technique which picks a curve to minimize the *square* of the error between the fitted curve and the actual measured data. See [ordinary least-squares regression](https://en.wikipedia.org/wiki/Linear_regression) on Wikipedia for more info.
 
    LQR
-     Linear-Quadratic Regulator - A feedback control scheme which seeks to operate a system in a "most optimal" or "lowest cost" manner, in the sense of minimizing the square of some "cost function" that represents a combination of system error and control effort. This requires an accurate mathematical model of the system being controlled, and function describing the "cost" of any given system state. See `LQR <https://en.wikipedia.org/wiki/Linear%E2%80%93quadratic_regulator>`__ on Wikipedia for more info.
+     Linear-Quadratic Regulator - A feedback control scheme which seeks to operate a system in a "most optimal" or "lowest cost" manner, in the sense of minimizing the square of some "cost function" that represents a combination of system error and control effort. This requires an accurate mathematical model of the system being controlled, and function describing the "cost" of any given system state. See [LQR](https://en.wikipedia.org/wiki/Linear%E2%80%93quadratic_regulator) on Wikipedia for more info.
 
    measurement
       Measurements are :term:`outputs <output>` that are measured from a :term:`plant`, or physical system, using sensors.
 
    model
-      A set of mathematical equations that reflects some aspect of a physical :term:`system's <system>` behavior.
+      A set of mathematical equations that reflects some aspect of a physical :term:`system <system>`\'s behavior.
 
    observer
       In control theory, a system that provides an estimate of the internal :term:`state` of a given real :term:`system` from measurements of the :term:`input` and :term:`output` of the real :term:`system`. WPILib includes a Kalman Filter class for observing linear systems, and ExtendedKalmanFilter and UnscentedKalmanFilter classes for nonlinear systems.
@@ -87,18 +86,18 @@ Controls Glossary
       Having the property of being independent, or lacking mutual influence. For example, two lines are orthogonal if moving any number of units along one line causes zero displacement along the other line. In a :term:`cartesian coordinate system`, orthogonal lines are often said to have 90-degree angles between each other.
 
    output
-      Measurements from sensors. There can be more measurements then states. These outputs are used in the "correct" step of Kalman Filters.
+      Measurements from sensors. There can be more measurements than states. These outputs are used in the "correct" step of Kalman Filters.
 
          - Ex. A flywheel might have 1 :term:`output` from a encoder that measures it's velocity.
          - Ex. A drivetrain might use solvePNP and V-SLAM to find it's x/y/heading position on the field. It's fine that there are 6 measurements (solvePNP x/y/heading and V-SLAM x/y/heading) and 3 states (robot x/y/heading).
 
-      Outputs of a :term:`system` are often represented using the variable :math:`\mathbf{y}`, a column vector with one entry per :term:`output` (or thing we can measure). For example, if our :term:`system` had states for velocity and acceleration but our sensor could only measure velocity, our, our :term:`output` vector would only include the :term:`system`\'s velocity.
+      Outputs of a :term:`system` are often represented using the variable :math:`\mathbf{y}`, a column vector with one entry per :term:`output` (or thing we can measure). For example, if our :term:`system` had states for velocity and acceleration but our sensor could only measure velocity, our :term:`output` vector would only include the :term:`system`\'s velocity.
 
    phase portrait
-      A graph of a function's value and its :term:`derivative` as they change in time, given some initial starting conditions. They are useful for analyzing system behavior (stable/unstable operating points, limit cycles, etc.) given a certain set of parameters or starting conditions. See `phase portrait <https://en.wikipedia.org/wiki/Phase_portrait>`__ on Wikipedia for more info.
+      A graph of a function's value and its :term:`derivative` as they change in time, given some initial starting conditions. They are useful for analyzing system behavior (stable/unstable operating points, limit cycles, etc.) given a certain set of parameters or starting conditions. See [phase portrait](https://en.wikipedia.org/wiki/Phase_portrait) on Wikipedia for more info.
 
    PID
-      Proportional-Integral-Derivative - A feedback controller which calculates a :term:`control signal` from a weighted sum of the :term:`error`, the rate of change of the error, and an accumulated sum of previous errors. See `PID controller <https://en.wikipedia.org/wiki/PID_controller>`__. on Wikipedia for more info.
+      Proportional-Integral-Derivative - A feedback controller which calculates a :term:`control signal` from a weighted sum of the :term:`error`, the rate of change of the error, and an accumulated sum of previous errors. See [PID controller](https://en.wikipedia.org/wiki/PID_controller) on Wikipedia for more info.
 
    plant
       The :term:`system` or collection of actuators being controlled.
@@ -108,7 +107,7 @@ Controls Glossary
 
    r-squared
 
-      A statistical measurement of how well a model predicts a set of data, representing the fraction of the observed variation in the independent variable that is accurately predicted by the model. The value typically runs from 0.0 (a terrible fit, equivalent to just guessing the average value of your independent variable) to 1.0 (a perfect fit). See `Coefficient_of_determination <https://en.wikipedia.org/wiki/Coefficient_of_determination>`__ on Wikipedia for more info.
+      A statistical measurement of how well a model predicts a set of data, representing the fraction of the observed variation in the independent variable that is accurately predicted by the model. The value typically runs from 0.0 (a terrible fit, equivalent to just guessing the average value of your independent variable) to 1.0 (a perfect fit). See [Coefficient_of_determination](https://en.wikipedia.org/wiki/Coefficient_of_determination) on Wikipedia for more info.
 
    reference
       The desired state. This value is used as the reference point for a controller's error calculation.
@@ -117,7 +116,7 @@ Controls Glossary
       The time a :term:`system` takes to initially reach the :term:`reference` after applying a :term:`step input`.
 
    RMSE
-      Root Mean Squared Error - Statistical measurement of how well a curve is fit to a set of data. It is calculated as the square root of the average (mean) of the squares of all the errors between the actual sample and the curve fit. It has units of the original input data. See `Root Mean Squared Error <https://en.wikipedia.org/wiki/Root-mean-square_deviation>`__ on Wikipedia for more info.
+      Root Mean Squared Error - Statistical measurement of how well a curve is fit to a set of data. It is calculated as the square root of the average (mean) of the squares of all the errors between the actual sample and the curve fit. It has units of the original input data. See [Root Mean Squared Error](https://en.wikipedia.org/wiki/Root-mean-square_deviation) on Wikipedia for more info.
 
    setpoint
       The term used to describe the :term:`reference` of a PID controller.
@@ -126,18 +125,18 @@ Controls Glossary
       The time a :term:`system` takes to settle at the :term:`reference` after a :term:`step input` is applied.
 
    signum function
-      A non-continuous function that expresses the "sign" of its input. It is equal to -1 for all negative input numbers, 0 for an input of 0, and 1 for all positive input numbers. See `signum function <https://en.wikipedia.org/wiki/Sign_function>`__, on Wikipedia for more info.
+      A non-continuous function that expresses the "sign" of its input. It is equal to -1 for all negative input numbers, 0 for an input of 0, and 1 for all positive input numbers. See [signum function](https://en.wikipedia.org/wiki/Sign_function) on Wikipedia for more info.
 
    state
-      A characteristic of a :term:`system` (e.g., velocity) that can be used to determine the :term:`system's <system>` future behavior. In state-space notation, the state of a system is written as a column vector describing it's position in state-space.
+      A characteristic of a :term:`system` (e.g., velocity) that can be used to determine the :term:`system <system>`\'s future behavior. In state-space notation, the state of a system is written as a column vector describing its position in state-space.
 
-         - Ex. A drivetrain system might have the states :math:`\begin{bmatrix}x \\ y \\ \theta \end{bmatrix}` to describe it's position on the field.
+         - Ex. A drivetrain system might have the states :math:`\begin{bmatrix}x \\ y \\ \theta \end{bmatrix}` to describe its position on the field.
          - Ex. An elevator system might have the states :math:`\begin{bmatrix} \text{position} \\ \text{velocity} \end{bmatrix}` to describe its current height and velocity.
 
-      A :term:`system's <system>` state is often represented by the variable :math:`\mathbf{x}`, a column vector with one entry per :term:`state`.
+      A :term:`system <system>`\'s state is often represented by the variable :math:`\mathbf{x}`, a column vector with one entry per :term:`state`.
 
    statistically robust
-      The property of a data processing algorithm which makes it resilient to a noisy or outlier-prone data set. Designing statistically robust algorithms on robots is important because real-world sensor data can often be unpredictable, but unexpected robot behavior is never desirable. See `Robust Statistics <https://en.wikipedia.org/wiki/Robust_statistics>`__ on Wikipedia for more info.
+      The property of a data processing algorithm which makes it resilient to a noisy or outlier-prone data set. Designing statistically robust algorithms on robots is important because real-world sensor data can often be unpredictable, but unexpected robot behavior is never desirable. See [Robust Statistics](https://en.wikipedia.org/wiki/Robust_statistics) on Wikipedia for more info.
 
    steady-state error
       :term:`Error <error>` after :term:`system` reaches equilibrium.
@@ -149,10 +148,10 @@ Controls Glossary
       The response of a :term:`system` to a :term:`step input`.
 
    system
-      A term encompassing a :term:`plant` and it's interaction with a :term:`controller` and :term:`observer`, which is treated as a single entity. Mathematically speaking, a :term:`system` maps :term:`inputs <input>` to :term:`outputs <output>` through a linear combination of :term:`states <state>`.
+      A term encompassing a :term:`plant` and its interaction with a :term:`controller` and :term:`observer`, which are treated as a single entity. Mathematically speaking, a :term:`system` maps :term:`inputs <input>` to :term:`outputs <output>` through a linear combination of :term:`states <state>`.
 
    system identification
-        The process of capturing a :term:`systems <system>` :term:`dynamics` in a mathematical model using measured data. The SysId toolsuite uses system identification to find kS, kV and kA terms.
+        The process of capturing a :term:`system <system>`\'s :term:`dynamics` in a mathematical model using measured data. The SysId toolsuite uses system identification to find kS, kV and kA terms.
 
    system response
       The behavior of a :term:`system` over time for a given :term:`input`.
@@ -161,7 +160,7 @@ Controls Glossary
       The measurement of how much an electric field is "pushing" electrons through a circuit. It is sometimes called "Electromotive Force", or "EMF". It is measured in units of "Volts". It always is defined between *two* points in a circuit. If one electron travels between two points that have one volt of EMF between them, it will have been accelerated to the point of having :math:`\frac{1}{6241509074000000000}` joules of energy.
 
    viscous drag
-      The force generated from an object moving *relatively* slowly through non-turbulent fluid. In this region, the force is roughly proportional to the *velocity* of the object. It describes the most common type of "air resistance" an FRC robot would encounter, as well as losses in a gearbox from displacing grease. See `Drag (physics) <https://en.wikipedia.org/wiki/Drag_(physics)#Very_low_Reynolds_numbers:_Stokes'_drag>`__ on Wikipedia for more info.
+      The force generated from an object moving *relatively* slowly through non-turbulent fluid. In this region, the force is roughly proportional to the *velocity* of the object. It describes the most common type of "air resistance" an FRC robot would encounter, as well as losses in a gearbox from displacing grease. See [Drag (physics)](https://en.wikipedia.org/wiki/Drag_%28physics%29#Low_Reynolds_numbers:_Stokes'_drag) on Wikipedia for more info.
 
    x-dot
       :math:`\dot{\mathbf{x}}`, or x-dot: the derivative of the :term:`state` vector :math:`\mathbf{x}`. If the :term:`system` had just a velocity :term:`state`, then :math:`\dot{\mathbf{x}}` would represent the :term:`system`\'s acceleration.
diff --git a/source/docs/software/advanced-controls/filters/debouncer.rst b/source/docs/software/advanced-controls/filters/debouncer.rst
index 97066a3a59..2640ab3a8e 100644
--- a/source/docs/software/advanced-controls/filters/debouncer.rst
+++ b/source/docs/software/advanced-controls/filters/debouncer.rst
@@ -1,12 +1,10 @@
-Debouncer
-=========
+# Debouncer
 
 A debouncer is a filter used to eliminate unwanted quick on/off cycles (termed "bounces," originally from the physical vibrations of a switch as it is thrown). These cycles are usually due to a sensor error like noise or reflections and not the actual event the sensor is trying to record.
 
-Debouncing is implemented in WPILib by the ``Debouncer`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/filter/Debouncer.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_debouncer.html>`__), which filters a boolean stream so that the output only changes if the input sustains a change for some nominal time period.
+Debouncing is implemented in WPILib by the ``Debouncer`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/filter/Debouncer.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_debouncer.html), :external:py:class:`Python <wpimath.filter.Debouncer>`), which filters a boolean stream so that the output only changes if the input sustains a change for some nominal time period.
 
-Modes
------
+## Modes
 
 The WPILib ``Debouncer`` can be configured in three different modes:
 
@@ -14,33 +12,42 @@ The WPILib ``Debouncer`` can be configured in three different modes:
   * Falling: Debounces falling edges (transitions from `true` to `false`) only.
   * Both: Debounces all transitions.
 
-Usage
------
+## Usage
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Initializes a DigitalInput on DIO 0
+  DigitalInput input = new DigitalInput(0);
+  // Creates a Debouncer in "both" mode.
+  Debouncer m_debouncer = new Debouncer(0.1, Debouncer.DebounceType.kBoth);
+  // So if currently false the signal must go true for at least .1 seconds before being read as a True signal.
+  if (m_debouncer.calculate(input.get())) {
+    // Do something now that the DI is True.
+  }
+  ```
+
+  ```c++
+  // Initializes a DigitalInput on DIO 0
+  frc::DigitalInput input{0};
+  // Creates a Debouncer in "both" mode.
+  frc::Debouncer m_debouncer{100_ms, frc::Debouncer::DebounceType::kBoth};
+  // So if currently false the signal must go true for at least .1 seconds before being read as a True signal.
+  if (m_debouncer.calculate(input.Get())) {
+    // Do something now that the DI is True.
+  }
+  ```
+
+  ```python
+  from wpilib import DigitalInput
+  from wpimath.filter import Debouncer
+  # Initializes a DigitalInput on DIO 0
+  self.input = DigitalInput(0)
+  # Creates a Debouncer in "both" mode with a debounce time of 0.1 seconds
+  self.debouncer = Debouncer(0.1, Debouncer.DebounceType.kBoth)
+  # If currently false, the signal must go true for at least 0.1 seconds before being read as a True signal.
+  if self.debouncer.calculate(self.input.get()):
+      # Do something now that the DI is True.
+      pass
+  ```
 
-    // Initializes a DigitalInput on DIO 0
-    DigitalInput input = new DigitalInput(0);
-
-    // Creates a Debouncer in "both" mode.
-    Debouncer m_debouncer = new Debouncer(0.1, Debouncer.DebounceType.kBoth);
-
-    // So if currently false the signal must go true for at least .1 seconds before being read as a True signal.
-    if (m_debouncer.calculate(input.get())) {
-        // Do something now that the DI is True.
-    }
-
-  .. code-block:: c++
-
-    // Initializes a DigitalInput on DIO 0
-    frc::DigitalInput input{0};
-
-    // Creates a Debouncer in "both" mode.
-    frc::Debouncer m_debouncer{100_ms, frc::Debouncer::DebounceType::kBoth};
-
-    // So if currently false the signal must go true for at least .1 seconds before being read as a True signal.
-    if (m_debouncer.calculate(input.Get())) {
-        // Do something now that the DI is True.
-    }
diff --git a/source/docs/software/advanced-controls/filters/images/firfilter.png b/source/docs/software/advanced-controls/filters/images/firfilter.png
index 37eafc11a9..16c253f28b 100644
Binary files a/source/docs/software/advanced-controls/filters/images/firfilter.png and b/source/docs/software/advanced-controls/filters/images/firfilter.png differ
diff --git a/source/docs/software/advanced-controls/filters/images/highpassfilter.png b/source/docs/software/advanced-controls/filters/images/highpassfilter.png
index 1bfda60e50..34efdfea71 100644
Binary files a/source/docs/software/advanced-controls/filters/images/highpassfilter.png and b/source/docs/software/advanced-controls/filters/images/highpassfilter.png differ
diff --git a/source/docs/software/advanced-controls/filters/images/medianfilter.png b/source/docs/software/advanced-controls/filters/images/medianfilter.png
index 6aad2aaa9d..0b82150a12 100644
Binary files a/source/docs/software/advanced-controls/filters/images/medianfilter.png and b/source/docs/software/advanced-controls/filters/images/medianfilter.png differ
diff --git a/source/docs/software/advanced-controls/filters/images/singlepolefilter.png b/source/docs/software/advanced-controls/filters/images/singlepolefilter.png
index 15aaa0d5bd..62d41d710a 100644
Binary files a/source/docs/software/advanced-controls/filters/images/singlepolefilter.png and b/source/docs/software/advanced-controls/filters/images/singlepolefilter.png differ
diff --git a/source/docs/software/advanced-controls/filters/index.rst b/source/docs/software/advanced-controls/filters/index.rst
index 6b88d16c8b..481cebfc1d 100644
--- a/source/docs/software/advanced-controls/filters/index.rst
+++ b/source/docs/software/advanced-controls/filters/index.rst
@@ -1,5 +1,4 @@
-Filters
-=======
+# Filters
 
 .. note:: The data used to generate the various demonstration plots in this section can be found :download:`here <resources/filterdemo.csv>`.
 
diff --git a/source/docs/software/advanced-controls/filters/introduction.rst b/source/docs/software/advanced-controls/filters/introduction.rst
index a685128fcd..fbf9323d07 100644
--- a/source/docs/software/advanced-controls/filters/introduction.rst
+++ b/source/docs/software/advanced-controls/filters/introduction.rst
@@ -1,35 +1,28 @@
-Introduction to Filters
-=======================
+# Introduction to Filters
 
 Filters are some of the most common tools used in modern technology, and find numerous applications in robotics in both signal processing and controls.  Understanding the notion of a filter is crucial to understanding the utility of the various types of filters provided by WPILib.
 
-What Is a Filter?
------------------
+## What Is a Filter?
 
 .. note:: For the sake of this article, we will assume all data are single-dimensional time-series data.  Obviously, the concepts involved are more general than this - but a full/rigorous discussion of signals and filtering is out of the scope of this documentation.
 
 So, what exactly *is* a filter, then?  Simply put, a filter is a mapping from a stream of inputs to a stream of outputs.  That is to say, the value output by a filter (in principle) can depend not only on the *current* value of the input, but on *the entire set of past and future values* (of course, in practice, the filters provided by WPILib are implementable in real-time on streaming data; accordingly, they can only depend on the *past* values of the input, and not on future values).  This is an important concept, because generally we use filters to remove/mitigate unwanted *dynamics* from a signal.  When we filter a signal, we're interested in modifying *how the signal changes over time*.
 
-Effects of Using a Filter
--------------------------
+## Effects of Using a Filter
 
-Noise Reduction
-^^^^^^^^^^^^^^^
+### Noise Reduction
 
 One of the most typical uses of a filter is for noise reduction.  A filter that reduces noise is called a *low-pass* filter (because it allows low frequencies to "pass through," while blocking high-frequencies).  Most of the filters currently included in WPILib are effectively low-pass filters.
 
-Rate Limiting
-^^^^^^^^^^^^^
+### Rate Limiting
 
 Filters are also commonly used to reduce the rate at which a signal can change.  This is closely related to noise reduction, and filters that reduce noise also tend to limit the rate of change of their output.
 
-Edge Detection
-^^^^^^^^^^^^^^
+### Edge Detection
 
 The counterpart to the low-pass filter is the high-pass filter, which only permits high frequencies to pass through to the output.  High-pass filters can be somewhat tricky to build intuition for, but a common usage for a high-pass filter is edge-detection - since high-pass filters will reflect sudden changes in the input while ignoring slower changes, they are useful for determining the location of sharp discontinuities in the signal.
 
-Phase Lag
-^^^^^^^^^
+### Phase Lag
 
 An unavoidable negative effect of a real-time low-pass filter is the introduction of "phase lag."  Since, as mentioned earlier, a real-time filter can only depend on past values of the signal (we cannot time-travel to obtain the future values), the filtered value takes some time to "catch up" when the input starts changing.  The greater the noise-reduction, the greater the introduced delay.  This is, in many ways, *the* fundamental trade-off of real-time filtering, and should be the primary driving factor of your filter design.
 
diff --git a/source/docs/software/advanced-controls/filters/linear-filter.rst b/source/docs/software/advanced-controls/filters/linear-filter.rst
index c506d52fdd..89670dde5f 100644
--- a/source/docs/software/advanced-controls/filters/linear-filter.rst
+++ b/source/docs/software/advanced-controls/filters/linear-filter.rst
@@ -1,5 +1,4 @@
-Linear Filters
-==============
+# Linear Filters
 
 The first (and most commonly-employed) sort of filter that WPILib supports is a *linear filter* - or, more specifically, a linear time-invariant (LTI) filter.
 
@@ -11,10 +10,9 @@ Infinite impulse responses have infinite "support" - that is, they are nonzero o
 
 Finite impulse responses have finite "support" - that is, they are nonzero on a bounded region.  The "archetypical" FIR filter is a flat moving average - that is, simply setting the output equal to the average of the past n inputs.  FIR filters tend to have more-desirable properties than IIR filters, but are more costly to compute.
 
-Linear filters are supported in WPILib through the ``LinearFilter`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/filter/LinearFilter.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_linear_filter.html>`__).
+Linear filters are supported in WPILib through the ``LinearFilter`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/filter/LinearFilter.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_linear_filter.html), , :external:py:class:`Python <wpimath.filter.LinearFilter>`).
 
-Creating a LinearFilter
------------------------
+## Creating a LinearFilter
 
 .. note:: The C++ ``LinearFilter`` class is templated on the data type used for the input.
 
@@ -22,8 +20,7 @@ Creating a LinearFilter
 
 While it is possible to directly instantiate ``LinearFilter`` class to build a custom filter, it is far more convenient (and common) to use one of the supplied factory methods, instead:
 
-singlePoleIIR
-^^^^^^^^^^^^^
+### singlePoleIIR
 
 .. image:: images/singlepolefilter.png
   :alt: A graph with two peaks with the input closely following the target signal.
@@ -32,26 +29,33 @@ The ``singlePoleIIR()`` factory method creates a single-pole infinite impulse re
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Creates a new Single-Pole IIR filter
-    // Time constant is 0.1 seconds
-    // Period is 0.02 seconds - this is the standard FRC main loop period
-    LinearFilter filter = LinearFilter.singlePoleIIR(0.1, 0.02);
-
-  .. code-block:: c++
-
-    // Creates a new Single-Pole IIR filter
-    // Time constant is 0.1 seconds
-    // Period is 0.02 seconds - this is the standard FRC main loop period
-    frc::LinearFilter<double> filter = frc::LinearFilter<double>::SinglePoleIIR(0.1_s, 0.02_s);
+  ```java
+  // Creates a new Single-Pole IIR filter
+  // Time constant is 0.1 seconds
+  // Period is 0.02 seconds - this is the standard FRC main loop period
+  LinearFilter filter = LinearFilter.singlePoleIIR(0.1, 0.02);
+  ```
+
+  ```c++
+  // Creates a new Single-Pole IIR filter
+  // Time constant is 0.1 seconds
+  // Period is 0.02 seconds - this is the standard FRC main loop period
+  frc::LinearFilter<double> filter = frc::LinearFilter<double>::SinglePoleIIR(0.1_s, 0.02_s);
+  ```
+
+  ```python
+  from wpimath.filter import LinearFilter
+  # Creates a new Single-Pole IIR filter
+  # Time constant is 0.1 seconds
+  # Period is 0.02 seconds - this is the standard FRC main loop period
+  filter = LinearFilter.singlePoleIIR(0.1, 0.02)
+  ```
 
 The "time constant" parameter determines the "characteristic timescale" of the filter's impulse response; the filter will cancel out any signal dynamics that occur on timescales significantly shorter than this.  Relatedly, it is also the approximate timescale of the introduced :ref:`phase lag <docs/software/advanced-controls/filters/introduction:Phase Lag>`.  The reciprocal of this timescale, multiplied by 2 pi, is the "cutoff frequency" of the filter.
 
 The "period" parameter is the period at which the filter's ``calculate()`` method will be called.  For the vast majority of implementations, this will be the standard main robot loop period of 0.02 seconds.
 
-movingAverage
-^^^^^^^^^^^^^
+### movingAverage
 
 .. image:: images/firfilter.png
   :alt: A graph with two peaks with the input closely following the target signal.
@@ -60,22 +64,28 @@ The ``movingAverage`` factory method creates a simple flat moving average filter
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Creates a new flat moving average filter
-    // Average will be taken over the last 5 samples
-    LinearFilter filter = LinearFilter.movingAverage(5);
-
-  .. code-block:: c++
-
-    // Creates a new flat moving average filter
-    // Average will be taken over the last 5 samples
-    frc::LinearFilter<double> filter = frc::LinearFilter<double>::MovingAverage(5);
+  ```java
+  // Creates a new flat moving average filter
+  // Average will be taken over the last 5 samples
+  LinearFilter filter = LinearFilter.movingAverage(5);
+  ```
+
+  ```c++
+  // Creates a new flat moving average filter
+  // Average will be taken over the last 5 samples
+  frc::LinearFilter<double> filter = frc::LinearFilter<double>::MovingAverage(5);
+  ```
+
+  ```python
+  from wpimath.filter import LinearFilter
+  # Creates a new flat moving average filter
+  # Average will be taken over the last 5 samples
+  filter = LinearFilter.movingAverage(5)
+  ```
 
 The "taps" parameter is the number of samples that will be included in the flat moving average.  This behaves similarly to the "time constant" above - the effective time constant is the number of taps times the period at which ``calculate()`` is called.
 
-highPass
-^^^^^^^^
+### highPass
 
 .. image:: images/highpassfilter.png
    :alt: A graph with two peaks except the highpass only shows the rate of change centered around 0.
@@ -84,26 +94,33 @@ The ``highPass`` factory method creates a simple first-order infinite impulse re
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Creates a new high-pass IIR filter
-    // Time constant is 0.1 seconds
-    // Period is 0.02 seconds - this is the standard FRC main loop period
-    LinearFilter filter = LinearFilter.highPass(0.1, 0.02);
-
-  .. code-block:: c++
-
-    // Creates a new high-pass IIR filter
-    // Time constant is 0.1 seconds
-    // Period is 0.02 seconds - this is the standard FRC main loop period
-    frc::LinearFilter<double> filter = frc::LinearFilter<double>::HighPass(0.1_s, 0.02_s);
+  ```java
+  // Creates a new high-pass IIR filter
+  // Time constant is 0.1 seconds
+  // Period is 0.02 seconds - this is the standard FRC main loop period
+  LinearFilter filter = LinearFilter.highPass(0.1, 0.02);
+  ```
+
+  ```c++
+  // Creates a new high-pass IIR filter
+  // Time constant is 0.1 seconds
+  // Period is 0.02 seconds - this is the standard FRC main loop period
+  frc::LinearFilter<double> filter = frc::LinearFilter<double>::HighPass(0.1_s, 0.02_s);
+  ```
+
+  ```python
+  from wpimath.filter import LinearFilter
+  # Creates a new high-pass IIR filter
+  # Time constant is 0.1 seconds
+  # Period is 0.02 seconds - this is the standard FRC main loop period
+  filter = LinearFilter.highPass(0.1, 0.02)
+  ```
 
 The "time constant" parameter determines the "characteristic timescale" of the filter's impulse response; the filter will cancel out any signal dynamics that occur on timescales significantly longer than this.  Relatedly, it is also the approximate timescale of the introduced :ref:`phase lead <docs/software/advanced-controls/filters/introduction:Phase lag>`.  The reciprocal of this timescale, multiplied by 2 pi, is the "cutoff frequency" of the filter.
 
 The "period" parameter is the period at which the filter's ``calculate()`` method will be called.  For the vast majority of implementations, this will be the standard main robot loop period of 0.02 seconds.
 
-Using a LinearFilter
---------------------
+## Using a LinearFilter
 
 .. note:: In order for the created filter to obey the specified timescale parameter, its ``calculate()`` function *must* be called regularly at the specified period.  If, for some reason, a significant lapse in ``calculate()`` calls must occur, the filter's ``reset()`` method should be called before further use.
 
@@ -111,12 +128,18 @@ Once your filter has been created, using it is easy - simply call the ``calculat
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Calculates the next value of the output
+  filter.calculate(input);
+  ```
 
-    // Calculates the next value of the output
-    filter.calculate(input);
+  ```c++
+  // Calculates the next value of the output
+  filter.Calculate(input);
+  ```
 
-  .. code-block:: c++
+  ```python
+  # Calculates the next value of the output
+  filter.calculate(input)
+  ```
 
-    // Calculates the next value of the output
-    filter.Calculate(input);
diff --git a/source/docs/software/advanced-controls/filters/median-filter.rst b/source/docs/software/advanced-controls/filters/median-filter.rst
index 8392fbf656..69ea251aaf 100644
--- a/source/docs/software/advanced-controls/filters/median-filter.rst
+++ b/source/docs/software/advanced-controls/filters/median-filter.rst
@@ -1,5 +1,4 @@
-Median Filter
-=============
+# Median Filter
 
 .. image:: images/medianfilter.png
   :alt: A graph with two peaks with the input closely following the target signal.
@@ -8,10 +7,9 @@ A `statistically robust` alternative to the :ref:`moving-average filter <docs/so
 
 The median filter is most-useful for removing occasional outliers from an input stream.  This makes it particularly well-suited to filtering inputs from distance sensors, which are prone to occasional interference.  Unlike a moving average, the median filter will remain completely unaffected by small numbers of outliers, no matter how extreme.
 
-The median filter is supported in WPILib through the ``MedianFilter`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/filter/MedianFilter.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_median_filter.html>`__).
+The median filter is supported in WPILib through the ``MedianFilter`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/filter/MedianFilter.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_median_filter.html), , :external:py:class:`Python <wpimath.filter.MedianFilter>`).
 
-Creating a MedianFilter
------------------------
+## Creating a MedianFilter
 
 .. note:: The C++ ``MedianFilter`` class is templated on the data type used for the input.
 
@@ -21,29 +19,40 @@ Creating a ``MedianFilter`` is simple:
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Creates a MedianFilter with a window size of 5 samples
+  MedianFilter filter = new MedianFilter(5);
+  ```
 
-    // Creates a MedianFilter with a window size of 5 samples
-    MedianFilter filter = new MedianFilter(5);
+  ```c++
+  // Creates a MedianFilter with a window size of 5 samples
+  frc::MedianFilter<double> filter(5);
+  ```
 
-  .. code-block:: c++
+  ```python
+  from wpimath.filter import MedianFilter
+  # Creates a MedianFilter with a window size of 5 samples
+  filter = MedianFilter(5)
+  ```
 
-    // Creates a MedianFilter with a window size of 5 samples
-    frc::MedianFilter<double> filter(5);
-
-Using a MedianFilter
---------------------
+## Using a MedianFilter
 
 Once your filter has been created, using it is easy - simply call the ``calculate()`` method with the most recent input to obtain the filtered output:
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Calculates the next value of the output
+  filter.calculate(input);
+  ```
 
-    // Calculates the next value of the output
-    filter.calculate(input);
+  ```c++
+  // Calculates the next value of the output
+  filter.Calculate(input);
+  ```
 
-  .. code-block:: c++
+  ```python
+  # Calculates the next value of the output
+  filter.calculate(input)
+  ```
 
-    // Calculates the next value of the output
-    filter.Calculate(input);
diff --git a/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst b/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst
index f6876f9918..2b091adaf2 100644
--- a/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst
+++ b/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst
@@ -1,16 +1,14 @@
 .. include:: <isonum.txt>
 
-Slew Rate Limiter
-=================
+# Slew Rate Limiter
 
 A common use for filters in FRC\ |reg| is to soften the behavior of control inputs (for example, the joystick inputs from your driver controls).  Unfortunately, a simple low-pass filter is poorly-suited for this job; while a low-pass filter will soften the response of an input stream to sudden changes, it will also wash out fine control detail and introduce phase lag.  A better solution is to limit the rate-of-change of the control input directly.  This is performed with a *slew rate limiter* - a filter that caps the maximum rate-of-change of the signal.
 
 A slew rate limiter can be thought of as a sort of primitive motion profile.  In fact, the slew rate limiter is the first-order equivalent of the :ref:`Trapezoidal Motion Profile <docs/software/advanced-controls/controllers/trapezoidal-profiles:Trapezoidal Motion Profiles in WPILib>` supported by WPILib - it is precisely the limiting case of trapezoidal motion when the acceleration constraint is allowed to tend to infinity.  Accordingly, the slew rate limiter is a good choice for applying a de-facto motion profile to a stream of velocity setpoints (or voltages, which are usually approximately proportional to velocity).  For input streams that control positions, it is usually better to use a proper trapezoidal profile.
 
-Slew rate limiting is supported in WPILib through the ``SlewRateLimiter`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/filter/SlewRateLimiter.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_slew_rate_limiter.html>`__).
+Slew rate limiting is supported in WPILib through the ``SlewRateLimiter`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/filter/SlewRateLimiter.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_slew_rate_limiter.html), :external:py:class:`Python <wpimath.filter.SlewRateLimiter>`).
 
-Creating a SlewRateLimiter
---------------------------
+## Creating a SlewRateLimiter
 
 .. note:: The C++ ``SlewRateLimiter`` class is templated on the unit type of the input.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
@@ -20,35 +18,44 @@ Creating a SlewRateLimiter is simple:
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 units per second
+  SlewRateLimiter filter = new SlewRateLimiter(0.5);
+  ```
 
-    // Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 units per second
-    SlewRateLimiter filter = new SlewRateLimiter(0.5);
+  ```c++
+  // Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 volts per second
+  frc::SlewRateLimiter<units::volts> filter{0.5_V / 1_s};
+  ```
 
-  .. code-block:: c++
+  ```python
+  from wpimath.filter import SlewRateLimiter
+  # Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 units per second
+  filter = SlewRateLimiter(0.5)
+  ```
 
-    // Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 volts per second
-    frc::SlewRateLimiter<units::volts> filter{0.5_V / 1_s};
-
-Using a SlewRateLimiter
------------------------
+## Using a SlewRateLimiter
 
 Once your filter has been created, using it is easy - simply call the ``calculate()`` method with the most recent input to obtain the filtered output:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Calculates the next value of the output
-    filter.calculate(input);
+  ```java
+  // Calculates the next value of the output
+  filter.calculate(input);
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // Calculates the next value of the output
+  filter.Calculate(input);
+  ```
 
-    // Calculates the next value of the output
-    filter.Calculate(input);
+  ```python
+  # Calculates the next value of the output
+  filter.calculate(input)
+  ```
 
-Using a SlewRateLimiter with DifferentialDrive
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Using a SlewRateLimiter with DifferentialDrive
 
 .. note:: The C++ example below templates the filter on ``units::scalar`` for use with doubles, since joystick values are typically dimensionless.
 
@@ -56,18 +63,24 @@ A typical use of a SlewRateLimiter is to limit the acceleration of a robot's dri
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Ordinary call with no ramping applied
-    drivetrain.arcadeDrive(forward, turn);
-
-    // Slew-rate limits the forward/backward input, limiting forward/backward acceleration
-    drivetrain.arcadeDrive(filter.calculate(forward), turn);
-
-  .. code-block:: c++
-
-    // Ordinary call with no ramping applied
-    drivetrain.ArcadeDrive(forward, turn);
+  ```java
+  // Ordinary call with no ramping applied
+  drivetrain.arcadeDrive(forward, turn);
+  // Slew-rate limits the forward/backward input, limiting forward/backward acceleration
+  drivetrain.arcadeDrive(filter.calculate(forward), turn);
+  ```
+
+  ```c++
+  // Ordinary call with no ramping applied
+  drivetrain.ArcadeDrive(forward, turn);
+  // Slew-rate limits the forward/backward input, limiting forward/backward acceleration
+  drivetrain.ArcadeDrive(filter.Calculate(forward), turn);
+  ```
+
+  ```python
+  # Ordinary call with no ramping applied
+  drivetrain.arcadeDrive(forward, turn)
+  # Slew-rate limits the forward/backward input, limiting forward/backward acceleration
+  drivetrain.arcadeDrive(filter.calculate(forward), turn)
+  ```
 
-    // Slew-rate limits the forward/backward input, limiting forward/backward acceleration
-    drivetrain.ArcadeDrive(filter.Calculate(forward), turn);
diff --git a/source/docs/software/advanced-controls/geometry/coordinate-systems.rst b/source/docs/software/advanced-controls/geometry/coordinate-systems.rst
deleted file mode 100644
index f5a83d8221..0000000000
--- a/source/docs/software/advanced-controls/geometry/coordinate-systems.rst
+++ /dev/null
@@ -1,31 +0,0 @@
-.. include:: <isonum.txt>
-
-Coordinate Systems
-==================
-
-In FRC\ |reg|, there are two main coordinate systems that we use for representing objects' positions.
-
-Field Coordinate System
------------------------
-
-The field coordinate system (or global coordinate system) is an absolute coordinate system where a point on the field is designated as the origin. Positive :math:`\theta` (theta) is in the counter-clockwise direction, and the positive x-axis points away from your alliance's driver station wall, and the positive y-axis is perpendicular and to the left of the positive x-axis.
-
-.. image:: diagrams/field-system.svg
-   :alt: In this system the coordinates are fixed based upon the field.
-
-.. note:: The axes are shown at the middle of the field for visibility. The origins of the coordinate system for each alliance are shown below.
-
-Below is an example of a field coordinate system overlaid on the 2020 FRC field. The red axes shown are for the red alliance, and the blue axes shown are for the blue alliance.
-
-.. image:: images/infinite-recharge.jpg
-   :alt: Image of the Infinite Recharge field.
-
-Robot Coordinate System
------------------------
-
-The robot coordinate system (or local coordinate system) is a relative coordinate system where the robot is the origin. The direction the robot is facing is the positive x axis, and the positive y axis is perpendicular, to the left of the robot. Positive :math:`\theta` is counter-clockwise.
-
-.. note:: WPILib's ``Gyro`` class is clockwise-positive, so you have to invert the reading in order to get the rotation with either coordinate system.
-
-.. image:: diagrams/robot-system.svg
-   :alt: The robot coordinate system is based on the robot's position.
diff --git a/source/docs/software/advanced-controls/geometry/diagrams/field-system.svg b/source/docs/software/advanced-controls/geometry/diagrams/field-system.svg
deleted file mode 100644
index 76b19cf9e6..0000000000
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+++ /dev/null
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deleted file mode 100644
index be85b55b93..0000000000
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diff --git a/source/docs/software/advanced-controls/geometry/images/infinite-recharge.jpg b/source/docs/software/advanced-controls/geometry/images/infinite-recharge.jpg
deleted file mode 100644
index 7e6b4f2ce3..0000000000
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diff --git a/source/docs/software/advanced-controls/geometry/index.rst b/source/docs/software/advanced-controls/geometry/index.rst
index 90a79d7fc8..dd076b6d8d 100644
--- a/source/docs/software/advanced-controls/geometry/index.rst
+++ b/source/docs/software/advanced-controls/geometry/index.rst
@@ -1,11 +1,9 @@
-Geometry Classes
-================
+# Geometry Classes
 
 This section covers the geometry classes of WPILib.
 
 .. toctree::
    :maxdepth: 1
 
-   coordinate-systems
    pose
    transformations
diff --git a/source/docs/software/advanced-controls/geometry/pose.rst b/source/docs/software/advanced-controls/geometry/pose.rst
index ce036ec987..65a1a055dc 100644
--- a/source/docs/software/advanced-controls/geometry/pose.rst
+++ b/source/docs/software/advanced-controls/geometry/pose.rst
@@ -1,25 +1,21 @@
-Translation, Rotation, and Pose
-===============================
+# Translation, Rotation, and Pose
 
-Translation
------------
+## Translation
 
-Translation in 2 dimensions is represented by WPILib's ``Translation2d`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/geometry/Translation2d.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_translation2d.html>`__). This class has an x and y component, representing the point :math:`(x, y)` or the vector :math:`\begin{bmatrix}x \\ y \end{bmatrix}` on a 2-dimensional coordinate system.
+Translation in 2 dimensions is represented by WPILib's ``Translation2d`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/geometry/Translation2d.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_translation2d.html), :external:py:class:`Python <wpimath.geometry.Translation2d>`). This class has an x and y component, representing the point :math:`(x, y)` or the vector :math:`\begin{bmatrix}x \\ y \end{bmatrix}` on a 2-dimensional coordinate system.
 
 You can get the distance to another ``Translation2d`` object by using the ``getDistance(Translation2d other)``, which returns the distance to another Translation2d by using the Pythagorean theorem.
 
-.. note:: ``Translation2d`` uses the C++ Units library. If you're planning on using other WPILib classes that use ``Translation2d`` in Java, such as the trajectory generator, make sure to use meters.
+.. note:: ``Translation2d`` uses the C++ Units library. If you're planning on using other WPILib classes that use ``Translation2d`` in Java/Python, such as the trajectory generator, make sure to use meters.
 
-Rotation
---------
+## Rotation
 
-Rotation in 2 dimensions is represented by WPILib's ``Rotation2d`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/geometry/Rotation2d.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_rotation2d.html>`__). This class has an angle component, which represents the robot's rotation relative to an axis on a 2-dimensional coordinate system. Positive rotations are counterclockwise.
+Rotation in 2 dimensions is represented by WPILib's ``Rotation2d`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/geometry/Rotation2d.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_rotation2d.html), :external:py:class:`Python <wpimath.geometry.Rotation2d>`). This class has an angle component, which represents the robot's rotation relative to an axis on a 2-dimensional coordinate system. Positive rotations are counterclockwise.
 
-.. note:: ``Rotation2d`` uses the C++ Units library. The constructor in Java accepts either the angle in radians, or the sine and cosine of the angle, but the ``fromDegrees`` method will construct a ``Rotation2d`` object from degrees.
+.. note:: ``Rotation2d`` uses the C++ Units library. The constructor in Java/Python accepts either the angle in radians, or the sine and cosine of the angle, but the ``fromDegrees`` method will construct a ``Rotation2d`` object from degrees.
 
 .. note:: ``Rotation2d`` does not wrap the value of the angle, so if a value of 400 degrees is passed into the constructor, then 400 degrees will be returned in subsequent value calls.
 
-Pose
-----
+## Pose
 
-Pose is a combination of both translation and rotation and is represented by the ``Pose2d`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/geometry/Pose2d.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_pose2d.html>`__). It can be used to describe the pose of your robot in the field coordinate system, or the pose of objects, such as vision targets, relative to your robot in the robot coordinate system. ``Pose2d`` can also represent the vector :math:`\begin{bmatrix}x \\ y \\ \theta\end{bmatrix}`.
+Pose is a combination of both translation and rotation and is represented by the ``Pose2d`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/geometry/Pose2d.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_pose2d.html), :external:py:class:`Python <wpimath.geometry.Pose2d>`). It can be used to describe the pose of your robot in the field coordinate system, or the pose of objects, such as vision targets, relative to your robot in the robot coordinate system. ``Pose2d`` can also represent the vector :math:`\begin{bmatrix}x \\ y \\ \theta\end{bmatrix}`.
diff --git a/source/docs/software/advanced-controls/geometry/transformations.rst b/source/docs/software/advanced-controls/geometry/transformations.rst
index 680b8e24a3..8f13862024 100644
--- a/source/docs/software/advanced-controls/geometry/transformations.rst
+++ b/source/docs/software/advanced-controls/geometry/transformations.rst
@@ -1,37 +1,33 @@
-Transformations
-===============
+# Transformations
 
-Translation2d
--------------
+## Translation2d
 
 Operations on a ``Translation2d`` perform operations to the vector represented by the ``Translation2d``.
 
-- Addition: Addition between two ``Translation2d`` a and b can be performed using ``plus`` in Java, or the ``+`` operator in C++. Addition adds the two vectors.
-- Subtraction: Subtraction between two ``Translation2d`` can be performed using ``minus`` in Java, or the binary ``-`` operator in C++. Subtraction subtracts the two vectors.
-- Multiplication: Multiplication of a ``Translation2d`` and a scalar can be performed using ``times`` in Java, or the ``*`` operator in C++. This multiplies the vector by the scalar.
-- Division: Division of a ``Translation2d`` and a scalar can be performed using ``div`` in Java, or the ``/`` operator in C++. This divides the vector by the scalar.
+- Addition: Addition between two ``Translation2d`` a and b can be performed using ``plus`` in Java, or the ``+`` operator in C++/Python. Addition adds the two vectors.
+- Subtraction: Subtraction between two ``Translation2d`` can be performed using ``minus`` in Java, or the binary ``-`` operator in C++/Python. Subtraction subtracts the two vectors.
+- Multiplication: Multiplication of a ``Translation2d`` and a scalar can be performed using ``times`` in Java, or the ``*`` operator in C++/Python. This multiplies the vector by the scalar.
+- Division: Division of a ``Translation2d`` and a scalar can be performed using ``div`` in Java, or the ``/`` operator in C++/Python. This divides the vector by the scalar.
 - Rotation: Rotation of a ``Translation2d`` by a counter-clockwise rotation :math:`\theta` about the origin can be performed by using ``rotateBy``. This is equivalent to multiplying the vector by the matrix :math:`\begin{bmatrix} cos\theta & -sin\theta \\ sin\theta & cos\theta \end{bmatrix}`
-- Additionally, you can rotate a ``Translation2d`` by 180 degrees by using ``unaryMinus`` in Java, or the unary ``-`` operator in C++.
+- Additionally, you can rotate a ``Translation2d`` by 180 degrees by using ``unaryMinus`` in Java, or the unary ``-`` operator in C++/Python.
 
-Rotation2d
-----------
+## Rotation2d
 
 Transformations for ``Rotation2d`` are just arithmetic operations on the angle measure represented by the ``Rotation2d``.
 
-- ``plus`` (Java) or ``+`` (C++): Adds the rotation component of ``other`` to this ``Rotation2d``'s rotation component
-- ``minus`` (Java) or binary ``-`` (C++): Subtracts the rotation component of ``other`` to this ``Rotation2d``'s rotation component
-- ``unaryMinus`` (Java) or unary ``-`` (C++): Multiplies the rotation component by a scalar of -1.
-- ``times`` (Java) or ``*`` (C++) : Multiplies the rotation component by a scalar.
+- ``plus`` (Java) or ``+`` (C++/Python): Adds the rotation component of ``other`` to this ``Rotation2d``'s rotation component
+- ``minus`` (Java) or binary ``-`` (C++/Python): Subtracts the rotation component of ``other`` to this ``Rotation2d``'s rotation component
+- ``unaryMinus`` (Java) or unary ``-`` (C++/Python): Multiplies the rotation component by a scalar of -1.
+- ``times`` (Java) or ``*`` (C++/Python) : Multiplies the rotation component by a scalar.
 
-Transform2d and Twist2d
------------------------
+## Transform2d and Twist2d
 
-WPILib provides 2 classes, ``Transform2d`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/geometry/Transform2d.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_transform2d.html>`__), which represents a transformation to a pose, and ``Twist2d`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/geometry/Twist2d.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/structfrc_1_1_twist2d.html>`__) which represents a movement along an arc. ``Transform2d`` and ``Twist2d`` all have x, y and :math:`\theta` components.
+WPILib provides 2 classes, ``Transform2d`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/geometry/Transform2d.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_transform2d.html), :external:py:class:[Python](wpimath.geometry.Transform2d>`), which represents a transformation to a pose, and ``Twist2d`` ([Java] (https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/geometry/Twist2d.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/structfrc_1_1_twist2d.html), :external:py:class:`Python <wpimath.geometry.Twist2d>`) which represents a movement along an arc. ``Transform2d`` and ``Twist2d`` all have x, y and :math:`\theta` components.
 
 ``Transform2d`` represents a **relative** transformation. It has an translation and a rotation component. Transforming a ``Pose2d`` by a ``Transform2d`` rotates the translation component of the transform by the rotation of the pose, and then adds the rotated translation component and the rotation component to the pose. In other words, ``Pose2d.plus(Transform2d)`` returns :math:`\begin{bmatrix} x_p \\ y_p \\ \theta_p \end{bmatrix}+\begin{bmatrix} cos\theta_p & -sin\theta_p & 0 \\ sin\theta_p & cos\theta_p & 0 \\ 0 & 0 & 1 \end{bmatrix}\begin{bmatrix}x_t \\ y_t \\ \theta_t \end{bmatrix}`
 
-``Twist2d`` represents a change in distance along an arc. Usually, this class is used to represent the movement of a drivetrain, where the x component is the forward distance driven, the y component is the distance driven to the side (left positive), and the :math:`\theta` component is the change in heading. The underlying math behind finding the pose exponential (new pose after moving the pose forward along the curvature of the twist) can be found `here <https://file.tavsys.net/control/controls-engineering-in-frc.pdf>`_ in chapter 10.
+``Twist2d`` represents a change in distance along an arc. Usually, this class is used to represent the movement of a drivetrain, where the x component is the forward distance driven, the y component is the distance driven to the side (left positive), and the :math:`\theta` component is the change in heading. The underlying math behind finding the pose exponential (new pose after moving the pose forward along the curvature of the twist) can be found [here](https://file.tavsys.net/control/controls-engineering-in-frc.pdf) in chapter 10.
 
 .. note:: For nonholonomic drivetrains, the y component of a ``Twist2d`` should always be 0.
 
-Both classes can be used to estimate robot location. Twist2d is used in WPILib's odometry classes to update the robot's pose based on movement, while Transform2d can be used to estimate the robot's global position from vision data.
+Both classes can be used to estimate robot location. Twist2d is used in WPILib's :term:`odometry` classes to update the robot's :term:`pose` based on movement, while Transform2d can be used to estimate the robot's global position from vision data.
diff --git a/source/docs/software/advanced-controls/index.rst b/source/docs/software/advanced-controls/index.rst
index 284c9c2d22..4db2c21cdf 100644
--- a/source/docs/software/advanced-controls/index.rst
+++ b/source/docs/software/advanced-controls/index.rst
@@ -1,5 +1,4 @@
-Advanced Controls
-=================
+# Advanced Controls
 
 This section covers advanced control features in WPILib, such as various feedback/feedforward control algorithms and trajectory following.
 
@@ -10,6 +9,7 @@ This section covers advanced control features in WPILib, such as various feedbac
    introduction/index
    filters/index
    geometry/index
+   system-identification/index
    controllers/index
    trajectories/index
    state-space/index
diff --git a/source/docs/software/advanced-controls/introduction/common-control-issues.rst b/source/docs/software/advanced-controls/introduction/common-control-issues.rst
index 19d9c9bab5..be5f211971 100644
--- a/source/docs/software/advanced-controls/introduction/common-control-issues.rst
+++ b/source/docs/software/advanced-controls/introduction/common-control-issues.rst
@@ -1,10 +1,8 @@
-Common Control Loop Tuning Issues
-=================================
+# Common Control Loop Tuning Issues
 
 There are a number of common issues which can arise while tuning feedforward and feedback controllers.
 
-Integral Term Windup
---------------------
+## Integral Term Windup
 
 Beware that if :math:`K_i` is too large, integral windup can occur. Following a large change in :term:`setpoint`, the integral term can accumulate an error larger than the maximal :term:`control effort`. As a result, the system overshoots and continues to increase until this accumulated error is unwound.
 
@@ -16,8 +14,7 @@ There are a few ways to mitigate this:
 
 .. important:: Most mechanisms in FRC do not require any integral control, and systems that seem to require integral control to respond well probably have an inaccurate feedforward model.
 
-Voltage Sag
------------
+## Voltage Sag
 
 When we operate mechanisms on our robot, we draw current from its battery.  This causes the available "bus voltage" that all the robot mechanisms operate off of to drop.  This means that the performance of our mechanisms will vary depending on the loading and action of the robot - this is not ideal.
 
@@ -25,8 +22,7 @@ To fix this, most voltage controllers offer a "voltage compensation" setting for
 
 Keep in mind that voltage compensation cannot increase the voltage applied to the motor beyond what is available on the bus - if your actuator is saturating (described below), you'll have to account for that separately.
 
-Actuator Saturation
--------------------
+## Actuator Saturation
 
 A controller calculates its output based on the error between the :term:`setpoint` and the current :term:`state`. :term:`Plant <plant>` in the real world don't have unlimited control authority available for the controller to apply - that is to say, real mechanisms have some maximum achievable torque/acceleration and velocity.
 
diff --git a/source/docs/software/advanced-controls/introduction/control-system-basics.rst b/source/docs/software/advanced-controls/introduction/control-system-basics.rst
index af35e4d766..8b27247a96 100644
--- a/source/docs/software/advanced-controls/introduction/control-system-basics.rst
+++ b/source/docs/software/advanced-controls/introduction/control-system-basics.rst
@@ -1,10 +1,8 @@
-Control System Basics
-=====================
+# Control System Basics
 
-.. note:: This article includes sections of `Controls Engineering in FRC <https://file.tavsys.net/control/controls-engineering-in-frc.pdf>`__ by Tyler Veness with permission.
+.. note:: This article includes sections of [Controls Engineering in FRC](https://file.tavsys.net/control/controls-engineering-in-frc.pdf) by Tyler Veness with permission.
 
-The Need for Control Systems
-----------------------------
+## The Need for Control Systems
 
 Control systems are all around us and we interact with them daily. A small list of ones you may have seen includes heaters and air conditioners with thermostats, cruise control and the anti-lock braking system (ABS) on automobiles, and fan speed modulation on modern laptops. Control systems monitor or control the behavior of systems like these and may consist of humans controlling them directly (manual control), or of only machines (automatic control).
 
@@ -20,8 +18,7 @@ How can we prove closed-loop controllers on an autonomous car, for example, will
 
 Controls engineering is, put simply, the engineering process applied to control theory. As such, it's more than just applied math. While control theory has some beautiful math behind it, controls engineering is an engineering discipline like any other that is filled with trade-offs. The solutions control theory gives should always be sanity checked and informed by our performance specifications. We don't need to be perfect; we just need to be good enough to meet our specifications.
 
-Nomenclature
-------------
+## Nomenclature
 
 Most resources for advanced engineering topics assume a level of knowledge well above that which is necessary. Part of the problem is the use of jargon. While it efficiently communicates ideas to those within the field, new people who aren't familiar with it are lost.
 
@@ -34,8 +31,7 @@ Controllers which incorporate information fed back from the plant's output are c
 
 .. note:: The input and output of a system are defined from the plant's point of view. The negative feedback controller shown is driving the difference between the reference and output, also known as the error, to zero.
 
-What is Gain?
--------------
+## What is Gain?
 
 *Gain* is a proportional value that shows the relationship between the magnitude of an input signal to the magnitude of an output signal at steady-state. Many systems contain a method by which the gain can be altered, providing more or less "power" to the system.
 
@@ -44,8 +40,7 @@ The figure below shows a system with a hypothetical input and output. Since the
 .. image:: images/control-system-basics-whatisgain.png
    :alt: A system diagram with hypothetical input and output
 
-What is a Model?
-----------------
+## What is a Model?
 
 A *model* of your mechanism is a mathematical description of its behavior. Specifically, this mathematical description must define the mechanism's inputs and outputs, and how the output values change over time as a function of its input values.
 
@@ -53,8 +48,7 @@ The mathematical description is often just simple algebra equations. It can also
 
 :term:`Classical Mechanics` defines many of the equations used to build up models of system behavior. Many of the values inside those equations can be determined by doing experiments on the mechanism.
 
-Block Diagrams
---------------
+## Block Diagrams
 
 When designing or analyzing a control system, it is useful to model it graphically. Block diagrams are used for this purpose. They can be manipulated and simplified systematically.
 
@@ -70,8 +64,7 @@ The below figure is a block diagram with more formal notation in a feedback conf
 
 :math:`\mp` means "minus or plus" where a minus represents negative feedback.
 
-A Note on Dimensionality
-------------------------
+## A Note on Dimensionality
 
 For the purposes of the introductory section, all systems and controllers (except feedforward controllers) are assumed to be "single-in, single-out" (SISO) - this means they only map single values to single values.  For example, a DC motor is considered to take an :term:`input` of a single scalar value (voltage) and yield an :term:`output` of only a single scalar value in return (either position or velocity).  This forces us to consider *position controllers* and *velocity controllers* as separate entities - this is sometimes source of confusion in situations when we want to control both (such as when following a motion profiles).  Limiting ourselves to SISO systems also means that we are unable to analyze more-complex "multiple-in, multiple-out" (MIMO) systems like drivetrains that cannot be represented with a single state (there are at least two independent sets of wheels in a drive).
 
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diff --git a/source/docs/software/advanced-controls/introduction/images/introduction-to-pid-pi-controller-steadystate.png b/source/docs/software/advanced-controls/introduction/images/introduction-to-pid-pi-controller-steadystate.png
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diff --git a/source/docs/software/advanced-controls/introduction/images/introduction-to-pid-pid-controller-block.png b/source/docs/software/advanced-controls/introduction/images/introduction-to-pid-pid-controller-block.png
index be45864488..4e0461cc14 100644
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diff --git a/source/docs/software/advanced-controls/introduction/index.rst b/source/docs/software/advanced-controls/introduction/index.rst
index af7d809aed..d7555ed28c 100644
--- a/source/docs/software/advanced-controls/introduction/index.rst
+++ b/source/docs/software/advanced-controls/introduction/index.rst
@@ -1,5 +1,4 @@
-Advanced Controls Introduction
-==============================
+# Advanced Controls Introduction
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/advanced-controls/introduction/introduction-to-feedforward.rst b/source/docs/software/advanced-controls/introduction/introduction-to-feedforward.rst
index 81c4e35d85..9905280525 100644
--- a/source/docs/software/advanced-controls/introduction/introduction-to-feedforward.rst
+++ b/source/docs/software/advanced-controls/introduction/introduction-to-feedforward.rst
@@ -1,12 +1,10 @@
-Introduction to DC Motor Feedforward
-====================================
+# Introduction to DC Motor Feedforward
 
-.. note:: For a guide on implementing PID control in code with WPILib, see :ref:`docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib`.
+.. note:: For a guide on implementing feedforward control in code with WPILib, see :ref:`docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib`.
 
 This page explains the conceptual and mathematical workings of WPILib's SimpleMotorFeedforward (and the other related classes).
 
-The Permanent-Magnet DC Motor Feedforward Equation
---------------------------------------------------
+## The Permanent-Magnet DC Motor Feedforward Equation
 
 Recall from earlier that the point of a feedforward controller is to use the known dynamics of a mechanism to make a best guess at the :term:`control effort` required to put the mechanism in the state you want.  In order to do this, we need to have some idea of what kind of mechanism we are controlling - that will determine the relationship between :term:`control effort` and :term:`output`, and let us guess at what value of the former will give us the desired value of the latter.
 
@@ -26,16 +24,14 @@ We can interpret the coefficients in the above equation as follows:
 
 :math:`K_a` describes the voltage needed to induce a given acceleration in the motor shaft. As with ``kV``, the relationship between voltage and acceleration (at constant velocity) is almost perfectly linear for FRC components.
 
-For more information, see `this paper <https://www.chiefdelphi.com/uploads/default/original/3X/f/7/f79d24101e6f1487e76099774e4ba60683e86cda.pdf>`__.
+For more information, see [this paper](https://www.chiefdelphi.com/uploads/default/original/3X/f/7/f79d24101e6f1487e76099774e4ba60683e86cda.pdf).
 
 
-Variants of the Feedforward Equation
-------------------------------------
+## Variants of the Feedforward Equation
 
 Some of WPILib's other feedforward classes introduce additional terms into the above equation to account for known differences from the simple case described above - details for each tool can be found below:
 
-Elevator Feedforward
-~~~~~~~~~~~~~~~~~~~~
+#### Elevator Feedforward
 
 An elevator consists of a permanent-magnet DC motor attached to a mass under the force of gravity.  Compared to the feedforward equation for an unloaded motor, it differs only in the inclusion of a constant :math:`K_g` term that accounts for the action of gravity:
 
@@ -43,8 +39,7 @@ An elevator consists of a permanent-magnet DC motor attached to a mass under the
 
 where :math:`V` is the applied voltage, :math:`d` is the displacement (position) of the drive, :math:`\dot{d}` is its velocity, and :math:`\ddot{d}` is its acceleration.
 
-Arm Feedforward
-~~~~~~~~~~~~~~~
+#### Arm Feedforward
 
 An arm consists of a permanent-magnet DC motor attached to a mass on a stick held under the force of gravity.  Like the elevator feedforward, it includes a :math:`K_g` term to account for the effect of gravity - unlike the elevator feedforward, however, this term is multiplied by the cosine of the arm angle (since the gravitational force does not act directly on the motor):
 
@@ -52,10 +47,9 @@ An arm consists of a permanent-magnet DC motor attached to a mass on a stick hel
 
 where :math:`V` is the applied voltage, :math:`\theta` is the angular displacement (position) of the arm, :math:`\dot{\theta}` is its angular velocity, and :math:`\ddot{\theta}` is its angular acceleration.
 
-Using the Feedforward
----------------------
+## Using the Feedforward
 
-In order to use the feedforward, we need to plug in values for each unknown in the above voltage-balance equation *other than the voltage*.  As mentioned :ref:`earlier <docs/software/advanced-controls/introduction/picking-control-strategy:Obtaining Models for Your Mechanisms>`, the values of the gains :math:`K_g`, :math:`K_v`, :math:`K_a` can be obtained through theoretical modeling with `ReCalc <https://www.reca.lc/>`__. Explicit measurement with :doc:`SysId </docs/software/pathplanning/system-identification/introduction>` will yield the aforementioned gains in addition to :math:`K_s`. That leaves us needing values for velocity, acceleration, and (in the case of the arm feedforward) position.
+In order to use the feedforward, we need to plug in values for each unknown in the above voltage-balance equation *other than the voltage*.  As mentioned :ref:`earlier <docs/software/advanced-controls/introduction/picking-control-strategy:Obtaining Models for Your Mechanisms>`, the values of the gains :math:`K_g`, :math:`K_v`, :math:`K_a` can be obtained through theoretical modeling with [ReCalc] (https://www.reca.lc/). Explicit measurement with :doc:`SysId </docs/software/advanced-controls/system-identification/introduction>` will yield the aforementioned gains in addition to :math:`K_s`. That leaves us needing values for velocity, acceleration, and (in the case of the arm feedforward) position.
 
 Typically, these come from our setpoints - remember that with feedforward we are making a "guess" as to the output we need based on where we want the system to be.
 
diff --git a/source/docs/software/advanced-controls/introduction/introduction-to-pid.rst b/source/docs/software/advanced-controls/introduction/introduction-to-pid.rst
index 38a4bfff33..d3d590f0e5 100644
--- a/source/docs/software/advanced-controls/introduction/introduction-to-pid.rst
+++ b/source/docs/software/advanced-controls/introduction/introduction-to-pid.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Introduction to PID
-===================
+# Introduction to PID
 
 .. note:: For a guide on implementing PID control with WPILib, see :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib`.
 
 This page explains the conceptual and mathematical workings of a PID controller. :ref:`A video explanation from WPI is also available <docs/software/advanced-controls/introduction/pid-video:PID Introduction Video by WPI>`.
 
-What is a PID Controller?
--------------------------
+## What is a PID Controller?
 
 The PID controller is a common :ref:`feedback controller<docs/software/advanced-controls/introduction/picking-control-strategy:Feedback Control: Correcting for Errors and Disturbances>` consisting of proportional, integral, and derivative terms, hence the name. This article will build up the definition of a PID controller term by term while trying to provide some intuition for how each term behaves.
 
@@ -23,7 +21,7 @@ The :term:`error` :math:`e(t)` is the difference between the :term:`reference` a
 
 For those already familiar with PID control, this interpretation may not be consistent with the classical explanation of the P, I, and D terms corresponding to response to "past", "present", and "future" errors. While that model has merit, we will instead be approaching PID control from the viewpoint of modern control theory, as proportional controllers applied to different physical quantities we care about. This will provide a more complete explanation of the derivative term's behavior for constant and moving :term:`setpoints <setpoint>`.
 
-Roughly speaking: the proportional term drives the position error to zero, the derivative term drives the velocity error to zero, and the integral term drives the total accumulated error-over-time to zero.  All three terms are added together to produce the :term:`control signal` We'll go into more detail on each of these below.
+Roughly speaking: the proportional term drives the position error to zero, the derivative term drives the velocity error to zero, and the integral term drives the total accumulated error-over-time to zero.  All three terms are added together to produce the :term:`control signal`. We'll go into more detail on each of these below.
 
 .. note::
    Throughout the WPILib documentation, you'll see two ways of writing the tunable constants of the PID controller.
@@ -35,8 +33,7 @@ Roughly speaking: the proportional term drives the position error to zero, the d
 
    Despite the differences in capitalization, the two formats refer to the same concept.
 
-Proportional Term
------------------
+## Proportional Term
 
 The *Proportional* term attempts to drive the position error to zero by contributing to the control signal proportionally to the current position error.  Intuitively, this tries to move the :term:`output` towards the :term:`reference`.
 
@@ -58,8 +55,7 @@ Proportional gains act like a "software-defined springs" that pull the :term:`sy
 
 so the "force" with which the proportional controller pulls the :term:`system's <system>` :term:`output` toward the :term:`setpoint` is proportional to the :term:`error`, just like a spring.
 
-Derivative Term
----------------
+## Derivative Term
 
 The *Derivative* term attempts to drive the derivative of the error to zero by contributing to the control signal proportionally to the derivative of the error.  Intuitively, this tries to make the :term:`output` move at the same rate as the :term:`reference`.
 
@@ -93,8 +89,7 @@ Notice how :math:`\frac{r_k - r_{k-1}}{dt}` is the velocity of the :term:`setpoi
 
 If the :term:`setpoint` is constant, the implicit velocity :term:`setpoint` is zero, so the :math:`K_d` term slows the :term:`system` down if it's moving. This acts like a "software-defined damper". These are commonly seen on door closers, and their damping force increases linearly with velocity.
 
-Integral Term
--------------
+## Integral Term
 
 .. important:: Integral gain is generally not recommended for FRC\ |reg| use. It is almost always better to use a feedforward controller to eliminate steady-state error.  If you do employ integral gain, it is crucial to provide some protection against :ref:`integral windup <docs/software/advanced-controls/introduction/common-control-issues:Integral Term Windup>`.
 
@@ -125,8 +120,7 @@ A common way of eliminating :term:`steady-state error` is to integrate the :term
    :alt: Figure 2.6 and 2.6 graphs
    :align: center
 
-Putting It All Together
------------------------
+## Putting It All Together
 
 .. note:: For information on using the WPILib provided PIDController, see the :ref:`relevant article <docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib>`.
 
@@ -143,8 +137,7 @@ The below figure shows a block diagram for a PID controller.
    :alt: Block diagram of a PID controller
    :align: center
 
-Response Types
---------------
+## Response Types
 
 A :term:`system` driven by a PID controller generally has three types of responses: underdamped, over-damped, and critically damped. These are shown in figure 2.8.
 
diff --git a/source/docs/software/advanced-controls/introduction/picking-control-strategy.rst b/source/docs/software/advanced-controls/introduction/picking-control-strategy.rst
index edb0244760..598a1e72e6 100644
--- a/source/docs/software/advanced-controls/introduction/picking-control-strategy.rst
+++ b/source/docs/software/advanced-controls/introduction/picking-control-strategy.rst
@@ -1,7 +1,6 @@
-Picking a Control Strategy
-==========================
+# Picking a Control Strategy
 
-.. note:: This article includes sections of `Controls Engineering in FRC <https://file.tavsys.net/control/controls-engineering-in-frc.pdf>`__ by Tyler Veness with permission.
+.. note:: This article includes sections of [Controls Engineering in FRC](https://file.tavsys.net/control/controls-engineering-in-frc.pdf) by Tyler Veness with permission.
 
 When designing a control algorithm for a robot mechanism, there are a number of different approaches to take. These range from very simple approaches, to advanced and complex ones. Each has *tradeoffs*. Some will work better than others in different situations, some require more mathematical analysis than others.
 
@@ -17,8 +16,7 @@ There are two fundamental types of mechanism controller that we will cover here:
 
 These are not mutually exclusive, and in fact it is usually best to use both.  The tutorial pages that follow will cover three types of mechanism (turret, flywheel, and vertical arm), and allow you to experiment with how each type of system responds to each type of control strategy, both individually and combined.
 
-Feedforward Control: Making a Best Guess
-----------------------------------------
+## Feedforward Control: Making a Best Guess
 
 "Feedforward control" means providing the mechanism with the control signal you think it needs to make the mechanism do what you want, without any knowledge of where the mechanism currently is.  A feedforward controller feeds information we already know about the system *forward* into an estimate of the required :term:`control effort`.  The feedforward controller does *not* adjust this in response to the measured behavior of the system to try to correct for errors from the guess.
 
@@ -26,15 +24,13 @@ Feedforward control is also sometimes referred to as "open-loop control", becaus
 
 This is the type of control you are implicitly using whenever you use a joystick to "directly" control the speed of a motor through the applied voltage.  It is the simplest and most straightforward type of control, and is probably the one you encountered first when programming a FRC motor, though it may not have been referred to by name.
 
-When Do We Need Feedforward Control?
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### When Do We Need Feedforward Control?
 
 In general, feedforward control is *required* whenever the system requires some constant control signal to remain at the desired setpoint (such as position control of a vertical arm where gravity will cause the arm to fall, or velocity control where internal motor dynamics and friction will cause the motor to slow down over time).  Feedback controllers naturally fall to zero output when they achieve their setpoint, and so a feedforward controller is needed to provide the signal to *keep* the mechanism where we want it.
 
 Some control strategies instead account for this in the feedback controller with integral gain - however, this is slow and prone to oscillation.  It is almost always better to use a feedforward controller to account for the output needed to maintain the setpoint.
 
-Feedforward and Position Control
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Feedforward and Position Control
 
 The WPILib feedforward classes require velocity and acceleration setpoints to generate an estimated control voltage.  This is because the equations-of-motion of a permanent-magnet DC motor relate the applied voltage to velocity and acceleration; it is a fact of physics that we cannot change.
 
@@ -44,8 +40,7 @@ Many teams do not wish to incur the extra technical cost of using a motion profi
 
 Most FRC mechanisms are well-described by WPILib's feedforward classes, though pure feedforward control typically only yields acceptable results for velocity control of mechanisms with little external load.  In other cases, errors from the system model will be unavoidable and a feedback controller will be necessary to correct for them.
 
-Feedback Control: Correcting for Errors and Disturbances
---------------------------------------------------------
+## Feedback Control: Correcting for Errors and Disturbances
 
 Even with unlimited study, it is impossible to know every force that will be exerted on a robot's mechanism in perfect detail. For example, in a flywheel shooter, the timing and exact forces associated with a ball being put through the mechanism are extremely difficult to measure accurately. For another example, consider the fact that gearboxes gradually throw off grease as they operate, increasing their internal friction over time. This is a *very* complex process to model well.
 
@@ -53,8 +48,7 @@ In practice, this means that the "guess" made by our feedforward controller will
 
 The simplest feedback controller possible is a "proportional controller", which responds proportionally to the current error (i.e. difference between the desired state and measured state).  More advanced controllers (such as the PID controller) add response to the rate-of-change of the error and to the total accumulated error.  All of these operate on the principle that the system response is roughly linear, in order to "nudge" the system towards the setpoint based on local measurements of the error.
 
-When Do We Need Feedback Control?
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### When Do We Need Feedback Control?
 
 In general, there are two scenarios in which we *need* feedback control:
 
@@ -63,8 +57,7 @@ In general, there are two scenarios in which we *need* feedback control:
 
 In each of these situations, the *best* solution is to combine a feedforward controller and a feedback controller by adding their outputs together.  However, in the case of a simple position controller with no external loading, a pure feedback controller can work acceptably.
 
-Feedback-Only Control
-~~~~~~~~~~~~~~~~~~~~~
+#### Feedback-Only Control
 
 Feedforward controllers are extremely helpful and quite simple, but they require *explicit* knowledge of the system behavior in order to generate a guess at the required control signal.  In many controls textbooks, you may see a set of techniques which rely on feedback control only. These are very common in industry, and works well in many cases, especially when the underlying system behavior is not easy to explicitly model, or when you want to quickly reach a "good enough" solution without spending the time to thoroughly investigate your system behavior.
 
@@ -76,42 +69,37 @@ Feedback-only control typically only works well in situations where:
 
 When these criteria are met (such as in the turret tuning tutorial), feedback-only control can yield acceptable results.  In other situations, it is necessary to use a feedforward model to reduce the amount of work done by the feedback controller.  In FRC, our systems are almost all modeled by well-understood equations with working code support, so it is almost always a good idea to include a feedforward controller.
 
-Modeling: How do you expect your system to behave?
---------------------------------------------------
+## Modeling: How do you expect your system to behave?
 
 It's easiest to control a system if we have some prior knowledge of how the system responds to inputs.  Even the "pure feedback" strategy described above implicitly assumes things about the system response (e.g. that it is approximately linear), and consequently won't work in cases where the system does not respond in the expected way.  To control our system *optimally*, we need some way to reliably predict how it will respond to inputs.
 
-This can be done by combining several concepts you may be familiar with from physics: drawing free body diagrams of the forces that act on the mechanism, taking measurements of mass and moment of inertia from your CAD models, applying standard equations of how DC motors or pneumatic cylinders convert energy into mechanical force and motion, etc.
+This can be done by combining several concepts you may be familiar with from physics: drawing free body diagrams of the forces that act on the mechanism, taking measurements of mass and moment of inertia from your :term:`CAD` models, applying standard equations of how DC motors or pneumatic cylinders convert energy into mechanical force and motion, etc.
 
 The act of creating a consistent mathematical description of your system is called *modeling* your system's behavior. The resulting set of equations are called a *model* of how you expect the system to behave.  Not every system requires an explicit model to be controlled (we will see in the turret tutorial that a pure, manually-tuned feedback controller is satisfactory *in some cases*), but an explicit model is *always* helpful.
 
 Note that models do not have to be perfectly accurate to be useful. As we will see in later tuning exercises, even using a simple model of a mechanism can make the tuning effort much simpler.
 
-Obtaining Models for Your Mechanisms
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Obtaining Models for Your Mechanisms
 
 If modeling your mechanism seems daunting, don't worry!  Most mechanisms in FRC are modeled by well-studied equations and code for interacting with those models is included in WPILib.  Usually, all that is needed is to determine a set of physical parameters (sometimes called "tuning constants" or "gains") that depend on the specific details of your mechanism/robot.  These can be estimated theoretically from other known parameters of your system (such as mass, length, and choice of motor/gearbox), or measured from your mechanism's actual behavior through a system identification routine.
 
 When in doubt, ask a mentor or :ref:`support resource <docs/software/support/support-resources:Support Resources>`!
 
-Theoretical Modeling
-^^^^^^^^^^^^^^^^^^^^
+### Theoretical Modeling
 
-`ReCalc is an online calculator <https://www.reca.lc/>`__ which estimates physical parameters for a number of common FRC mechanisms.  Importantly, it can generate estimate the ``kV``, ``kA``, and ``kG`` gains for the WPILib feedforward classes.
+[ReCalc is an online calculator](https://www.reca.lc/) which estimates physical parameters for a number of common FRC mechanisms.  Importantly, it can generate estimate the ``kV``, ``kA``, and ``kG`` gains for the WPILib feedforward classes.
 
-The :doc:`WPILib system identification tool </docs/software/pathplanning/system-identification/introduction>` supports a "theoretical mode" that can be used to determine PID gains for feedback control from the ``kV`` and ``kA`` gains from ReCalc, enabling (in theory) full tuning of a control loop without running any test routines.
+The :doc:`WPILib system identification tool </docs/software/advanced-controls/system-identification/introduction>` supports a "theoretical mode" that can be used to determine PID gains for feedback control from the ``kV`` and ``kA`` gains from ReCalc, enabling (in theory) full tuning of a control loop without running any test routines.
 
 Remember, however, that theory is not reality and purely theoretical gains are not guaranteed to work well.  There is *never* a substitute for testing.
 
-System Identification
-^^^^^^^^^^^^^^^^^^^^^
+### System Identification
 
 A good way to improve the accuracy of a simple physics model is to perform experiments on the real mechanism, record data, and use the data to *derive* the constants associated with different parts of the model. This is very useful for physical quantities which are difficult or impossible to predict, but easy to measure (ex: friction in a gearbox).
 
-:doc:`WPILib's system identification tool </docs/software/pathplanning/system-identification/introduction>` supports some common FRC mechanisms, including drivetrain. It deploys its own code to the robot to exercise the mechanism, record data, and derive gains for both feedforward and feedback control schemes.
+:doc:`WPILib's system identification tool </docs/software/advanced-controls/system-identification/introduction>` supports some common FRC mechanisms, including drivetrain. It deploys its own code to the robot to exercise the mechanism, record data, and derive gains for both feedforward and feedback control schemes.
 
-Manual Tuning: What to Do with No Explicit Model
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Manual Tuning: What to Do with No Explicit Model
 
 Sometimes, you have to tune a system without at an explicit model.  Maybe the system is uniquely complicated, or maybe you're under time constraints and need something that works quickly, even if it doesn't work optimally.  Model-based control requires a correct mathematical model of the system, and for better or for worse, we do not always have one.
 
diff --git a/source/docs/software/advanced-controls/introduction/pid-video.rst b/source/docs/software/advanced-controls/introduction/pid-video.rst
index 9a3286d28c..edc0226be3 100644
--- a/source/docs/software/advanced-controls/introduction/pid-video.rst
+++ b/source/docs/software/advanced-controls/introduction/pid-video.rst
@@ -1,5 +1,4 @@
-PID Introduction Video by WPI
-=============================
+# PID Introduction Video by WPI
 Have you ever had trouble designing a robot system to move quickly and then stop at exactly a desired position? Challenges like this can arise when driving fixed distances or speeds, operating an arm or elevator, or any other motor controlled system that requires specific motion. In this video, WPI Professor Dmitry Berenson talks about robot controls and how PID controls work.
 
 .. raw:: html
diff --git a/source/docs/software/advanced-controls/introduction/tuning-flywheel.rst b/source/docs/software/advanced-controls/introduction/tuning-flywheel.rst
index 552da33780..bcf8f980b0 100644
--- a/source/docs/software/advanced-controls/introduction/tuning-flywheel.rst
+++ b/source/docs/software/advanced-controls/introduction/tuning-flywheel.rst
@@ -1,10 +1,8 @@
-Tuning a Flywheel Velocity Controller
-=====================================
+# Tuning a Flywheel Velocity Controller
 
 In this section, we will tune a simple velocity controller for a flywheel.  The tuning principles explained here will also work for almost any velocity control scenario.
 
-Flywheel Model Description
---------------------------
+## Flywheel Model Description
 
 Our "Flywheel" consists of:
 
@@ -24,8 +22,7 @@ Where:
 
 .. note:: A more detailed description of the mathematics of the system :ref:`can be found here<docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough:Modeling Our Flywheel>`.
 
-Picking the Control Strategy for a Flywheel Velocity Controller
----------------------------------------------------------------
+## Picking the Control Strategy for a Flywheel Velocity Controller
 
 In general: the more voltage that is applied to the motor, the faster the flywheel will spin. Once voltage is removed, friction and :term:`back-EMF` oppose the motion and bring the flywheel to a stop.
 
@@ -37,8 +34,7 @@ To consistently launch a gamepiece, a good first step is to make sure it is spin
 
 The tutorials below will demonstrate the behavior of the system under bang-bang, pure feedforward, pure feedback (PID), and combined feedforward-feedback control strategies.  Follow the instructions to learn how to manually tune these controllers, and expand the "tuning solution" to view an optimal model-based set of tuning parameters.
 
-Bang-Bang Control
-~~~~~~~~~~~~~~~~~
+#### Bang-Bang Control
 
 Interact with the simulation below to see how the flywheel system responds when controlled by a bang-bang controller.
 
@@ -64,8 +60,7 @@ There are no tuneable controller parameters for a bang-bang controller - you can
 
 Try adjusting the setpoint up and down. You should see that for almost all values, the output converges to be somewhat near the setpoint.
 
-Common Issues with Bang-Bang Controllers
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Common Issues with Bang-Bang Controllers
 
 Note that the system behavior is not perfect, because of delays in the control loop.  These can result from the nature of the sensors, measurement filters, loop iteration timers, or even delays in the control hardware itself.  Collectively, these cause a cycle of "overshoot" and "undershoot", as the output repeatedly goes above and below the setpoint.  This oscillation is unavoidable with a bang-bang controller.
 
@@ -77,8 +72,7 @@ Finally, this technique only works for mechanisms that accelerate relatively slo
 
 Bang-bang control sacrifices a lot for simplicity and high performance (in the sense of fast convergence to the setpoint).  To achieve "smoother" control, we need to consider a different control strategy.
 
-Pure Feedforward Control
-~~~~~~~~~~~~~~~~~~~~~~~~
+#### Pure Feedforward Control
 
 Interact with the simulation below to see how the flywheel system responds when controlled only by a feedforward controller.
 
@@ -106,8 +100,7 @@ To tune the feedforward controller, increase the velocity feedforward gain :math
 
 We can see that a pure feedforward control strategy works reasonably well for flywheel velocity control.  As we mentioned earlier, this is why it's possible to control most motors "directly" with joysticks, without any explicit "control loop" at all.  However, we can still do better - the pure feedforward strategy cannot reject disturbances, and so takes a while to recover after the ball is introduced.  Additionally, the motor may not perfectly obey the feedforward equation (even after accounting for vibration/noise).  To account for these, we need a feedback controller.
 
-Pure Feedback Control
-~~~~~~~~~~~~~~~~~~~~~
+#### Pure Feedback Control
 
 Interact with the simulation below to see how the flywheel system responds when controlled by only a feedback (PID) controller.
 
@@ -139,13 +132,11 @@ Perform the following:
 
    In this particular example, for a setpoint of 300, values of :math:`K_p = 0.1`, :math:`K_i = 0.0`, and :math:`K_d = 0.0` will produce somewhat reasonable results.  Since this control strategy is not very good, it will not work well for all setpoints.  You can attempt to improve this behavior by incorporating some :math:`K_i`, but it is very difficult to achieve good behavior across a wide range of setpoints.
 
-Issues with Feedback Control Alone
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Issues with Feedback Control Alone
 
 Because a non-zero amount of :term:`control effort` is required to keep the flywheel spinning, even when the :term:`output` and :term:`setpoint` are equal, this feedback-only strategy is flawed.  In order to optimally control a flywheel, a combined feedforward-feedback strategy is needed.
 
-Combined Feedforward and Feedback Control
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Combined Feedforward and Feedback Control
 
 Interact with the simulation below to see how the flywheel system responds under simultaneous feedforward and feedback (PID) control.
 
@@ -173,16 +164,13 @@ Tuning the combined flywheel controller is simple - we first tune the feedforwar
 
 Note that the combined feedforward-feedback controller works well across all setpoints, and recovers very quickly after the external disturbance of the ball contacting the flywheel.
 
-Tuning Conclusions
-------------------
+## Tuning Conclusions
 
-Applicability of Velocity Control
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Applicability of Velocity Control
 
 A gamepiece-launching flywheel is one of the most visible applications of velocity control. It is also applicable to drivetrain control - following a pre-defined path in autonomous involves controlling the velocity of the wheels with precision, under a variety of different loads.
 
-Choice of Control Strategies
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Choice of Control Strategies
 
 Because we are controlling velocity, we can achieve fairly good performance with a :ref:`pure feedforward controller <docs/software/advanced-controls/introduction/tuning-flywheel:Pure Feedforward Control>`.  This is because a permanent-magnet DC motor's steady-state velocity is roughly proportional to the voltage applied, and is the reason that you can drive your robot around with joysticks without appearing to use any control loop at all - in that case, you are implicitly using a proportional feedforward model.
 
@@ -196,13 +184,11 @@ Tuning with only feedback can produce reasonable results in cases where no :term
 
 Adding an integral gain to the :term:`controller` is often a sub-optimal way to eliminate :term:`steady-state error` - you can see how sloppy and "laggy" it is in the simulation above! As we will see soon, a better approach is to combine the PID controller with a feedforward controller.
 
-Velocity and Position Control
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Velocity and Position Control
 
 Velocity control also differs from position control in the effect of inertia - in a position controller, inertia tends to cause the mechanism to swing past the setpoint even if the control voltage drops to zero near the setpoint.  This makes aggressive control strategies infeasible, as they end up wasting lots of energy fighting self-induced oscillations.  In a velocity controller, however, the effect is different - the rotor shaft stops accelerating as soon as you stop applying a control voltage (in fact, it will slow down due to friction and back-EMF), so such overshoots are rare (in fact, overshoot typically occurs in velocity controllers only as a result of loop delay).  This enables the use of an extremely simple, extremely aggressive control strategy called :ref:`bang-bang control <docs/software/advanced-controls/introduction/tuning-flywheel:Bang-Bang Control>`.
 
-Feedforward Simplifications
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Feedforward Simplifications
 
 For the sake of simplicity, the simulations above omit the :math:`K_s` term from the WPILib SimpleMotorFeedforward equation.  On actual mechanisms, however, this can be important - especially if there's a lot of friction in the mechanism gearing.  A flywheel with a lot of static friction will not have a linear control voltage-velocity relationship unless the feedforward controller includes a :math:`K_s` term to cancel it out.
 
@@ -211,7 +197,6 @@ To measure :math:`K_s` manually, slowly increase the voltage to the mechanism un
 Additionally, there is no need for a :math:`K_a` term in the feedforward for velocity control unless the setpoint is changing - for a flywheel, this is not a concern, and so the gain is omitted here.
 
 
-Footnotes
----------
+## Footnotes
 
 .. [1] For this simulation, we model a ball being injected to the flywheel as a velocity-dependant (frictional) torque fighting the spinning of the wheel for one quarter of a wheel rotation, right around the 5 second mark. This is a very simplistic way to model the ball, but is sufficient to illustrate the controller's behavior under a sudden load. It would not be sufficient to predict the ball's trajectory, or the actual "pulldown" in :term:`output` for the system.
diff --git a/source/docs/software/advanced-controls/introduction/tuning-turret.rst b/source/docs/software/advanced-controls/introduction/tuning-turret.rst
index 63dc63d994..f836d83e18 100644
--- a/source/docs/software/advanced-controls/introduction/tuning-turret.rst
+++ b/source/docs/software/advanced-controls/introduction/tuning-turret.rst
@@ -1,10 +1,8 @@
-Tuning a Turret Position Controller
-===================================
+# Tuning a Turret Position Controller
 
 In this section, we will tune a simple position controller for a turret.  The tuning principles explained here will also work for almost any position-control scenarios under no external loading.
 
-Turret Model Description
-------------------------
+## Turret Model Description
 
 A turret rotates some mechanism side-to-side to position it for scoring gamepieces.
 
@@ -24,8 +22,7 @@ Where:
 * The controller's :term:`setpoint` :math:`r(t)` is the desired position of the turret
 * The controller's :term:`control effort`, :math:`u(t)` is the voltage applied to the motor driving the turret
 
-Picking the Control Strategy for a Turret Position Controller
--------------------------------------------------------------
+## Picking the Control Strategy for a Turret Position Controller
 
 In general: the more voltage that is applied to the motor, the faster the motor (and turret) will spin. Once voltage is removed, friction and back-EMF slowly decrease the spinning until the turret stops.  We want to make the turret rotate to a given position.
 
@@ -33,8 +30,7 @@ The tutorials below will demonstrate the behavior of the system under pure feedf
 
 This simulation does not include any motion profile generation, so acceleration setpoints are not very well-defined.  Accordingly, the `kA` term of the feedforward equation is not used by the controller.  This means there will be some amount of delay/lag inherent to the feedforward-only response.
 
-Pure Feedforward Control
-~~~~~~~~~~~~~~~~~~~~~~~~
+#### Pure Feedforward Control
 
 Interact with the simulation below to examine how the turret system responds when controlled only by a feedforward controller.
 
@@ -69,8 +65,7 @@ Note that the turret may "lag" the commanded motion - this is normal, and is fin
 
    The exact gain used by the plant is :math:`K_v = 0.2`. Note that due to timing inaccuracy in browser simulations, the :math:`K_v` that works best in the simulation may be somewhat smaller than this.
 
-Issues with Feed-Forward Control Alone
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Issues with Feed-Forward Control Alone
 
 As mentioned above, our simulated mechanism perfectly obeys the WPILib :ref:`docs/software/advanced-controls/controllers/feedforward:SimpleMotorFeedforward` equation (as long as the "system noise" option is disabled).  We might then expect, like in the case of the :ref:`flywheel velocity controller <docs/software/advanced-controls/introduction/tuning-flywheel:Tuning a Flywheel Velocity Controller>`, that we should be able to achieve perfect convergence-to-setpoint with a feedforward loop alone.
 
@@ -80,8 +75,7 @@ The resulting behavior from the feedforward controller is to output a single "vo
 
 You may notice that *smooth* motion below the turret's maximum achievable speed can be followed accurately in the simulation with feedforward alone.  This is misleading, however, because no real mechanism perfectly obeys its feedforward equation.  With the "system noise" option enabled, we can see that even smooth, slow motion eventually results in compounding position errors when only feedforward control is used.  To accurately converge to the setpoint, we need to use a feedback (PID) controller.
 
-Pure Feedback Control
-~~~~~~~~~~~~~~~~~~~~~
+#### Pure Feedback Control
 
 Interact with the simulation below to examine how the turret system responds when controlled only by a feedback (PID) controller.
 
@@ -112,13 +106,11 @@ Perform the following:
    Gains of :math:`K_p = 0.3` and :math:`K_d = 0.05` yield rapid and stable convergence to the setpoint.  Other, similar gains will work nearly as well.
 
 
-Issues with Feedback Control Alone
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Issues with Feedback Control Alone
 
 Note that even with system noise enabled, the feedback controller is able to drive the turret to the setpoint in a stable manner over time.  However, it may not be possible to smoothly track a moving setpoint without lag using feedback alone, as the feedback controller can only respond to errors once they have built up.  To get the best of both worlds, we need to combine our feedback controller with a feedforward controller.
 
-Combined Feedforward and Feedback Control
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Combined Feedforward and Feedback Control
 
 Interact with the simulation below to examine how the turret system responds under simultaneous feedforward and feedback control.
 
@@ -146,11 +138,9 @@ Tuning the combined turret controller is simple - we first tune the feedforward
 
 Once tuned properly, the combined controller should accurately track a smoothly moving setpoint, and also accurately converge to the setpoint over time after a "jump" command.
 
-Tuning Conclusions
-------------------
+## Tuning Conclusions
 
-Choice of Control Strategies
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Choice of Control Strategies
 
 Like in the case of the :ref:`vertical arm <docs/software/advanced-controls/introduction/tuning-vertical-arm:Tuning a Vertical Arm Position Controller>`, and unlike the case of the :ref:`flywheel <docs/software/advanced-controls/introduction/tuning-flywheel:Tuning a Flywheel Velocity Controller>`, we are trying to control the *position* rather than the *velocity* of our mechanism.
 
@@ -162,13 +152,11 @@ Controlling a mechanism with only feedback can produce reasonable results in cas
 
 We saw in the feedforward-only example above that an accurate feedforward can track slow, smooth velocity setpoints quite well.  Combining a feedforward controller with the feedback controller gives the smooth velocity-following of a feedforward controller with the stable long-term error elimination of a feedback controller.
 
-Reasons for Non-Ideal Performance
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Reasons for Non-Ideal Performance
 
 This simulation does not include any motion profile generation, so acceleration setpoints are not very well-defined.  Accordingly, the `kA` term of the feedforward equation is not used by the controller.  This means there will be some amount of delay/lag inherent to the feedforward-only response.
 
-A Note on Feedforward and Static Friction
------------------------------------------
+## A Note on Feedforward and Static Friction
 
 For the sake of simplicity, the simulations above omit the :math:`K_s` term from the WPILib SimpleMotorFeedforward equation.  On actual mechanisms, however, this can be important - especially if there's a lot of friction in the mechanism gearing.  A turret with a lot of static friction will be very hard to control accurately with feedback alone - it will get "stuck" near (but not at) the setpoint when the loop output falls below :math:`K_s`.
 
diff --git a/source/docs/software/advanced-controls/introduction/tuning-vertical-arm.rst b/source/docs/software/advanced-controls/introduction/tuning-vertical-arm.rst
index 1d56c39568..82f5b52ae0 100644
--- a/source/docs/software/advanced-controls/introduction/tuning-vertical-arm.rst
+++ b/source/docs/software/advanced-controls/introduction/tuning-vertical-arm.rst
@@ -1,10 +1,8 @@
-Tuning a Vertical Arm Position Controller
-=========================================
+# Tuning a Vertical Arm Position Controller
 
 In this section, we will tune a simple position controller for a vertical arm.  The same tuning principles explained below will work also for almost all position-control scenarios under the load of gravity.
 
-Arm Model Description
----------------------
+## Arm Model Description
 
 Vertical arms are commonly used to lift gamepieces from the ground up to a scoring position. Other similar examples include shooter hoods and elevators.
 
@@ -24,15 +22,13 @@ Where:
 * The controller's :term:`setpoint` :math:`r(t)` is the desired angle of the arm
 * The controller's :term:`control effort`, :math:`u(t)` is the voltage applied to the motor driving the arm
 
-Picking the Control Strategy for a Vertical Arm
------------------------------------------------
+## Picking the Control Strategy for a Vertical Arm
 
 Applying voltage to the motor causes a force on the mechanism that drives the arm up or down. If there is no voltage, gravity still acts on the arm to pull it downward.  Generally, it is desirable to fight this effect, and keep the arm at a specific angle.
 
 The tutorials below will demonstrate the behavior of the system under pure feedforward, pure feedback (PID), and combined feedforward-feedback control strategies.  Follow the instructions to learn how to manually tune these controllers, and expand the "tuning solution" to view an optimal model-based set of tuning parameters.  Even though WPILib tooling can provide you with optimal gains, it is worth going through the manual tuning process to see how the different control strategies interact with the mechanism.
 
-Pure Feedforward Control
-~~~~~~~~~~~~~~~~~~~~~~~~
+#### Pure Feedforward Control
 
 Interact with the simulation below to examine how the turret system responds when controlled only by a feedforward controller.
 
@@ -67,8 +63,7 @@ To tune the feedforward controller, perform the following:
 
    The exact gains used by the simulation are :math:`K_g = 1.75` and :math:`K_v = 1.95`.
 
-Issues with Feed-Forward Control Alone
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Issues with Feed-Forward Control Alone
 
 As mentioned above, our simulated mechanism almost-perfectly obeys the WPILib :ref:`docs/software/advanced-controls/controllers/feedforward:ArmFeedforward` equation (as long as the "system noise" option is disabled).  We might then expect, like in the case of the :ref:`flywheel velocity controller <docs/software/advanced-controls/introduction/tuning-flywheel:Tuning a Flywheel Velocity Controller>`, that we should be able to achieve perfect convergence-to-setpoint with a feedforward loop alone.
 
@@ -78,8 +73,7 @@ The resulting behavior from the feedforward controller is to output a single "vo
 
 You will notice that, once properly tuned, the mechanism can track slow/smooth movement with a surprising amount of accuracy - however, there are some obvious problems with this approach.  Our feedforward equation corrects for the force of gravity *at the setpoint* - this results in poor behavior if our arm is far from the setpoint.  With the "system noise" option enabled, we can also see that even smooth, slow motion eventually results in compounding position errors when only feedforward control is used.  To accurately converge to and remain at the setpoint, we need to use a feedback (PID) controller.
 
-Pure Feedback Control
-~~~~~~~~~~~~~~~~~~~~~
+#### Pure Feedback Control
 
 Interact with the simulation below to examine how the vertical arm system responds when controlled only by a feedback (PID) controller.
 
@@ -112,8 +106,7 @@ Perform the following:
 
    There is no good tuning solution for this control strategy.  Values of :math:`K_p = 5` and :math:`K_d = 1` yield a reasonable approach to a stable equilibrium, but that equilibrium is not actually at the setpoint!
 
-Issues with Feedback Control Alone
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Issues with Feedback Control Alone
 
 A set of gains that works well for one setpoint will act poorly for a different setpoint.
 
@@ -121,8 +114,7 @@ Adding some integral gain can push us to the setpoint over time, but it's unstab
 
 Because a non-zero amount of :term:`control effort` is required to keep the arm at a constant height, even when the :term:`output` and :term:`setpoint` are equal, this feedback-only strategy is flawed.  In order to optimally control a vertical arm, a combined feedforward-feedback strategy is needed.
 
-Combined Feedforward and Feedback Control
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Combined Feedforward and Feedback Control
 
 Interact with the simulation below to examine how the vertical arm system responds under simultaneous feedforward and feedback control.
 
@@ -150,11 +142,9 @@ Tuning the combined arm controller is simple - we first tune the feedforward con
 
 Once tuned properly, the combined controller accurately tracks a smoothly moving setpoint, and also accurately converge to the setpoint over time after a "jump" command.
 
-Tuning Conclusions
-------------------
+## Tuning Conclusions
 
-Choice of Control Strategies
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Choice of Control Strategies
 
 Like in the case of the :ref:`turret <docs/software/advanced-controls/introduction/tuning-turret:Tuning a Turret Position Controller>`, and unlike the case of the :ref:`flywheel <docs/software/advanced-controls/introduction/tuning-flywheel:Tuning a Flywheel Velocity Controller>`, we are trying to control the *position* rather than the *velocity* of our mechanism.
 
@@ -167,16 +157,14 @@ The core reason the feedback-only control strategy fails for the vertical arm is
 We saw in the feedforward-only example above that an accurate feedforward can track slow, smooth velocity setpoints quite well.  Combining a feedforward controller with the feedback controller gives the smooth velocity-following of a feedforward controller with the stable long-term error elimination of a feedback controller.
 
 
-Reasons for Non-Ideal Performance
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Reasons for Non-Ideal Performance
 
 This simulation does not include any motion profile generation, so acceleration setpoints are not very well-defined.  Accordingly, the `kA` term of the feedforward equation is not used by the controller.  This means there will be some amount of delay/lag inherent to the feedforward-only response.
 
 The control law is good, but not perfect.  There is usually some overshoot even for smoothly-moving setpoints - this is combination of the lack of :math:`K_a` in the feedforward (see the note above for why it is omitted here), and some discretization error in the simulation.  Attempting to move the setpoint too quickly can also cause the setpoint and mechanism to diverge, which (as mentioned earlier) will result in poor behavior due to the :math:'K_g' term correcting for the wrong force, as it is calculated from the setpoint, not the measurement.  Using the measurement to correct for gravity is called "feedback linearization" (as opposed to "feedforward linearization" when the setpoint is used), and can be a better control strategy if your measurements are sufficiently fast and accurate.
 
-A Note on Feedforward and Static Friction
------------------------------------------
+## A Note on Feedforward and Static Friction
 
 For the sake of simplicity, the simulations above omit the :math:`K_s` term from the WPILib SimpleMotorFeedforward equation.  On actual mechanisms, however, this can be important - especially if there's a lot of friction in the mechanism gearing.
 
-In the case of a vertical arm or elevator, :math:`K_s` can be somewhat tedious to estimate separately from :math:`K_g`.  If your arm or elevator has enough friction for :math:`K_s` to be important, it is recommended that you use the :doc:`WPILib system identification tool </docs/software/pathplanning/system-identification/introduction>` to determine your system gains.
+In the case of a vertical arm or elevator, :math:`K_s` can be somewhat tedious to estimate separately from :math:`K_g`.  If your arm or elevator has enough friction for :math:`K_s` to be important, it is recommended that you use the :doc:`WPILib system identification tool </docs/software/advanced-controls/system-identification/introduction>` to determine your system gains.
diff --git a/source/docs/software/advanced-controls/introduction/tutorial-intro.rst b/source/docs/software/advanced-controls/introduction/tutorial-intro.rst
index 1712cc5889..1989d6a0a2 100644
--- a/source/docs/software/advanced-controls/introduction/tutorial-intro.rst
+++ b/source/docs/software/advanced-controls/introduction/tutorial-intro.rst
@@ -1,5 +1,4 @@
-Introduction To Controls Tuning Tutorials
-=========================================
+# Introduction To Controls Tuning Tutorials
 
 The WPILib docs include three interactive tuning simulations. Their goal is to allow students to learn how tuning parameters impact system behavior, without having to deal with software bugs or other real-world behavior.
 
@@ -9,22 +8,19 @@ Ultimately, students should use the examples to build intuition and make their t
 
 This page details a few tips while working with the tutorials.
 
-Parameter Exponential Search
-----------------------------
+## Parameter Exponential Search
 
 While interacting with the simulations, you will get instructions to "increase" or "decrease" different parameters.
 
 When "increasing" a value, multiply it by two until the expected effect is observed.  After the first time the value becomes too large (i.e. the behavior is unstable or the mechanism overshoots), reduce the value to halfway between the first too-large value encountered and the previous value tested before that.  Continue iterating this "split-half" procedure to zero in on the optimal value (if the response undershoots, pick the halfway point between the new value and the last value immediately above it - if it overshoots, pick the halfway point between the new value and the last value immediately below it). This is called an :term:`exponential search`, and is a very efficient way to find positive values of unknown scale.
 
-System Noise
-------------
+## System Noise
 
 The "system noise" option introduces random, gaussian error into the plant to provide a more realistic situation of system behavior.
 
 Leave the setting turned off at first to learn the system's ideal behavior. Later, turn it on to see how your tuning works in the presence of real-world effects.
 
-Be Systematic
--------------
+## Be Systematic
 
 As seen in :ref:`the introduction to PID <docs/software/advanced-controls/introduction/introduction-to-pid:Introduction to PID>`, a PID controller has *three* tuned constants.Feedforward components will add even more. This means searching for the "correct" constants manually can be quite difficult - it is therefore necessary to approach the tuning procedure systematically.
 
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index 02e1076e43..28fb446ac1 100644
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diff --git a/source/docs/software/advanced-controls/state-space/images/state-space-graph.png b/source/docs/software/advanced-controls/state-space/images/state-space-graph.png
index bb9526bb4f..014a4e7f8b 100644
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diff --git a/source/docs/software/advanced-controls/state-space/index.rst b/source/docs/software/advanced-controls/state-space/index.rst
index f8a9223476..a3961244e8 100644
--- a/source/docs/software/advanced-controls/state-space/index.rst
+++ b/source/docs/software/advanced-controls/state-space/index.rst
@@ -1,5 +1,4 @@
-State-Space and Model Based Control with WPILib
-===============================================
+# State-Space and Model Based Control with WPILib
 
 This section provides an introduction to and describes WPILib support for state-space control.
 
diff --git a/source/docs/software/advanced-controls/state-space/state-space-debugging.rst b/source/docs/software/advanced-controls/state-space/state-space-debugging.rst
index ffd0f2a26d..4d3929b82f 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-debugging.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-debugging.rst
@@ -1,16 +1,13 @@
-Debugging State-Space Models and Controllers
-============================================
+# Debugging State-Space Models and Controllers
 
-Checking Signs
---------------
+## Checking Signs
 
 One of the most common causes of bugs with state-space controllers is signs being flipped. For example, models included in WPILib expect positive voltage to result in a positive acceleration, and vice versa. If applying a positive voltage does not make the mechanism accelerate forwards, or if moving "forwards" makes encoder (or other sensor readings) decrease, they should be inverted so that positive voltage input results in a positive encoder reading. For example, if I apply an :term:`input` of :math:`[12, 12]^T` (full forwards for the left and right motors) to my differential drivetrain, my wheels should propel my robot "forwards" (along the +X axis locally), and for my encoders to read a positive velocity.
 
 .. important::
     The WPILib ``DifferentialDrive``, by default, does not invert any motors. You may need to call the ``setInverted(true)`` method on the motor controller object to invert so that positive input creates forward motion.
 
-The Importance of Graphs
-------------------------
+## The Importance of Graphs
 
 Reliable data of the :term:`system's <system>` :term:`state`\s, :term:`input`\s and :term:`output`\s over time is important when debugging state-space controllers and observers. One common approach is to send this data over NetworkTables and use tools such as :ref:`Shuffleboard <docs/software/dashboards/shuffleboard/index:Shuffleboard>`, which allow us to both graph the data in real-time as well as save it to a CSV file for plotting later with tools such as Google Sheets, Excel or Python.
 
@@ -20,19 +17,24 @@ Reliable data of the :term:`system's <system>` :term:`state`\s, :term:`input`\s
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      @Override
-      public void robotPeriodic() {
-         NetworkTableInstance.getDefault().flush();
-      }
-
-   .. code-block:: c++
-
-      void RobotPeriodic() {
-         NetworkTableInstance::GetDefault().Flush();
-      }
-
-Compensating for Input Lag
---------------------------
+   ```java
+   @Override
+   public void robotPeriodic() {
+      NetworkTableInstance.getDefault().flush();
+   }
+   ```
+
+   ```c++
+   void RobotPeriodic() {
+      NetworkTableInstance::GetDefault().Flush();
+   }
+   ```
+
+   ```python
+   from ntcore import NetworkTableInstance
+   def robotPeriodic(self):
+      NetworkTableInstance.getDefault().flush()
+   ```
+
+## Compensating for Input Lag
 Often times, some sensor input data (i.e. velocity readings) may be delayed due to onboard filtering that smart motor controllers tend to perform. By default, LQR's K gain assumes no input delay, so introducing significant delay on the order of tens of milliseconds can cause instability. To combat this, the LQR's K gain can be reduced, trading off performance for stability. A code example for how to compensate for this latency in a mathematically rigorous manner is available :ref:`here <docs/software/advanced-controls/state-space/state-space-intro:LQR and Measurement Latency Compensation>`.
diff --git a/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst b/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
index 8a71ab0a61..2088ce0c70 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
@@ -1,27 +1,24 @@
 .. include:: <isonum.txt>
 
-State-Space Controller Walkthrough
-==================================
+# State-Space Controller Walkthrough
 
 .. note:: Before following this tutorial, readers are recommended to have read an :ref:`docs/software/advanced-controls/state-space/state-space-intro:Introduction to state-space control`.
 
 The goal of this tutorial is to provide "end-to-end" instructions on implementing a state-space controller for a flywheel.  By following this tutorial, readers will learn how to:
 
-1. Create an accurate state-space model of a flywheel using :term:`system identification` or CAD software.
+1. Create an accurate state-space model of a flywheel using :term:`system identification` or :term:`CAD` software.
 2. Implement a Kalman Filter to filter encoder velocity measurements without lag.
 3. Implement a :ref:`LQR <docs/software/advanced-controls/state-space/state-space-intro:The Linear-Quadratic Regulator>` feedback controller which, when combined with model-based feedforward, will generate voltage :term:`inputs <input>` to drive the flywheel to a :term:`reference`.
 
 This tutorial is intended to be approachable for teams without a great deal of programming expertise.  While the WPILib library offers significant flexibility in the manner in which its state-space control features are implemented, closely following the implementation outlined in this tutorial should provide teams with a basic structure which can be reused for a variety of state-space systems.
 
-The full example is available in the state-space flywheel (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java>`__/`C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp>`__) and state-space flywheel system identification (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java>`__/`C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp>`__) example projects.
+The full example is available in the state-space flywheel ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java)/[C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp)/[Python](https://github.com/robotpy/examples/blob/main/StateSpaceFlywheel/robot.py)) and state-space flywheel system identification ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java)/[C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp)/[Python](https://github.com/robotpy/examples/blob/main/StateSpaceFlywheelSysId/robot.py)) example projects.
 
-Why Use State-Space Control?
-----------------------------
+## Why Use State-Space Control?
 
 Because state-space control focuses on creating an accurate model of our system, we can accurately predict how our :term:`model` will respond to control :term:`inputs <input>`. This allows us to simulate our mechanisms without access to a physical robot, as well as easily choose :term:`gains <gain>` that we know will work well. Having a model also allows us to create lagless filters, such as Kalman Filters, to optimally filter sensor readings.
 
-Modeling Our Flywheel
----------------------
+## Modeling Our Flywheel
 
 :ref:`Recall <docs/software/advanced-controls/state-space/state-space-intro:What is State-Space Notation?>` that continuous state-space systems are modeled using the following system of equations:
 
@@ -43,8 +40,7 @@ A continuous-time state-space system writes :term:`x-dot`, or the instantaneous
 
 Next, we will model our flywheel as a continuous-time state-space system. WPILib's ``LinearSystem`` will convert this to discrete-time internally. Review :ref:`state-space notation <docs/software/advanced-controls/state-space/state-space-intro:What is State-Space Notation?>` for more on continuous-time and discrete-time systems.
 
-Modeling with System Identification
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Modeling with System Identification
 
 To rewrite this in state-space notation using :term:`system identification`, we recall from the flywheel :ref:`state-space notation example <docs/software/advanced-controls/state-space/state-space-intro:State-space Notation Example: Flywheel from Kv and Ka>`, where we rewrote the following equation in terms of :math:`\mathbf{a}`.
 
@@ -66,38 +62,51 @@ The second part of state-space notation relates the system's current :term:`stat
 The ``LinearSystem`` class contains methods for easily creating state-space systems identified using :term:`system identification`. This example shows a flywheel model with a kV of 0.023 and a kA of 0.001:
 
 .. tab-set::
-   .. tab-item:: JAVA
+   .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
          :language: java
-         :lines: 33-47
+         :lines: 32-46
          :linenos:
          :lineno-start: 33
 
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+         :language: c++
          :lines: 17
          :linenos:
          :lineno-start: 17
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+         :language: c++
          :lines: 30-46
          :linenos:
          :lineno-start: 30
 
+   .. tab-item:: Python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/StateSpaceFlywheelSysId/robot.py
+         :language: python
+         :lines: 23-27
+         :linenos:
+         :lineno-start: 23
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/StateSpaceFlywheelSysId/robot.py
+         :language: python
+         :lines: 37-48
+         :linenos:
+         :lineno-start: 37
 
-Modeling Using Flywheel Moment of Inertia and Gearing
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-A flywheel can also be modeled without access to a physical robot, using information about the motors, gearing and flywheel's :term:`moment of inertia`. A full derivation of this model is presented in Section 8.2.1 of  `Controls Engineering in FRC <https://file.tavsys.net/control/controls-engineering-in-frc.pdf>`__.
+### Modeling Using Flywheel Moment of Inertia and Gearing
 
-The ``LinearSystem`` class contains methods to easily create a model of a flywheel from the flywheel's motors, gearing and :term:`moment of inertia`. The moment of inertia can be calculated using CAD software or using physics. The examples used here are detailed in the flywheel example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel>`__/`C++ <https://github.com/wpilibsuite/allwpilib/blob/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp>`__).
+A flywheel can also be modeled without access to a physical robot, using information about the motors, gearing and flywheel's :term:`moment of inertia`. A full derivation of this model is presented in Section 12.3 of  [Controls Engineering in FRC](https://file.tavsys.net/control/controls-engineering-in-frc.pdf).
+
+The ``LinearSystem`` class contains methods to easily create a model of a flywheel from the flywheel's motors, gearing and :term:`moment of inertia`. The moment of inertia can be calculated using :term:`CAD` software or using physics. The examples used here are detailed in the flywheel example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel)/[C++](https://github.com/wpilibsuite/allwpilib/blob/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp)/[Python](https://github.com/robotpy/examples/blob/main/StateSpaceFlywheel/robot.py)).
 
 .. note:: For WPILib's state-space classes, gearing is written as output over input -- that is, if the flywheel spins slower than the motors, this number should be greater than one.
 
@@ -105,32 +114,46 @@ The ``LinearSystem`` class contains methods to easily create a model of a flywhe
 
 .. tab-set::
 
-   .. tab-item:: JAVA
+   .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
-         :lines: 34-47
+         :lines: 33-46
          :linenos:
-         :lineno-start: 34
+         :lineno-start: 33
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+         :language: c++
          :lines: 17-17
          :linenos:
          :lineno-start: 17
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+         :language: c++
          :lines: 17,31-46
          :linenos:
          :lineno-start: 31
 
-Kalman Filters: Observing Flywheel State
-----------------------------------------
+   .. tab-item:: Python
+      :sync: python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/StateSpaceFlywheel/robot.py
+         :language: python
+         :lines: 21-25
+         :linenos:
+         :lineno-start: 21
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/StateSpaceFlywheel/robot.py
+         :language: python
+         :lines: 37-46
+         :linenos:
+         :lineno-start: 37
+
+## Kalman Filters: Observing Flywheel State
 
 Kalman filters are used to filter our velocity measurements using our state-space model to generate a state estimate :math:`\mathbf{\hat{x}}`. As our flywheel model is linear, we can use a Kalman filter to estimate the flywheel's velocity. WPILib's Kalman filter takes a ``LinearSystem`` (which we found above), along with standard deviations of model and sensor measurements. We can adjust how "smooth" our state estimate is by adjusting these weights. Larger state standard deviations will cause the filter to "distrust" our state estimate and favor new measurements more highly, while larger measurement standard deviations will do the opposite.
 
@@ -145,36 +168,44 @@ Because the feedback controller computes error using the :term:`x-hat` estimated
 
 .. tab-set::
 
-   .. tab-item:: JAVA
+   .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
-         :lines: 49-59
+         :lines: 48-58
          :linenos:
-         :lineno-start: 59
+         :lineno-start: 48
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+         :language: c++
          :lines: 13-13
          :linenos:
          :lineno-start: 13
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+         :language: c++
          :lines: 48-53
          :linenos:
          :lineno-start: 48
 
+   .. tab-item:: Python
+      :sync: python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/StateSpaceFlywheel/robot.py
+         :language: python
+         :lines: 48-54
+         :linenos:
+         :lineno-start: 48
+
 Because Kalman filters use our state-space model in the :ref:`docs/software/advanced-controls/state-space/state-space-observers:Predict step`, it is important that our model is as accurate as possible. One way to verify this is to record a flywheel's input voltage and velocity over time, and replay this data by calling only ``predict`` on the Kalman filter. Then, the kV and kA gains (or moment of inertia and other constants) can be adjusted until the model closely matches the recorded data.
 
 .. todo:: do we need to elaborate on this^ more?
 
-Linear-Quadratic Regulators and Plant Inversion Feedforward
------------------------------------------------------------
+## Linear-Quadratic Regulators and Plant Inversion Feedforward
 
 :ref:`docs/software/advanced-controls/state-space/state-space-intro:The Linear-Quadratic Regulator` finds a feedback controller to drive our flywheel :term:`system` to its :term:`reference`. Because our flywheel has just one state, the control law picked by our LQR will be in the form :math:`\mathbf{u = K (r - x)}` where :math:`\mathbf{K}` is a 1x1 matrix; in other words, the control law picked by LQR is simply a proportional controller, or a PID controller with only a P gain. This gain is chosen by our LQR based on the state excursion and control efforts we pass it. More on tuning LQR controllers can be found in the :ref:`LQR application example <docs/software/advanced-controls/state-space/state-space-intro:LQR: example application>`.
 
@@ -182,104 +213,136 @@ Much like ``SimpleMotorFeedforward`` can be used to generate feedforward voltage
 
 .. tab-set::
 
-   .. tab-item:: JAVA
+   .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
-         :lines: 60-71
+         :lines: 59-70
          :linenos:
-         :lineno-start: 60
+         :lineno-start: 59
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+         :language: c++
          :lines: 11
          :linenos:
          :lineno-start: 11
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+         :language: c++
          :lines: 55-75
          :linenos:
          :lineno-start: 54
 
-Bringing it All Together: LinearSystemLoop
-------------------------------------------
+   .. tab-item:: Python
+      :sync: python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/StateSpaceFlywheel/robot.py
+         :language: python
+         :lines: 56-66
+         :linenos:
+         :lineno-start: 56
+
+## Bringing it All Together: LinearSystemLoop
 
 LinearSystemLoop combines our system, controller, and observer that we created earlier. The constructor shown will also instantiate a ``PlantInversionFeedforward``.
 
 .. tab-set::
 
-   .. tab-item:: JAVA
+   .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
-         :lines: 73-75
+         :lines: 72-74
          :linenos:
-         :lineno-start: 73
+         :lineno-start: 72
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+         :language: c++
          :lines: 15-15
          :linenos:
          :lineno-start: 15
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+         :language: c++
          :lines: 71-74
          :linenos:
          :lineno-start: 71
 
+   .. tab-item:: Python
+      :sync: python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/StateSpaceFlywheel/robot.py
+         :language: python
+         :lines: 68-71
+         :linenos:
+         :lineno-start: 68
+
 Once we have our ``LinearSystemLoop``, the only thing left to do is actually run it. To do that, we'll periodically update our Kalman filter with our new encoder velocity measurements and apply new voltage commands to it. To do that, we first set the :term:`reference`, then ``correct`` with the current flywheel speed, ``predict`` the Kalman filter into the next timestep, and apply the inputs generated using ``getU``.
 
 .. tab-set::
 
-   .. tab-item:: JAVA
+   .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
-         :lines: 96-121
+         :lines: 95-120
          :linenos:
-         :lineno-start: 96
+         :lineno-start: 95
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+         :language: c++
          :lines: 5-17
          :linenos:
          :lineno-start: 5
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+         :language: c++
          :lines: 92-114
          :linenos:
          :lineno-start: 92
 
-Angle Wrap with LQR
--------------------
+   .. tab-item:: Python
+      :sync: python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/StateSpaceFlywheel/robot.py
+         :language: python
+         :lines: 87-109
+         :linenos:
+         :lineno-start: 87
+
+## Angle Wrap with LQR
 
 Mechanisms with a continuous angle can have that angle wrapped by calling the code below instead of ``lqr.Calculate(x, r)``.
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   var error = lqr.getR().minus(x);
+   error.set(0, 0, MathUtil.angleModulus(error.get(0, 0)));
+   var u = lqr.getK().times(error);
+   ```
 
-      var error = lqr.getR().minus(x);
-      error.set(0, 0, MathUtil.angleModulus(error.get(0, 0)));
-      var u = lqr.getK().times(error);
+   ```c++
+   Eigen::Vector<double, 2> error = lqr.R() - x;
+   error(0) = frc::AngleModulus(units::radian_t{error(0)}).value();
+   Eigen::Vector<double, 2> u = lqr.K() * error;
+   ```
 
-   .. code-block:: cpp
+   ```python
+   error = lqr.R() - x
+   error[0] = wpimath.angleModulus(error[0])
+   u = lqr.K() * error
+   ```
 
-      Eigen::Vector<double, 2> error = lqr.R() - x;
-      error(0) = frc::AngleModulus(units::radian_t{error(0)}).value();
-      Eigen::Vector<double, 2> u = lqr.K() * error;
diff --git a/source/docs/software/advanced-controls/state-space/state-space-intro.rst b/source/docs/software/advanced-controls/state-space/state-space-intro.rst
index a943e30dc0..57c29ac63a 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-intro.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-intro.rst
@@ -1,31 +1,26 @@
-Introduction to State-Space Control
-===================================
+# Introduction to State-Space Control
 
-.. note:: This article is from `Controls Engineering in FRC <https://file.tavsys.net/control/controls-engineering-in-frc.pdf>`__ by Tyler Veness with permission.
+.. note:: This article is from [Controls Engineering in FRC](https://file.tavsys.net/control/controls-engineering-in-frc.pdf) by Tyler Veness with permission.
 
-From PID to Model-Based Control
--------------------------------
+## From PID to Model-Based Control
 
 When tuning PID controllers, we focus on fiddling with controller parameters relating to the current, past, and future :term:`error` (P, I and D terms) rather than the underlying system states. While this approach works in a lot of situations, it is an incomplete view of the world.
 
 Model-based control focuses on developing an accurate model of the :term:`system` (mechanism) we are trying to control. These models help inform :term:`gains <gain>` picked for feedback controllers based on the physical responses of the system, rather than an arbitrary proportional :term:`gain` derived through testing. This allows us not only to predict ahead of time how a system will react, but also test our controllers without a physical robot and save time debugging simple bugs.
 
-.. note:: State-space control makes extensive use of linear algebra. More on linear algebra in modern control theory, including an introduction to linear algebra and resources, can be found in Chapter 4 of `Controls Engineering in FRC <https://file.tavsys.net/control/controls-engineering-in-frc.pdf>`__.
+.. note:: State-space control makes extensive use of linear algebra. More on linear algebra in modern control theory, including an introduction to linear algebra and resources, can be found in Chapter 5 of [Controls Engineering in FRC](https://file.tavsys.net/control/controls-engineering-in-frc.pdf).
 
 If you've used WPILib's feedforward classes for ``SimpleMotorFeedforward`` or its sister classes, or used SysId to pick PID :term:`gains <gain>` for you, you're already familiar with model-based control! The ``kv`` and ``ka`` :term:`gains <gain>` can be used to describe how a motor (or arm, or drivetrain) will react to voltage. We can put these constants into standard state-space notation using WPILib's ``LinearSystem``, something we will do in a later article.
 
-Vocabulary
-----------
+## Vocabulary
 
 For the background vocabulary that will be used throughout this article, see the :ref:`Glossary <docs/software/advanced-controls/controls-glossary:Controls Glossary>`.
 
-Introduction to Linear Algebra
-------------------------------
+## Introduction to Linear Algebra
 
-For a short and intuitive introduction to the core concepts of Linear Algebra, we recommend chapters 1 through 4 of `3Blue1Brown's Essence of linear algebra series <https://www.youtube.com/watch?v=fNk_zzaMoSs&list=PLZHQObOWTQDPD3MizzM2xVFitgF8hE_ab>`__ (Vectors, what even are they?, Linear combinations, span, and basis vectors, Linear transformations and matrices, and Matrix multiplication as composition).
+For a short and intuitive introduction to the core concepts of Linear Algebra, we recommend chapters 1 through 4 of [3Blue1Brown's Essence of linear algebra series](https://www.youtube.com/watch?v=fNk_zzaMoSs&list=PLZHQObOWTQDPD3MizzM2xVFitgF8hE_ab) (Vectors, what even are they?, Linear combinations, span, and basis vectors, Linear transformations and matrices, and Matrix multiplication as composition).
 
-What is State-Space?
---------------------
+## What is State-Space?
 
 Recall that 2D space has two axes: x and y. We represent locations within this space as a pair of numbers packaged in a vector, and each coordinate is a measure of how far to move along the corresponding axis. State-space is a :term:`Cartesian coordinate system` with an axis for each state variable, and we represent locations within it the same way we do for 2D space: with a list of numbers in a vector. Each element in the vector corresponds to a state of the system. This example shows two example state vectors in the state-space of an elevator model with the states :math:`[\text{position}, \text{velocity}]`:
 
@@ -36,8 +31,7 @@ In this image, the vectors representing states in state-space are arrows. From n
 
 In addition to the :term:`state`, :term:`inputs <input>` and :term:`outputs <output>` are represented as vectors. Since the mapping from the current states and inputs to the change in state is a system of equations, it’s natural to write it in matrix form. This matrix equation can be written in state-space notation.
 
-What is State-Space Notation?
------------------------------
+## What is State-Space Notation?
 
 State-space notation is a set of matrix equations which describe how a system will evolve over time. These equations relate the change in state :math:`\dot{\mathbf{x}}`, and the :term:`output` :math:`\mathbf{y}`, to linear combinations of the current state vector :math:`\mathbf{x}` and :term:`input` vector :math:`\mathbf{u}`.
 
@@ -76,8 +70,7 @@ A continuous-time state-space system can be converted into a discrete-time syste
 
 .. important:: WPILib's LinearSystem takes continuous-time system matrices, and converts them internally to the discrete-time form where necessary.
 
-State-space Notation Example: Flywheel from Kv and Ka
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### State-space Notation Example: Flywheel from Kv and Ka
 
 :ref:`Recall <docs/software/advanced-controls/controllers/feedforward:SimpleMotorFeedforward>` that we can model the motion of a flywheel connected to a brushed DC motor with the equation :math:`V = K_v \cdot v + K_a \cdot a`, where V is voltage output, v is the flywheel's angular velocity and a is its angular acceleration. This equation can be rewritten as :math:`a = \frac{V - K_v \cdot v}{K_a}`, or :math:`a = \frac{-K_v}{K_a} \cdot v + \frac{1}{K_a} \cdot V`. Notice anything familiar? This equation relates the angular acceleration of the flywheel to its angular velocity and the voltage applied.
 
@@ -93,8 +86,7 @@ The output and state are the same, so the output equation is the following:
 
 That's it! That's the state-space model of a system for which we have the :math:`K_v` and :math:`K_a` constants. This same math is used in system identification to model flywheels and drivetrain velocity systems.
 
-Visualizing State-Space Responses: Phase Portrait
--------------------------------------------------
+## Visualizing State-Space Responses: Phase Portrait
 
 A :term:`phase portrait` can help give a visual intuition for the response of a system in state-space. The vectors on the graph have their roots at some point :math:`\mathbf{x}` in state-space, and point in the direction of :math:`\mathbf{\dot{x}}`, the direction that the system will evolve over time. This example shows a model of a pendulum with the states of angle and angular velocity.
 
@@ -105,10 +97,9 @@ To trace a potential trajectory that a system could take through state-space, ch
 
 Note that near the edges of the phase portrait, the X axis wraps around as a rotation of :math:`\pi` radians counter clockwise and a rotation of :math:`\pi` radians clockwise will end at the same point.
 
-For more on differential equations and phase portraits, see `3Blue1Brown's Differential Equations video <https://www.youtube.com/watch?v=p_di4Zn4wz4>`__ -- they do a great job of animating the pendulum phase space at around 15:30.
+For more on differential equations and phase portraits, see [3Blue1Brown's Differential Equations video](https://www.youtube.com/watch?v=p_di4Zn4wz4) -- they do a great job of animating the pendulum phase space at around 15:30.
 
-Visualizing Feedforward
-^^^^^^^^^^^^^^^^^^^^^^^
+### Visualizing Feedforward
 
 This phase portrait shows the "open loop" responses of the system -- that is, how it will react if we were to let the state evolve naturally. If we want to, say, balance the pendulum horizontal (at :math:`(\frac{\pi}{2}, 0)` in state space), we would need to somehow apply a control :term:`input` to counteract the open loop tendency of the pendulum to swing downward. This is what feedforward is trying to do -- make it so that our phase portrait will have an equilibrium at the :term:`reference` position (or setpoint) in state-space.
 
@@ -117,8 +108,7 @@ Looking at our phase portrait from before, we can see that at :math:`(\frac{\pi}
 .. image:: images/pendulum-balance.png
    :alt: Pendulum phase plot with equilibrium at (pi/2, 0).
 
-Feedback Control
-~~~~~~~~~~~~~~~~
+#### Feedback Control
 
 In the case of a DC motor, with just a mathematical model and knowledge of all current states of the system (i.e., angular velocity), we can predict all future states given the future voltage inputs. But if the system is disturbed in any way that isn’t modeled by our equations, like a load or unexpected friction, the angular velocity of the motor will deviate from the model over time. To combat this, we can give the motor corrective commands using a feedback controller.
 
@@ -138,13 +128,11 @@ To add some feedback, we arbitrarily pick a :math:`\mathbf{K}` of [2, 2], where
 
 But how can we choose an optimal :term:`gain` matrix K for our system? While we can manually choose :term:`gains <gain>` and simulate the system response or tune it on-robot like a PID controller, modern control theory has a better answer: the Linear-Quadratic Regulator (LQR).
 
-The Linear-Quadratic Regulator
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### The Linear-Quadratic Regulator
 
 Because model-based control means that we can predict the future states of a system given an initial condition and future control inputs, we can pick a mathematically optimal :term:`gain` matrix :math:`\mathbf{K}`. To do this, we first have to define what a "good" or "bad" :math:`\mathbf{K}` would look like. We do this by summing the square of error and control input over time, which gives us a number representing how "bad" our control law will be. If we minimize this sum, we will have arrived at the optimal control law.
 
-LQR: Definition
-~~~~~~~~~~~~~~~
+#### LQR: Definition
 
 Linear-Quadratic Regulators work by finding a :term:`control law` that minimizes the following cost function, which weights the sum of :term:`error` and :term:`control effort` over time, subject to the linear :term:`system` dynamics :math:`\mathbf{x_{k+1} = Ax_k + Bu_k}`.
 
@@ -155,8 +143,7 @@ The :term:`control law` that minimizes :math:`\mathbf{J}` can be written as :mat
 
 .. note:: LQR design's :math:`\mathbf{Q}` and :math:`\mathbf{R}` matrices don't need discretization, but the :math:`\mathbf{K}` calculated for continuous-time and discrete time :term:`systems <system>` will be different.
 
-LQR: tuning
-~~~~~~~~~~~
+#### LQR: tuning
 
 Like PID controllers can be tuned by adjusting their gains, we also want to change how our control law balances our error and input. For example, a spaceship might want to minimize the fuel it expends to reach a given reference, while a high-speed robotic arm might need to react quickly to disturbances.
 
@@ -173,34 +160,48 @@ For example, we might use the following Q and R for an elevator system with posi
 .. tab-set-code::
 
 
-   .. code-block:: Java
-
-      // Example system -- must be changed to match your robot.
-      LinearSystem<N2, N1, N1> elevatorSystem = LinearSystemId.identifyPositionSystem(5, 0.5);
-      LinearQuadraticRegulator<N2, N1, N1> controller = new LinearQuadraticRegulator(elevatorSystem,
-            // q's elements
-            VecBuilder.fill(0.02, 0.4),
-            // r's elements
-            VecBuilder.fill(12.0),
-            // our dt
-            0.020);
-
-
-   .. code-block:: C++
-
-      // Example system -- must be changed to match your robot.
-         LinearSystem<2, 1, 1> elevatorSystem = frc::LinearSystemId::IdentifyVelocitySystem(5, 0.5);
-         LinearQuadraticRegulator<2, 1> controller{
-            elevatorSystem,
-            // q's elements
-            {0.02, 0.4},
-            // r's elements
-            {12.0},
-            // our dt
-            0.020_s};
-
-LQR: example application
-^^^^^^^^^^^^^^^^^^^^^^^^
+   ```Java
+   // Example system -- must be changed to match your robot.
+   LinearSystem<N2, N1, N1> elevatorSystem = LinearSystemId.identifyPositionSystem(5, 0.5);
+   LinearQuadraticRegulator<N2, N1, N1> controller = new LinearQuadraticRegulator(elevatorSystem,
+         // q's elements
+         VecBuilder.fill(0.02, 0.4),
+         // r's elements
+         VecBuilder.fill(12.0),
+         // our dt
+         0.020);
+      ```
+
+   ```C++
+   // Example system -- must be changed to match your robot.
+   LinearSystem<2, 1, 1> elevatorSystem = frc::LinearSystemId::IdentifyVelocitySystem(5, 0.5);
+   LinearQuadraticRegulator<2, 1> controller{
+       elevatorSystem,
+       // q's elements
+       {0.02, 0.4},
+       // r's elements
+       {12.0},
+       // our dt
+       0.020_s};
+   ```
+
+   ```python
+   from wpimath.controller import LinearQuadraticRegulator_2_1
+   from wpimath.system.plant import LinearSystemId
+   # Example system -- must be changed to match your robot.
+   elevatorSystem = LinearSystemId.identifyPositionSystemMeters(5, 0.5)
+   controller = LinearQuadraticRegulator_2_1(
+      elevatorSystem,
+      # q's elements
+      (0.02, 0.4),
+      # r's elements
+      (12.0,),
+      # our dt
+      0.020,
+   )
+   ```
+
+### LQR: example application
 
 Let's apply a Linear-Quadratic Regulator to a real-world example. Say we have a flywheel velocity system determined through system identification to have :math:`K_v = 1 \frac{\text{volts}}{\text{radian per second}}` and :math:`K_a = 1.5 \frac{\text{volts}}{\text{radian per second squared}}`. Using the flywheel example above, we have the following linear :term:`system`:
 
@@ -216,8 +217,7 @@ The following graph shows the flywheel's angular velocity and applied voltage ov
 .. image:: images/flywheel-lqr-ex.jpg
    :alt: Flywheel velocity and voltage over time.
 
-LQR and Measurement Latency Compensation
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### LQR and Measurement Latency Compensation
 
 Oftentimes, our sensors have a delay associated with their measurements. For example the SPARK MAX motor controller over CAN can have up to 30ms of delay associated with velocity measurements.
 
@@ -240,22 +240,28 @@ Multiplying :math:`\mathbf{K}` by :math:`\mathbf{A} - \mathbf{BK}` essentially a
 The code below shows how to adjust the LQR controller's K gain for sensor input delays:
 
 .. tab-set-code::
-   .. code-block:: java
-
-      // Adjust our LQR's controller for 25 ms of sensor input delay. We
-      // provide the linear system, discretization timestep, and the sensor
-      // input delay as arguments.
-      controller.latencyCompensate(elevatorSystem, 0.02, 0.025);
-
-   .. code-block:: c++
-
-      // Adjust our LQR's controller for 25 ms of sensor input delay. We
-      // provide the linear system, discretization timestep, and the sensor
-      // input delay as arguments.
-      controller.LatencyCompensate(elevatorSystem, 20_ms, 25_ms);
-
-Linearization
--------------
+   ```java
+   // Adjust our LQR's controller for 25 ms of sensor input delay. We
+   // provide the linear system, discretization timestep, and the sensor
+   // input delay as arguments.
+   controller.latencyCompensate(elevatorSystem, 0.02, 0.025);
+   ```
+
+   ```c++
+   // Adjust our LQR's controller for 25 ms of sensor input delay. We
+   // provide the linear system, discretization timestep, and the sensor
+   // input delay as arguments.
+   controller.LatencyCompensate(elevatorSystem, 20_ms, 25_ms);
+   ```
+
+   ```python
+   # Adjust our LQR's controller for 25 ms of sensor input delay. We
+   # provide the linear system, discretization timestep, and the sensor
+   # input delay as arguments.
+   controller.latencyCompensate(elevatorSystem, 0.020, 0.025)
+   ```
+
+## Linearization
 
 Linearization is a tool used to approximate nonlinear functions and state-space systems using linear ones. In two-dimensional space, linear functions are straight lines while nonlinear functions curve. A common example of a nonlinear function and its corresponding linear approximation is :math:`y=\sin{x}`. This function can be approximated by :math:`y=x` near zero. This approximation is accurate while near :math:`x=0`, but looses accuracy as we stray further from the linearization point. For example, the approximation :math:`\sin{x} \approx x` is accurate to within 0.02 within 0.5 radians of :math:`y = 0`, but quickly loses accuracy past that. In the following picture, we see :math:`y =\sin{x}`, :math:`y=x` and the difference between the approximation and the true value of :math:`\sin{x}` at :math:`x`.
 
diff --git a/source/docs/software/advanced-controls/state-space/state-space-observers.rst b/source/docs/software/advanced-controls/state-space/state-space-observers.rst
index 027356bca8..170211cb70 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-observers.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-observers.rst
@@ -1,5 +1,4 @@
-State Observers and Kalman Filters
-==================================
+# State Observers and Kalman Filters
 
 State observers combine information about a system's behavior and external measurements to estimate the true :term:`state` of the system. A common observer used for linear systems is the Kalman Filter. Kalman filters are advantageous over other :ref:`filters <docs/software/advanced-controls/filters/index:Filters>` as they fuse measurements from one or more sensors with a state-space model of the system to optimally estimate a system's state.
 
@@ -8,8 +7,7 @@ This image shows flywheel velocity measurements over time, run through a variety
 .. image:: images/filter_comparison.png
   :alt: Filter comparison between: Kalman, Median, and IIR.
 
-Gaussian Functions
-------------------
+## Gaussian Functions
 
 Kalman filters utilize a :term:`Gaussian distribution` to model the noise in a process [1]_. In the case of a Kalman filter, the estimated :term:`state` of the system is the mean, while the variance is a measure of how certain (or uncertain) the filter is about the true :term:`state`.
 
@@ -28,10 +26,9 @@ Covariance matrices are written in the following form:
     \text{cov}(x_n, x_1) & \text{cov}(x_n, x_2) & \ldots & \text{cov}(x_n, x_n) \\
   \end{bmatrix}
 
-Kalman Filters
---------------
+## Kalman Filters
 
-.. important:: It is important to develop an intuition for what a Kalman filter is actually doing. The book `Kalman and Bayesian Filters in Python by Roger Labbe <https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python>`__ provides a great visual and interactive introduction to Bayesian filters. The Kalman filters in WPILib use linear algebra to gentrify the math, but the ideas are similar to the single-dimensional case. We suggest reading through Chapter 4 to gain an intuition for what these filters are doing.
+.. important:: It is important to develop an intuition for what a Kalman filter is actually doing. The book [Kalman and Bayesian Filters in Python by Roger Labbe](https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python) provides a great visual and interactive introduction to Bayesian filters. The Kalman filters in WPILib use linear algebra to gentrify the math, but the ideas are similar to the single-dimensional case. We suggest reading through Chapter 4 to gain an intuition for what these filters are doing.
 
 To summarize, Kalman filters (and all Bayesian filters) have two parts: prediction and correction. Prediction projects our state estimate forward in time according to our system's dynamics, and correct steers the estimated state towards the measured state. While filters often perform both in the same timestep, it's not strictly necessary -- For example, WPILib's pose estimators call predict frequently, and correct only when new measurement data is available (for example, from a low-framerate vision system).
 
@@ -63,8 +60,7 @@ The following shows the equations of a discrete-time Kalman filter:
 
 The state estimate :math:`\mathbf{x}`, together with :math:`\mathbf{P}`, describe the mean and covariance of the Gaussian function that describes our filter's estimate of the system's true state.
 
-Process and Measurement Noise Covariance Matrices
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Process and Measurement Noise Covariance Matrices
 
 The process and measurement noise covariance matrices :math:`\mathbf{Q}` and :math:`\mathbf{R}` describe the variance of each of our states and measurements. Remember that for a Gaussian function, variance is the square of the function's standard deviation. In a WPILib, Q and R are diagonal matrices whose diagonals contain their respective variances. For example, a Kalman filter with states :math:`\begin{bmatrix}\text{position} \\ \text{velocity} \end{bmatrix}` and measurements :math:`\begin{bmatrix}\text{position} \end{bmatrix}` with state standard deviations :math:`\begin{bmatrix}0.1 \\ 1.0\end{bmatrix}` and measurement standard deviation :math:`\begin{bmatrix}0.01\end{bmatrix}` would have the following :math:`\mathbf{Q}` and :math:`\mathbf{R}` matrices:
 
@@ -72,54 +68,57 @@ The process and measurement noise covariance matrices :math:`\mathbf{Q}` and :ma
   Q = \begin{bmatrix}0.01 & 0 \\ 0 & 1.0\end{bmatrix},
   R = \begin{bmatrix}0.0001\end{bmatrix}
 
-Error Covariance Matrix
-^^^^^^^^^^^^^^^^^^^^^^^
+### Error Covariance Matrix
 
 The error covariance matrix :math:`\mathbf{P}` describes the covariance of the state estimate :math:`\mathbf{\hat{x}}`. Informally, :math:`\mathbf{P}` describes our certainty about the estimated :term:`state`. If :math:`\mathbf{P}` is large, our uncertainty about the true state is large. Conversely, a :math:`\mathbf{P}` with smaller elements would imply less uncertainty about our true state.
 
 As we project the model forward, :math:`\mathbf{P}` increases as our certainty about the system's true state decreases.
 
-Predict step
-------------
+## Predict step
 
 In prediction, our state estimate is updated according to the linear system dynamics :math:`\mathbf{\dot{x} = Ax + Bu}`. Furthermore, our error covariance :math:`\mathbf{P}` increases by the process noise covariance matrix :math:`\mathbf{Q}`. Larger values of :math:`\mathbf{Q}` will make our error covariance :math:`\mathbf{P}` grow more quickly. This :math:`\mathbf{P}` is used in the correction step to weight the model and measurements.
 
-Correct step
-------------
+## Correct step
 
 In the correct step, our state estimate is updated to include new measurement information. This new information is weighted against the state estimate :math:`\mathbf{\hat{x}}` by the Kalman gain :math:`\mathbf{K}`. Large values of :math:`\mathbf{K}` more highly weight incoming measurements, while smaller values of :math:`\mathbf{K}` more highly weight our state prediction. Because :math:`\mathbf{K}` is related to :math:`\mathbf{P}`, larger values of :math:`\mathbf{P}` will increase :math:`\mathbf{K}` and more heavily weight measurements. If, for example, a filter is predicted for a long duration, the large :math:`\mathbf{P}` would heavily weight the new information.
 
 Finally, the error covariance :math:`\mathbf{P}` decreases to increase our confidence in the state estimate.
 
-Tuning Kalman Filters
----------------------
+## Tuning Kalman Filters
 
 WPILib's Kalman Filter classes' constructors take a linear system, a vector of process noise standard deviations and measurement noise standard deviations. These are converted to :math:`\mathbf{Q}` and :math:`\mathbf{R}` matrices by filling the diagonals with the square of the standard deviations, or variances, of each state or measurement. By decreasing a state's standard deviation (and therefore its corresponding entry in :math:`\mathbf{Q}`), the filter will distrust incoming measurements more. Similarly, increasing a state's standard deviation will trust incoming measurements more. The same holds for the measurement standard deviations -- decreasing an entry will make the filter more highly trust the incoming measurement for the corresponding state, while increasing it will decrease trust in the measurement.
 
 .. tab-set::
    .. tab-item:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
-         :lines: 49-58
+         :lines: 48-57
          :linenos:
-         :lineno-start: 49
+         :lineno-start: 48
 
    .. tab-item:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+         :language: c++
          :lines: 5-18
          :linenos:
          :lineno-start: 5
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+         :language: c++
          :lines: 48-53
          :linenos:
          :lineno-start: 48
 
-Footnotes
----------
+   .. tab-item:: Python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/StateSpaceFlywheel/robot.py
+         :language: python
+         :lines: 48-54
+         :linenos:
+         :lineno-start: 48
+
+## Footnotes
 
 .. [1] In a real robot, noise comes from all sorts of sources. Stray electromagnetic radiation adds extra voltages to sensor readings, vibrations and temperature variations throw off inertial measurement units, gear lash causes encoders to have inaccuracies when directions change... all sorts of things. It's important to realize that, by themselves, each of these sources of "noise" aren't guaranteed to follow any pattern. Some of them might be the "white noise" random vibrations you've probably heard on the radio. Others might be "pops" or single-loop errors. Others might be nominally zero, but strongly correlated with events on the robot. However, the :term:`Central Limit Theorem` shows mathematically that regardless of how the individual sources of noise are distributed, as we add more and more of them up their combined effect eventually is distributed like a Gaussian. Since we do not know the exact individual sources of noise, the best choice of a model we can make is indeed that Gaussian function.
diff --git a/source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst b/source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst
index c047cffb59..4eb65cdd33 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst
@@ -1,5 +1,4 @@
-Pose Estimators
-===============
+# Pose Estimators
 
 WPILib includes pose estimators for differential, swerve and mecanum drivetrains. These estimators are designed to be drop-in replacements for the existing :ref:`odometry <docs/software/kinematics-and-odometry/index:Kinematics and Odometry>` classes that also support fusing latency-compensated robot pose estimates with encoder and gyro measurements. These estimators can account for encoder drift and noisy vision data. These estimators can behave identically to their corresponding odometry classes if only ``update`` is called on these estimators.
 
@@ -10,13 +9,13 @@ Here's how to initialize a ``DifferentialDrivePoseEstimator``:
 .. tab-set-code::
 
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
     :language: java
     :lines: 86-94
     :linenos:
     :lineno-start: 86
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
     :language: c++
     :lines: 158-165
     :linenos:
@@ -26,13 +25,13 @@ Add odometry measurements every loop by calling ``Update()``.
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
       :language: java
       :lines: 227-228
       :linenos:
       :lineno-start: 227
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
       :language: c++
       :lines: 84-86
       :linenos:
@@ -42,20 +41,19 @@ Add vision pose measurements occasionally by calling ``AddVisionMeasurement()``.
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
     :language: java
-    :lines: 236-241
+    :lines: 236-245
     :linenos:
     :lineno-start: 236
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
     :language: c++
     :lines: 93-106
     :linenos:
     :lineno-start: 93
 
-Tuning Pose Estimators
-----------------------
+## Tuning Pose Estimators
 
 All pose estimators offer user-customizable standard deviations for model and measurements (defaults are used if you don't provide them). Standard deviation is a measure of how spread out the noise is for a random signal. Giving a state a smaller standard deviation means it will be trusted more during data fusion.
 
diff --git a/source/docs/software/pathplanning/system-identification/additional-utils.rst b/source/docs/software/advanced-controls/system-identification/additional-utils.rst
similarity index 55%
rename from source/docs/software/pathplanning/system-identification/additional-utils.rst
rename to source/docs/software/advanced-controls/system-identification/additional-utils.rst
index 8a31d8cb26..a2780c8e35 100644
--- a/source/docs/software/pathplanning/system-identification/additional-utils.rst
+++ b/source/docs/software/advanced-controls/system-identification/additional-utils.rst
@@ -1,29 +1,12 @@
-Additional Utilities and Tools
-==============================
+# Additional Utilities and Tools
 
 This page mainly covers useful information about additional functionality that this tool provides.
 
-
-JSON Converters
----------------
-
-There are a two JSON Utility tools that can be used in the :guilabel:`JSON Converters` tab: FRC-Char Converter and JSON to CSV Converter.
-
-.. image:: images/json-converters.png
-   :alt: Picture of the json converters
-
-The FRC-Char Converter reads in an FRC-Char JSON and converts it into a SysId JSON that the tool can read.
-
-The JSON to CSV Converter takes a SysId JSON and outputs a CSV file. If the JSON had Drivetrain Mechanism data, the columns are: ``Timestamp (s)``, ``Test``, ``Left Volts (V)`` , ``Right Volts (V)``, ``Left Position ({0})``, ``Right Position ({units})``, ``Left Velocity ({units}/s)``, ``Right Velocity ({units}/s)``, ``Gyro Position (deg)``, ``Gyro Rate (deg/s)``.
-If the JSON had General Mechanism data, the CSV has the following columns: ``Timestamp (s)``, ``Test``, ``Volts (V)``, ``Position({units})``, ``Velocity ({units}/s)``.
-
-ImGui Tips
-----------
+## ImGui Tips
 
 The following are essentially handy features that come with the ImGui framework that SysId uses:
 
-Showing and Hiding Plot Data
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Showing and Hiding Plot Data
 To add or remove certain data from the plots, click on the color of the data that you would like to hide or remove.
 
 For example, if we want to hide sim data, we can click the green color box.
@@ -34,8 +17,7 @@ For example, if we want to hide sim data, we can click the green color box.
 .. image:: images/post-sim-hide.png
    :alt: Picture of a plot after sim is hidden
 
-Auto Sizing Plots
-^^^^^^^^^^^^^^^^^
+### Auto Sizing Plots
 If you zoom in to plots and want to revert back to the normally sized plots, just double click on the plot and it will automatically resize it.
 
 Here is a plot that is zoomed in:
@@ -48,8 +30,7 @@ After double clicking, it is automatically resized:
 .. image:: images/resized-plot.png
     :alt: Picture of the previously zoomed in plot that is resized
 
-Setting Slider Values
-^^^^^^^^^^^^^^^^^^^^^
+### Setting Slider Values
 To set the value of a slider as a number rather than sliding the widget, you can CTRL + Click the slider and it will allow you to input a number.
 
 Here is a regular slider:
diff --git a/source/docs/software/pathplanning/system-identification/analyzing-feedback.rst b/source/docs/software/advanced-controls/system-identification/analyzing-gains.rst
similarity index 86%
rename from source/docs/software/pathplanning/system-identification/analyzing-feedback.rst
rename to source/docs/software/advanced-controls/system-identification/analyzing-gains.rst
index 7ed5a84138..0da6f2284c 100644
--- a/source/docs/software/pathplanning/system-identification/analyzing-feedback.rst
+++ b/source/docs/software/advanced-controls/system-identification/analyzing-gains.rst
@@ -1,7 +1,24 @@
 .. include:: <isonum.txt>
 
-Feedback Analysis
-=================
+# Analyzing Data
+
+## Feedforward Analysis
+
+.. note:: For information on what the calculated feedback gains mean, see :ref:`docs/software/advanced-controls/introduction/introduction-to-feedforward:The Permanent-Magnet DC Motor Feedforward Equation`.  For information on using the calculated feedback gains in code, see :ref:`feedforward control <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>`.
+
+Click the dropdown arrow on the :guilabel:`Feedforward` Section.
+
+.. note:: If you would like to change units, you will have to press the :guilabel:`Override Units` button and fill out the information on the popup.
+
+.. image:: images/feedback-analysis.png
+   :alt: Analyzing data for feedforward
+
+The computed mechanism system parameters will then be displayed.
+
+.. image:: images/feedforward-values.png
+   :alt: Analysis coefficient results
+
+## Feedback Analysis
 
 .. important:: These gains are, in effect, "educated guesses" - they are not guaranteed to be perfect, and should be viewed as a "starting point" for further tuning.
 
@@ -12,8 +29,7 @@ To view the feedback constants, click on the dropdown arrow on the :guilabel:`Fe
 
 This view can be used to calculate optimal feedback gains for a PD or P controller for your mechanism (via :term:`LQR`).
 
-Enter Controller Parameters
----------------------------
+## Enter Controller Parameters
 
 .. note:: The "Spark Max" preset assumes that the user has configured the controller to operate in the units of analysis with the SPARK MAX API's position/velocity scaling factor feature.
 
@@ -36,8 +52,7 @@ To specify the correct settings for your PID controller, use the following optio
 
 .. note:: If you select a smart motor controller as the preset (e.g. TalonSRX, SPARK MAX, etc.) the :guilabel:`Convert Gains` checkbox will be automatically checked. This means the tool will convert your gains so that they can be used through the smart motor controller's PID methods. Therefore, if you would like to use WPILib's PID Loops, you must uncheck that box.
 
-Measurement Delays
-^^^^^^^^^^^^^^^^^^
+### Measurement Delays
 
 .. note:: If you are using default smart motor controller settings or WPILib PID Control without additional filtering, SysId handles this for you.
 
@@ -51,8 +66,7 @@ The following only applies if the user decides to implement their own custom fil
 
 Where ``T`` is the period at which measurements are sampled (RIO default is 20 ms) and ``n`` is the size of the moving window used.
 
-Specify Optimality Criteria
----------------------------
+## Specify Optimality Criteria
 
 Finally, the user must specify what will be considered an "optimal" controller.  This takes the form of desired tolerances for the system error and control effort - note that it is *not* guaranteed that the system will obey these tolerances at all times.
 
@@ -63,8 +77,7 @@ As a rule, smaller values for the :guilabel:`Max Acceptable Error` and larger va
 
 The :guilabel:`Max Acceptable Control Effort` should never exceed 12V, as that corresponds to full battery voltage, and ideally should be somewhat lower than this.
 
-Select Loop Type
-----------------
+## Select Loop Type
 
 It is typical to control mechanisms with both position and velocity PIDs, depending on application. Either can be selected using the drop-down :guilabel:`Loop Type` menu.
 
diff --git a/source/docs/software/advanced-controls/system-identification/creating-routine.rst b/source/docs/software/advanced-controls/system-identification/creating-routine.rst
new file mode 100644
index 0000000000..ea904c860e
--- /dev/null
+++ b/source/docs/software/advanced-controls/system-identification/creating-routine.rst
@@ -0,0 +1,68 @@
+# Creating an Identification Routine
+
+## Types of Tests
+
+A standard motor identification routine consists of two types of tests:
+
+- **Quasistatic:** In this test, the mechanism is gradually sped-up such that the voltage corresponding to acceleration is negligible (hence, "as if static").
+- **Dynamic:** In this test, a constant 'step voltage' is given to the mechanism, so that the behavior while accelerating can be determined.
+
+Each test type is run both forwards and backwards, for four tests in total. The tests can be run in any order, but running a "backwards" test directly after a "forwards" test is generally advisable (as it will more or less reset the mechanism to its original position). ``SysIdRoutine`` provides command factories that may be used to run the tests, for example as part of an autonomous routine. Previous versions of SysId used a project generator to create and deploy robot code to run these tests, but it proved to be very fragile and difficult to maintain. The user code-based workflow enables teams to use mechanism code they already know works, including soft and hard limits.
+
+## User Code Setup
+
+.. note:: Some familiarity with your language's units library is recommended and knowing how to use Consumers is required. This page assumes you are using the Commands framework.
+
+To assist in creating SysId-compatible identification routines, WPILib provides the ``SysIdRoutine`` class. Users should create a ``SysIdRoutine`` object, which take both a ``Config`` object describing the test settings and a ``Mechanism`` object describing how the routine will control the relevant motors and log the measurements needed to perform the fit.
+
+### Routine Config
+
+The ``Config`` object takes in a a voltage ramp rate for use in Quasistatic tests, a steady state step voltage for use in Dynamic tests, a time to use as the maximum test duration for safety reasons, and a callback method that accepts the current test state (such as "dynamic-forward") for use by a 3rd party logging solution. The constructor may be left blank to default the ramp rate to 1 volt per second and the step voltage to 7 volts.
+
+.. note:: Not all 3rd party loggers will interact with SysIdRoutine directly. CTRE users who do not wish to use SysIdRoutine directly for logging should use the [SignalLogger](https://pro.docs.ctr-electronics.com/en/latest/docs/api-reference/api-usage/signal-logging.html) API and use Tuner X to convert to wpilog. REV users may use Team 6328's [Unofficial REV-Compatible Logger (URCL)](https://docs.advantagescope.org/more-features/urcl). In both cases the log callback should be set to ``null``. Once the log file is in hand, it may be used with SysId just like any other.
+
+The timeout and state callback are optional and defaulted to 10 seconds and null (which will log the data to a normal WPILog file) respectively.
+
+### Declaring the Mechanism
+
+The ``Mechanism`` object takes a voltage consumer, a log consumer, the subsystem being characterized, and the name of the mechanism (to record in the log). The drive callback takes in the routine-generated voltage command and passes it to the relevant motors. The log callback reads the motor voltage, position, and velocity for each relevant motor and adds it to the running log. The subsystem is required so that it may be added to the requirements of the routine commands. The name is optional and will be defaulted to the string returned by getName().
+
+The callbacks can either be created in-place via Lambda expressions or can be their own standalone functions and be passed in via method references. Best practice is to create the routine and callbacks inside the subsystem, to prevent leakage.
+
+.. tab-set-code::
+
+  ```java
+  // Creates a SysIdRoutine
+  SysIdRoutine routine = new SysIdRoutine(
+      new SysIdRoutine.Config(),
+      new SysIdRoutine.Mechanism(this::voltageDrive, this::logMotors, this)
+  );
+  ```
+
+### Mechanism Callbacks
+
+The ``Mechanism`` callbacks are essentially just plumbing between the routine and your motors and sensors.
+
+The ``drive`` callback exists so that you can pass the requested voltage directly to your motor controller(s).
+
+The ``log`` callback reads sensors so that the routine can log the voltage, position, and velocity at each timestep.
+
+See the SysIdRoutine ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SysId)) example project for example callbacks.
+
+### Test Factories
+
+To be able to run the tests, SysIdRoutine exposes test "factories", or functions that each return a command that will execute a given test.
+
+.. tab-set-code::
+
+  ```java
+  public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
+    return routine.quasistatic(direction);
+  }
+
+  public Command sysIdDynamic(SysIdRoutine.Direction direction) {
+    return routine.dynamic(direction);
+  }
+  ```
+
+Either bind the factory methods to either controller buttons or create an autonomous routine with them. It is recommended to bind them to buttons that the user must hold down for the duration of the test so that the user can stop the routine quickly if it exceeds safe limits.
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diff --git a/source/docs/software/advanced-controls/system-identification/index.rst b/source/docs/software/advanced-controls/system-identification/index.rst
new file mode 100644
index 0000000000..d72434b53b
--- /dev/null
+++ b/source/docs/software/advanced-controls/system-identification/index.rst
@@ -0,0 +1,12 @@
+# System Identification
+
+.. toctree::
+   :maxdepth: 1
+
+   introduction
+   creating-routine
+   running-routine
+   loading-data
+   viewing-diagnostics
+   analyzing-gains
+   additional-utils
diff --git a/source/docs/software/pathplanning/system-identification/introduction.rst b/source/docs/software/advanced-controls/system-identification/introduction.rst
similarity index 59%
rename from source/docs/software/pathplanning/system-identification/introduction.rst
rename to source/docs/software/advanced-controls/system-identification/introduction.rst
index 20fb2455bc..6802687211 100644
--- a/source/docs/software/pathplanning/system-identification/introduction.rst
+++ b/source/docs/software/advanced-controls/system-identification/introduction.rst
@@ -1,17 +1,14 @@
 .. include:: <isonum.txt>
 
-Introduction to System Identification
-=====================================
+# Introduction to System Identification
 
-What is "System Identification?"
---------------------------------
+## What is "System Identification?"
 
 In Control Theory, :term:`system identification` is the process of determining a mathematical model for the behavior of a system through statistical analysis of its inputs and outputs.
 
 This model is a rule describing how input voltage affects the way our measurements (typically encoder data) evolve in time.  A "system identification" routine takes such a model and a dataset and attempts to fit parameters which would make your model most closely-match the dataset.  Generally, the model is not perfect - the real-world data are polluted by both measurement noise (e.g. timing errors, encoder resolution limitations) and system noise (unmodeled forces acting on the system, like vibrations).  However, even an imperfect model is usually "good enough" to give us accurate :ref:`feedforward control <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>` of the mechanism, and even to estimate  optimal gains for :ref:`feedback control <docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib>`.
 
-Assumed Behavioral Model
-------------------------
+## Assumed Behavioral Model
 
 If you haven't yet, read the full explanation of the feedforward equations used by the WPILib toolsuite in :ref:`docs/software/advanced-controls/introduction/introduction-to-feedforward:The Permanent-Magnet DC Motor Feedforward Equation`.
 
@@ -23,71 +20,52 @@ Once these coefficients have been determined, we can then take a given desired v
 
 Some of the tools in this toolsuite introduce additional terms into the above equation to account for known differences from the simple case described above - details for each tool can be found below:
 
-The WPILib System Identification Tool (SysId)
----------------------------------------------
+## The WPILib System Identification Tool (SysId)
 
-The WPILib system identification tool consists of an application that runs on the user's PC and matching robot code that runs on the user's robot. The PC application will send control signals to the robot over NetworkTables, while the robot sends data back to the application. The application then processes the data and determines model parameters for the user's robot mechanism, as well as producing diagnostic plots. Data can be saved (in JSON format) for future use, if desired.
+The WPILib system identification tool consists of the SysId application that runs on the user's PC and a routine that lives in the code running on the user's robot. The routine will generate control signals which user-defined callbacks will send to the motors being characterized, while the robot records data into a log file. After the routine completes, the user will retrieve this file from the roboRIO and load it into SysId. SysId then processes the data and determines model parameters for the user's robot mechanism, as well as producing diagnostic plots.
 
-Included Tools
-^^^^^^^^^^^^^^
+### Included Tools
 
 .. note:: With a bit of ingenuity, these tools can be used to accurately characterize a surprisingly large variety of robot mechanisms.  Even if your mechanism does not seem to obviously match any of the tools, an understanding of the system equations often reveals that one of the included routines will do.
 
 The System Identification toolsuite currently supports:
 
 - Simple Motor Setups
-- Drivetrains
 - Elevators
 - Arms
 
-Several of these options use identical robot-side code, and differ only in the analysis routine used to interpret the data.
+Several of these options use nearly identical robot-side code, and differ only in the analysis used by SysId to interpret the data.
 
-Simple Motor Identification
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Simple Motor Identification
 
 The simple motor identification tool determines the best-fit parameters for the equation:
 
-.. math:: V = kS \cdot sgn(\dot{d}) + kV \cdot \dot{d} + kA \cdot \ddot{d}
+.. math:: V = K_s \cdot sgn(\dot{d}) + K_v \cdot \dot{d} + K_a \cdot \ddot{d}
 
 where :math:`V` is the applied voltage, :math:`d` is the displacement (position) of the drive, :math:`\dot{d}` is its velocity, and :math:`\ddot{d}` is its acceleration.  This is the model for a permanent-magnet dc motor with no loading other than friction and inertia, as mentioned above, and is an accurate model for flywheels, turrets, and horizontal linear sliders.
 
-Drivetrain Identification
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
-The drivetrain identification tool determines the best-fit parameters for the equation:
-
-.. math:: V = kS \cdot sgn(\dot{d}) + kV \cdot \dot{d} + kA \cdot \ddot{d}
-
-where :math:`V` is the applied voltage, :math:`d` is the displacement (position) of the drive, :math:`\dot{d}` is its velocity, and :math:`\ddot{d}` is its acceleration.  This is the same modeling equation as is used in the simple motor identification - however, the drivetrain identification tool is specifically set up to run on differential drives, and will characterize each side of the drive independently if desired.
-
-The drivetrain identification tool can also determine the effective trackwidth of your robot using a gyro. More information on how to run the identification is available in the :ref:`track width identification <docs/software/pathplanning/system-identification/identification-routine:Running Tests>` article.
-
-Elevator Identification
-~~~~~~~~~~~~~~~~~~~~~~~
+#### Elevator Identification
 
 The elevator identification tool determines the best-fit parameters for the equation:
 
-.. math:: V = kG + kS \cdot sgn(\dot{d}) + kV \cdot \dot{d} + kA \cdot \ddot{d}
+.. math:: V = K_g + K_s \cdot sgn(\dot{d}) + K_v \cdot \dot{d} + K_a \cdot \ddot{d}
 
-where :math:`V` is the applied voltage, :math:`d` is the displacement (position) of the elevator, :math:`\dot{d}` is its velocity, and :math:`\ddot{d}` is its acceleration.  The constant term (:math:`kG`) is added to correctly account for the effect of gravity.
+where :math:`V` is the applied voltage, :math:`d` is the displacement (position) of the elevator, :math:`\dot{d}` is its velocity, and :math:`\ddot{d}` is its acceleration.  The constant term (:math:`K_g`) is added to correctly account for the effect of gravity.
 
-Arm Identification
-~~~~~~~~~~~~~~~~~~
+#### Arm Identification
 
 The arm identification tool determines the best-fit parameters for the equation:
 
-.. math:: V = kG \cdot cos(\theta) + kS \cdot sgn(\dot{\theta}) + kV \cdot \dot{\theta} + kA \cdot \ddot{\theta}
+.. math:: V = K_g \cdot cos(\theta) + K_s \cdot sgn(\dot{\theta}) + K_v \cdot \dot{\theta} + K_a \cdot \ddot{\theta}
 
-where :math:`V` is the applied voltage, :math:`\theta` is the angular displacement (position) of the arm, :math:`\dot{\theta}` is its angular velocity, and :math:`\ddot{\theta}` is its angular acceleration.  The cosine term (:math:`kG`) is added to correctly account for the effect of gravity.
+where :math:`V` is the applied voltage, :math:`\theta` is the angular displacement (position) of the arm, :math:`\dot{\theta}` is its angular velocity, and :math:`\ddot{\theta}` is its angular acceleration.  The cosine term (:math:`K_g`) is added to correctly account for the effect of gravity.
 
-Installing the System Identification Tool
------------------------------------------
+## Installing SysId
 
-The system identification tool (also referred to as ``sysid``) is included with the WPILib Installer.
+SysId is included with the WPILib Installer.
 
 .. note:: The old Python characterization tool from previous years is no longer supported.
 
-Launching the System Identification Tool
-----------------------------------------
+## Launching the SysId Tool
 
 The system identification tool can be opened from the ``Start Tool`` option in VS Code or by using the shortcut inside the WPILib Tools desktop folder (Windows).
diff --git a/source/docs/software/advanced-controls/system-identification/loading-data.rst b/source/docs/software/advanced-controls/system-identification/loading-data.rst
new file mode 100644
index 0000000000..4db45d7e1f
--- /dev/null
+++ b/source/docs/software/advanced-controls/system-identification/loading-data.rst
@@ -0,0 +1,25 @@
+# Loading Data
+
+After downloading the WPILog containing the tests from the roboRIO, go to the ``Log Loader`` pane in SysId and click ``Open data log file...``.
+
+After the file loads, look for a ``string`` type entry with a name containing "state". Drag this entry into the Data Selector pane's Test State slot.
+
+.. note:: SysIdRoutine will name the entry "sysid-test-state-mechanism", where "mechanism" is the name passed to the ``Mechanism`` constructor or the subsystem name.
+
+.. image:: images/log-loaded.png
+    :alt: Log Loader and Data Selector panes showing the test state entry and where to move it
+
+Now the ``Data Selector`` pane will present ``Position``, ``Velocity``, and ``Voltage`` slots. In the ``Log Loader`` pane, find entries starting with each of those terms and containing the motor name you set in the ``log`` callback, and drag those into the ``Data Selector`` slots.
+
+.. image:: images/state-selected.png
+    :alt: Data Selector pane showing the Position, Velocity, and Voltage slots
+
+.. image:: images/entries-selected.png
+    :alt: The Data Selector pane after the Position, Velocity, and Voltage entries have been selected
+
+Ideally, the correct units for the position and velocity entries would have been set in the code before running the tests. If this was not the case, use the Units dropdown in the ``Data Selector`` pane to correct it. Additionally, if you did not account for a gear ratio or some other factor that scales the recorded values up or down uniformly, you can compensate for that by setting position and velocity scaling factors in the provided boxes.
+
+.. image:: images/scaling-units.png
+    :alt: Unit adjustment and scaling controls
+
+Ensure the correct analysis type has been selected, then click the ``Load`` button and move on to checking the fit diagnostics  in the ``Diagnostics`` pane.
diff --git a/source/docs/software/advanced-controls/system-identification/running-routine.rst b/source/docs/software/advanced-controls/system-identification/running-routine.rst
new file mode 100644
index 0000000000..bf924ed4d0
--- /dev/null
+++ b/source/docs/software/advanced-controls/system-identification/running-routine.rst
@@ -0,0 +1,22 @@
+# Running the Identification Routine
+
+Once the code has been deployed, we can now run the system identification routine, and record the resulting data for analysis.
+
+.. note:: Ensure you have sufficient space around the robot before running any identification routine! The drive identification requires at least 10' of space, ideally closer to 20'. The robot drive can not be accurately characterized while on blocks.
+
+.. warning:: Only log files with a single routine in them are usable for analysis. Multiple motors can be run in one routine, but they must be run at the same time. If you run a routine on one motor and then run a routine on another motor without extracting the log or power-cycling the roboRIO in between, analysis will fail.
+
+## Running Tests
+Perform the tests using the bindings you created in the previous section.
+
+.. warning:: Watch out for your mechanism and stop the test early if it exceeds safe limits! The routine only creates voltage commands for you to connect to your motors, it is up to you to set up hard or soft limits to prevent injury or damage.
+
+The entire routine should look something like this:
+
+.. note:: A drivetrain routine is shown below, but the same motions will occur on any mechanism.
+
+.. raw:: html
+
+  <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;"> <iframe src="https://www.youtube-nocookie.com/embed/FN2xqoB1sfU" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe> </div>
+
+After all four tests have been completed, use the ``DataLogTool`` to retrieve the log file from the roboRIO.
diff --git a/source/docs/software/pathplanning/system-identification/viewing-diagnostics.rst b/source/docs/software/advanced-controls/system-identification/viewing-diagnostics.rst
similarity index 85%
rename from source/docs/software/pathplanning/system-identification/viewing-diagnostics.rst
rename to source/docs/software/advanced-controls/system-identification/viewing-diagnostics.rst
index a11376319a..5f3b9ec8ec 100644
--- a/source/docs/software/pathplanning/system-identification/viewing-diagnostics.rst
+++ b/source/docs/software/advanced-controls/system-identification/viewing-diagnostics.rst
@@ -1,30 +1,26 @@
-Viewing Diagnostics
-===================
+# Viewing Diagnostics
 
-Goodness-of-Fit Metrics
------------------------
+## Goodness-of-Fit Metrics
 
 There are three numerical accuracy metrics that are computed with this tool: acceleration :term:`r-squared`, simulated velocity r-squared, and the simulated velocity :term:`RMSE`.
 
 .. image:: images/viewing-metrics.png
    :alt: Analysis accuracy metrics
 
-The acceleration r-squared is the fraction of the variance in measured acceleration (used as the independent variable in the SysId regression) explained by the linear model.  This can be quite variable, because acceleration is very susceptible to system noise.  Assuming the other fit metrics are acceptable, values near ``1`` indicate an "ideal" mechanism with few disturbances, while values near ``0`` indicate a noisy mechanism with substantial physical vibrations/losses.
+The acceleration r-squared is the fraction of the variance in measured acceleration (used as the independent variable in the SysId regression) explained by the linear model.  This can be quite variable, because acceleration is very susceptible to system noise.  Mechanisms tend to vibrate quite a bit, so this value rarely goes above ``0.5``, even on very good datasets. If the acceleration r-squared goes below around ``0.2``, the kA gain will be of dubious quality and the mechanism vibration should be reduced if possible. Even if your r-squared is outside this range it may still be valid, but it is recommended to improve the data if practical.
 
 The simulated velocity r-squared is the fraction of the variance in measured velocity explained by a noiseless simulation of the motor movement stepped forward with the constants determined from the regression.  A value north of ``.9`` indicates a good fit.
 
 The simulated velocity RMSE is the standard deviation of the velocity error from the simulated model.  This is a good estimation of the amount of process noise present during the test routine, and can be used as a low-end estimate for the model noise term in :ref:`state-space control <docs/software/advanced-controls/state-space/state-space-intro:Introduction to State-Space Control>`.
 
-Diagnostic Plots
-----------------
+## Diagnostic Plots
 
 SysId also produces several diagnostic plots to help users evaluate the quality of their model fit.
 
 .. image:: images/plot-view.png
    :alt: Diagnostic plot location
 
-Time-Domain Plots
-^^^^^^^^^^^^^^^^^
+### Time-Domain Plots
 
 .. note:: To improve plot quality, the diagnostic plots are separated by direction.  Be sure to view both the forward *and* backward plots when troubleshooting!
 
@@ -37,10 +33,9 @@ The velocity time domain plots contain three sets of data: Raw Data, Filtered Da
 
 A successful quasistatic graph will be very nearly linear, while a successful dynamic graph will be an approximately exponential approach of the steady-speed.
 
-Deviation from this behavior is a sign of an :ref:`error <docs/software/pathplanning/system-identification/viewing-diagnostics:Common Failure Modes>`, either in your robot setup, analysis settings, or your test procedure.
+Deviation from this behavior is a sign of an :ref:`error <docs/software/advanced-controls/system-identification/viewing-diagnostics:Common Failure Modes>`, either in your robot setup, analysis settings, or your test procedure.
 
-Acceleration-Velocity Plot
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Acceleration-Velocity Plot
 
 The acceleration-versus-velocity plot displays the mechanism velocity versus the portion of acceleration corresponding to factors other than friction (ideally, this would leave only back-EMF) and applied voltage across *all* of the tests.
 
@@ -54,21 +49,18 @@ This plot should be quite linear, with patches of relatively noiseless quasistat
 
 However, if your robot or mechanism has low mass compared to the motor power, this may "eat" what little meaningful acceleration data you have.  In these cases ``kA`` will tend towards zero and can be ignored for feedforward purposes.  However, if ``kA`` cannot be accurately measured, the calculated feedback gains are likely to be inaccurate, and manual tuning may be required.
 
-Common Failure Modes
---------------------
+## Common Failure Modes
 
 When something has gone wrong with the identification, diagnostic plots and console output provide crucial clues as to *what* has gone wrong.  This section describes some common failures encountered while running the system identification tool, the identifying features of their diagnostic plots, and the steps that can be taken to fix them.
 
-Improperly Set Motion Threshold
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Improperly Set Motion Threshold
 
 One of the most-common errors is an inappropriate value for the motion threshold.
 
 .. image:: images/motionthreshold-selector.png
    :alt: Motion threshold selector
 
-Velocity Threshold Too Low
-~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Velocity Threshold Too Low
 
 .. image:: images/low-threshold.png
    :alt: Quasistatic time-domain plot with velocity threshold too low
@@ -77,8 +69,7 @@ The presence of a "leading tail" (emphasized by added red circle) in the quasist
 
 To solve this, increase the velocity threshold and re-analyze the data.
 
-Motion Threshold Too High
-~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Motion Threshold Too High
 
 .. image:: images/high-threshold.png
    :alt: Quasistatic time-domain plot with velocity threshold too high
@@ -87,14 +78,13 @@ While not nearly as problematic as a too-low threshold, a velocity threshold tha
 
 To solve this, decrease the velocity threshold and re-analyze the data.
 
-Noisy Velocity Signals
-^^^^^^^^^^^^^^^^^^^^^^
+### Noisy Velocity Signals
 
 .. note:: There are two types of noise that affect mechanical systems - signal noise and system noise.  Signal noise corresponds to measurement error, while system noise corresponds to actual physical motion that is unaccounted-for by your model (e.g. vibration).  If SysId suggests that your system is noisy, you must figure out which of the two types of noise is at play - signal noise is often easier to eliminate than system noise.
 
 .. image:: images/velo-noise.png
 
-Many FRC setups suffer from poorly-installed encoders - errors in shaft concentricity (for optical encoders) and magnet location (For magnetic encoders) can both contribute to noisy velocity signals, as can inappropriate filtering settings.  Encoder noise will be immediately visible in your diagnostic plots, as can be seen above.  Encoder noise is especially common on the `toughbox mini <https://www.andymark.com/products/toughbox-mini-options>`__ gearboxes provided in the kit of parts.
+Many FRC setups suffer from poorly-installed encoders - errors in shaft concentricity (for optical encoders) and magnet location (For magnetic encoders) can both contribute to noisy velocity signals, as can inappropriate filtering settings.  Encoder noise will be immediately visible in your diagnostic plots, as can be seen above.  Encoder noise is especially common on the [toughbox mini](https://www.andymark.com/products/toughbox-mini-options) gearboxes provided in the kit of parts.
 
 System parameters can sometimes be accurately determined even from data polluted by encoder noise by increasing the window size setting.  However, this sort of encoder noise is problematic for robot code much the same way it is problematic for the system identification tool.  As the root cause of the noise is not known, it is recommended to try a different encoder setup if this is observed, either by moving the encoders to a different shaft, replacing them with a different type of encoder, or increasing the sample per average in project generation (adds an additional layer of filtering).
 
diff --git a/source/docs/software/advanced-controls/trajectories/constraints.rst b/source/docs/software/advanced-controls/trajectories/constraints.rst
index a638f7a8eb..89a1837ee6 100644
--- a/source/docs/software/advanced-controls/trajectories/constraints.rst
+++ b/source/docs/software/advanced-controls/trajectories/constraints.rst
@@ -1,11 +1,9 @@
-Trajectory Constraints
-======================
+# Trajectory Constraints
 In the :ref:`previous article <docs/software/advanced-controls/trajectories/trajectory-generation:Generating the trajectory>`, you might have noticed that no custom constraints were added when generating the trajectories. Custom constraints allow users to impose more restrictions on the velocity and acceleration at points along the trajectory based on location and curvature.
 
 For example, a custom constraint can keep the velocity of the trajectory under a certain threshold in a certain region or slow down the robot near turns for stability purposes.
 
-WPILib-Provided Constraints
----------------------------
+## WPILib-Provided Constraints
 WPILib includes a set of predefined constraints that users can utilize when generating trajectories. The list of WPILib-provided constraints is as follows:
 
  - ``CentripetalAccelerationConstraint``: Limits the centripetal acceleration of the robot as it traverses along the trajectory. This can help slow down the robot around tight turns.
@@ -19,40 +17,58 @@ WPILib includes a set of predefined constraints that users can utilize when gene
 
 .. note:: The ``DifferentialDriveVoltageConstraint`` only ensures that theoretical voltage commands do not go over the specified maximum using a :ref:`feedforward model <docs/software/advanced-controls/controllers/feedforward:SimpleMotorFeedforward>`. If the robot were to deviate from the reference while tracking, the commanded voltage may be higher than the specified maximum.
 
-Creating a Custom Constraint
-----------------------------
+## Creating a Custom Constraint
 Users can create their own constraint by implementing the ``TrajectoryConstraint`` interface.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      @Override
-      public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
-                                                  double velocityMetersPerSecond) {
-        // code here
-      }
-
+   ```java
+   @Override
+   public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
+                                               double velocityMetersPerSecond) {
+     // code here
+   }
       @Override
-      public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
-                                                           double curvatureRadPerMeter,
-                                                           double velocityMetersPerSecond) {
-        // code here
-      }
-
-   .. code-block:: c++
+   public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
+                                                        double curvatureRadPerMeter,
+                                                        double velocityMetersPerSecond) {
+     // code here
+   }
+   ```
 
-      units::meters_per_second_t MaxVelocity(
-      const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) override {
-        // code here
-      }
+   ```c++
+   units::meters_per_second_t MaxVelocity(
+   const Pose2d& pose, units::curvature_t curvature,
+   units::meters_per_second_t velocity) override {
+     // code here
+   }
+   MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
+                         units::meters_per_second_t speed) override {
+     // code here
+   }
+   ```
 
-      MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
-                            units::meters_per_second_t speed) override {
-        // code here
-      }
+   ```python
+   from wpimath import units
+   from wpimath.geometry import Pose2d
+   from wpimath.trajectory.constraint import TrajectoryConstraint
+   class MyConstraint(TrajectoryConstraint):
+       def maxVelocity(
+           self,
+           pose: Pose2d,
+           curvature: units.radians_per_meter,
+           velocity: units.meters_per_second,
+       ) -> units.meters_per_second:
+           ...
+       def minMaxAcceleration(
+           self,
+           pose: Pose2d,
+           curvature: units.radians_per_meter,
+           speed: units.meters_per_second,
+       ) -> TrajectoryConstraint.MinMax:
+           ...
+      ```
 
 The ``MaxVelocity`` method should return the maximum allowed velocity for the given pose, curvature, and original velocity of the trajectory without any constraints. The ``MinMaxAcceleration`` method should return the minimum and maximum allowed acceleration for the given pose, curvature, and constrained velocity.
 
-See the source code (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint>`_, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpimath/src/main/native/cpp/trajectory/constraint>`_) for the WPILib-provided constraints for more examples on how to write your own custom trajectory constraints.
+See the source code ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint), [C++] (https://github.com/wpilibsuite/allwpilib/tree/main/wpimath/src/main/native/cpp/trajectory/constraint)) for the WPILib-provided constraints for more examples on how to write your own custom trajectory constraints.
diff --git a/source/docs/software/advanced-controls/trajectories/examples/trajectory-generation-1/py/ExampleTrajectory.py b/source/docs/software/advanced-controls/trajectories/examples/trajectory-generation-1/py/ExampleTrajectory.py
new file mode 100644
index 0000000000..7021136390
--- /dev/null
+++ b/source/docs/software/advanced-controls/trajectories/examples/trajectory-generation-1/py/ExampleTrajectory.py
@@ -0,0 +1,20 @@
+from wpimath.geometry import Pose2d, Rotation2d, Translation2d
+from wpimath.trajectory import TrajectoryGenerator, TrajectoryConfig
+
+
+def generateTrajectory():
+    # 2018 cross scale auto waypoints.
+    sideStart = Pose2d.fromFeet(1.54, 23.23, Rotation2d.fromDegrees(-180))
+    crossScale = Pose2d.fromFeet(23.7, 6.8, Rotation2d.fromDegrees(-160))
+
+    interiorWaypoints = [
+        Translation2d.fromFeet(14.54, 23.23),
+        Translation2d.fromFeet(21.04, 18.23),
+    ]
+
+    config = TrajectoryConfig.fromFps(12, 12)
+    config.setReversed(True)
+
+    trajectory = TrajectoryGenerator.generateTrajectory(
+        sideStart, interiorWaypoints, crossScale, config
+    )
diff --git a/source/docs/software/advanced-controls/trajectories/holonomic.rst b/source/docs/software/advanced-controls/trajectories/holonomic.rst
index 4ac38b8a0c..74ee8778bf 100644
--- a/source/docs/software/advanced-controls/trajectories/holonomic.rst
+++ b/source/docs/software/advanced-controls/trajectories/holonomic.rst
@@ -1,9 +1,7 @@
-Holonomic Drive Controller
-==========================
+# Holonomic Drive Controller
 The holonomic drive controller is a trajectory tracker for robots with holonomic drivetrains (e.g. swerve, mecanum, etc.). This can be used to accurately track trajectories with correction for minor disturbances.
 
-Constructing a Holonomic Drive Controller
------------------------------------------
+## Constructing a Holonomic Drive Controller
 The holonomic drive controller should be instantiated with 2 PID controllers and 1 profiled PID controller.
 
 .. note:: For more information on PID control, see :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib`.
@@ -13,74 +11,103 @@ The 2 PID controllers are controllers that should correct for error in the field
 The final parameter is a ``ProfiledPIDController`` for the rotation of the robot. Because the rotation dynamics of a holonomic drivetrain are decoupled from movement in the x and y directions, users can set custom heading references while following a trajectory. These heading references are profiled according to the parameters set in the ``ProfiledPIDController``.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      var controller = new HolonomicDriveController(
-        new PIDController(1, 0, 0), new PIDController(1, 0, 0),
-        new ProfiledPIDController(1, 0, 0,
-          new TrapezoidProfile.Constraints(6.28, 3.14)));
-      // Here, our rotation profile constraints were a max velocity
-      // of 1 rotation per second and a max acceleration of 180 degrees
-      // per second squared.
-
-   .. code-block:: c++
-
-      frc::HolonomicDriveController controller{
-        frc::PIDController{1, 0, 0}, frc::PIDController{1, 0, 0},
-        frc::ProfiledPIDController<units::radian>{
-          1, 0, 0, frc::TrapezoidProfile<units::radian>::Constraints{
-            6.28_rad_per_s, 3.14_rad_per_s / 1_s}}};
-      // Here, our rotation profile constraints were a max velocity
-      // of 1 rotation per second and a max acceleration of 180 degrees
-      // per second squared.
-
-Getting Adjusted Velocities
----------------------------
+   ```java
+   var controller = new HolonomicDriveController(
+     new PIDController(1, 0, 0), new PIDController(1, 0, 0),
+     new ProfiledPIDController(1, 0, 0,
+       new TrapezoidProfile.Constraints(6.28, 3.14)));
+   // Here, our rotation profile constraints were a max velocity
+   // of 1 rotation per second and a max acceleration of 180 degrees
+   // per second squared.
+   ```
+
+   ```c++
+   frc::HolonomicDriveController controller{
+     frc::PIDController{1, 0, 0}, frc::PIDController{1, 0, 0},
+     frc::ProfiledPIDController<units::radian>{
+       1, 0, 0, frc::TrapezoidProfile<units::radian>::Constraints{
+         6.28_rad_per_s, 3.14_rad_per_s / 1_s}}};
+   // Here, our rotation profile constraints were a max velocity
+   // of 1 rotation per second and a max acceleration of 180 degrees
+   // per second squared.
+   ```
+
+   ```python
+   from wpimath.controller import (
+      HolonomicDriveController,
+      PIDController,
+      ProfiledPIDControllerRadians,
+   )
+   from wpimath.trajectory import TrapezoidProfileRadians
+   controller = HolonomicDriveController(
+      PIDController(1, 0, 0),
+      PIDController(1, 0, 0),
+      ProfiledPIDControllerRadians(
+         1, 0, 0, TrapezoidProfileRadians.Constraints(6.28, 3.14)
+      ),
+   )
+   # Here, our rotation profile constraints were a max velocity
+   # of 1 rotation per second and a max acceleration of 180 degrees
+   # per second squared.
+   ```
+
+## Getting Adjusted Velocities
 The holonomic drive controller returns "adjusted velocities" such that when the robot tracks these velocities, it accurately reaches the goal point. The controller should be updated periodically with the new goal. The goal is comprised of a desired pose, linear velocity, and heading.
 
 .. note:: The "goal pose" represents the position that the robot should be at a particular timestamp when tracking the trajectory. It does NOT represent the trajectory's endpoint.
 
-The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Java) method. There are two overloads for this method. Both of these overloads accept the current robot position as the first parameter and the desired heading as the last parameter. For the middle parameters, one overload accepts the desired pose and the linear velocity reference while the other accepts a ``Trajectory.State`` object, which contains information about the goal pose. The latter method is preferred for tracking trajectories.
+The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Java/Python) method. There are two overloads for this method. Both of these overloads accept the current robot position as the first parameter and the desired heading as the last parameter. For the middle parameters, one overload accepts the desired pose and the linear velocity reference while the other accepts a ``Trajectory.State`` object, which contains information about the goal pose. The latter method is preferred for tracking trajectories.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      // Sample the trajectory at 3.4 seconds from the beginning.
-      Trajectory.State goal = trajectory.sample(3.4);
-
-      // Get the adjusted speeds. Here, we want the robot to be facing
-      // 70 degrees (in the field-relative coordinate system).
-      ChassisSpeeds adjustedSpeeds = controller.calculate(
-        currentRobotPose, goal, Rotation2d.fromDegrees(70.0));
-
-   .. code-block:: c++
-
-      // Sample the trajectoty at 3.4 seconds from the beginning.
-      const auto goal = trajectory.Sample(3.4_s);
-
-      // Get the adjusted speeds. Here, we want the robot to be facing
-      // 70 degrees (in the field-relative coordinate system).
-      const auto adjustedSpeeds = controller.Calculate(
-        currentRobotPose, goal, 70_deg);
-
-Using the Adjusted Velocities
------------------------------
+   ```java
+   // Sample the trajectory at 3.4 seconds from the beginning.
+   Trajectory.State goal = trajectory.sample(3.4);
+   // Get the adjusted speeds. Here, we want the robot to be facing
+   // 70 degrees (in the field-relative coordinate system).
+   ChassisSpeeds adjustedSpeeds = controller.calculate(
+     currentRobotPose, goal, Rotation2d.fromDegrees(70.0));
+   ```
+
+   ```c++
+   // Sample the trajectoty at 3.4 seconds from the beginning.
+   const auto goal = trajectory.Sample(3.4_s);
+   // Get the adjusted speeds. Here, we want the robot to be facing
+   // 70 degrees (in the field-relative coordinate system).
+   const auto adjustedSpeeds = controller.Calculate(
+     currentRobotPose, goal, 70_deg);
+   ```
+
+   ```python
+   from wpimath.geometry import Rotation2d
+   # Sample the trajectory at 3.4 seconds from the beginning.
+   goal = trajectory.sample(3.4)
+   # Get the adjusted speeds. Here, we want the robot to be facing
+   # 70 degrees (in the field-relative coordinate system).
+   adjustedSpeeds = controller.calculate(
+      currentRobotPose, goal, Rotation2d.fromDegrees(70.0)
+   )
+   ```
+
+## Using the Adjusted Velocities
 The adjusted velocities are of type ``ChassisSpeeds``, which contains a ``vx`` (linear velocity in the forward direction), a ``vy`` (linear velocity in the sideways direction), and an ``omega`` (angular velocity around the center of the robot frame).
 
 The returned adjusted speeds can be converted into usable speeds using the kinematics classes for your drivetrain type. In the example code below, we will assume a swerve drive robot; however, the kinematics code is exactly the same for a mecanum drive robot except using ``MecanumDriveKinematics``.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(adjustedSpeeds);
-
-      SwerveModuleState frontLeft = moduleStates[0];
-      SwerveModuleState frontRight = moduleStates[1];
-      SwerveModuleState backLeft = moduleStates[2];
-      SwerveModuleState backRight = moduleStates[3];
-
-   .. code-block:: c++
-
-      auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(adjustedSpeeds);
+   ```java
+   SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(adjustedSpeeds);
+   SwerveModuleState frontLeft = moduleStates[0];
+   SwerveModuleState frontRight = moduleStates[1];
+   SwerveModuleState backLeft = moduleStates[2];
+   SwerveModuleState backRight = moduleStates[3];
+   ```
+
+   ```c++
+   auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(adjustedSpeeds);
+   ```
+
+   ```python
+   fl, fr, bl, br = kinematics.toSwerveModuleStates(adjustedSpeeds)
+   ```
 
 Because these swerve module states are still speeds and angles, you will need to use PID controllers to set these speeds and angles.
diff --git a/source/docs/software/advanced-controls/trajectories/images/relative-to.png b/source/docs/software/advanced-controls/trajectories/images/relative-to.png
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diff --git a/source/docs/software/advanced-controls/trajectories/images/transform-by.png b/source/docs/software/advanced-controls/trajectories/images/transform-by.png
index 28f9e5bb8d..8d0c8785e7 100644
Binary files a/source/docs/software/advanced-controls/trajectories/images/transform-by.png and b/source/docs/software/advanced-controls/trajectories/images/transform-by.png differ
diff --git a/source/docs/software/advanced-controls/trajectories/index.rst b/source/docs/software/advanced-controls/trajectories/index.rst
index 2cce839f8f..187a8527a0 100644
--- a/source/docs/software/advanced-controls/trajectories/index.rst
+++ b/source/docs/software/advanced-controls/trajectories/index.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Trajectory Generation and Following with WPILib
-===============================================
+# Trajectory Generation and Following with WPILib
 
 This section describes WPILib support for generating parameterized spline trajectories and following those trajectories with typical FRC\ |reg| robot drives.
 
diff --git a/source/docs/software/advanced-controls/trajectories/manipulating-trajectories.rst b/source/docs/software/advanced-controls/trajectories/manipulating-trajectories.rst
index a673e19f6d..95012e37cf 100644
--- a/source/docs/software/advanced-controls/trajectories/manipulating-trajectories.rst
+++ b/source/docs/software/advanced-controls/trajectories/manipulating-trajectories.rst
@@ -1,41 +1,49 @@
-Manipulating Trajectories
-=========================
+# Manipulating Trajectories
 Once a trajectory has been generated, you can retrieve information from it using certain methods. These methods will be useful when writing code to follow these trajectories.
 
-Getting the total duration of the trajectory
---------------------------------------------
-Because all trajectories have timestamps at each point, the amount of time it should take for a robot to traverse the entire trajectory is pre-determined. The ``TotalTime()`` (C++) / ``getTotalTimeSeconds()`` (Java) method can be used to determine the time it takes to traverse the trajectory.
+## Getting the total duration of the trajectory
+Because all trajectories have timestamps at each point, the amount of time it should take for a robot to traverse the entire trajectory is pre-determined. The ``TotalTime()`` (C++) / ``getTotalTimeSeconds()`` (Java) / ``totalTime`` (Python) method can be used to determine the time it takes to traverse the trajectory.
 
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   // Get the total time of the trajectory in seconds
+   double duration = trajectory.getTotalTimeSeconds();
+   ```
 
-      // Get the total time of the trajectory in seconds
-      double duration = trajectory.getTotalTimeSeconds();
+   ```c++
+   // Get the total time of the trajectory
+   units::second_t duration = trajectory.TotalTime();
+   ```
 
-   .. code-block:: c++
+   ```python
+   # Get the total time of the trajectory
+   duration = trajectory.totalTime()
+   ```
 
-      // Get the total time of the trajectory
-      units::second_t duration = trajectory.TotalTime();
-
-Sampling the trajectory
------------------------
-The trajectory can be sampled at various timesteps to get the pose, velocity, and acceleration at that point. The ``Sample(units::second_t time)`` (C++) / ``sample(double timeSeconds)`` (Java) method can be used to sample the trajectory at any timestep. The parameter refers to the amount of time passed since 0 seconds (the starting point of the trajectory). This method returns a ``Trajectory::Sample`` with information about that sample point.
+## Sampling the trajectory
+The trajectory can be sampled at various timesteps to get the pose, velocity, and acceleration at that point. The ``Sample(units::second_t time)`` (C++) / ``sample(double timeSeconds)`` (Java/Python) method can be used to sample the trajectory at any timestep. The parameter refers to the amount of time passed since 0 seconds (the starting point of the trajectory). This method returns a ``Trajectory::Sample`` with information about that sample point.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Sample the trajectory at 1.2 seconds. This represents where the robot
-      // should be after 1.2 seconds of traversal.
-      Trajectory.Sample point = trajectory.sample(1.2);
+   ```java
+   // Sample the trajectory at 1.2 seconds. This represents where the robot
+   // should be after 1.2 seconds of traversal.
+   Trajectory.Sample point = trajectory.sample(1.2);
+   ```
 
-   .. code-block:: c++
+   ```c++
+   // Sample the trajectory at 1.2 seconds. This represents where the robot
+   // should be after 1.2 seconds of traversal.
+   Trajectory::State point = trajectory.Sample(1.2_s);
+   ```
 
-      // Sample the trajectory at 1.2 seconds. This represents where the robot
-      // should be after 1.2 seconds of traversal.
-      Trajectory::State point = trajectory.Sample(1.2_s);
+   ```python
+   # Sample the trajectory at 1.2 seconds. This represents where the robot
+   # should be after 1.2 seconds of traversal.
+   point = trajectory.sample(1.2)
+   ```
 
 The ``Trajectory::Sample`` struct has several pieces of information about the sample point:
 
@@ -47,6 +55,5 @@ The ``Trajectory::Sample`` struct has several pieces of information about the sa
 
 Note: The angular velocity at the sample point can be calculated by multiplying the velocity by the curvature.
 
-Getting all states of the trajectory (advanced)
------------------------------------------------
-A more advanced user can get a list of all states of the trajectory by calling the ``States()`` (C++) / ``getStates()`` (Java) method. Each state represents a point on the trajectory. :ref:`When the trajectory is created <docs/software/advanced-controls/trajectories/trajectory-generation:Generating the trajectory>` using the ``TrajectoryGenerator::GenerateTrajectory(...)`` method, a list of trajectory points / states are created. When the user samples the trajectory at a particular timestep, a new sample point is interpolated between two existing points / states in the list.
+## Getting all states of the trajectory (advanced)
+A more advanced user can get a list of all states of the trajectory by calling the ``States()`` (C++) / ``getStates()`` (Java) / ``states`` (Python) method. Each state represents a point on the trajectory. :ref:`When the trajectory is created <docs/software/advanced-controls/trajectories/trajectory-generation:Generating the trajectory>` using the ``TrajectoryGenerator::GenerateTrajectory(...)`` method, a list of trajectory points / states are created. When the user samples the trajectory at a particular timestep, a new sample point is interpolated between two existing points / states in the list.
diff --git a/source/docs/software/advanced-controls/trajectories/ramsete.rst b/source/docs/software/advanced-controls/trajectories/ramsete.rst
index a715e49a09..9f54540b6e 100644
--- a/source/docs/software/advanced-controls/trajectories/ramsete.rst
+++ b/source/docs/software/advanced-controls/trajectories/ramsete.rst
@@ -1,81 +1,95 @@
-Ramsete Controller
-==================
+# Ramsete Controller
 The Ramsete Controller is a trajectory tracker that is built in to WPILib. This tracker can be used to accurately track trajectories with correction for minor disturbances.
 
-Constructing the Ramsete Controller Object
-------------------------------------------
+## Constructing the Ramsete Controller Object
 The Ramsete controller should be initialized with two gains, namely ``b`` and ``zeta``. Larger values of ``b`` make convergence more aggressive like a proportional term whereas larger values of ``zeta`` provide more damping in the response. These controller gains only dictate how the controller will output adjusted velocities. It does NOT affect the actual velocity tracking of the robot. This means that these controller gains are generally robot-agnostic.
 
 .. note:: Gains of ``2.0`` and ``0.7`` for ``b`` and ``zeta`` have been tested repeatedly to produce desirable results when all units were in meters. As such, a zero-argument constructor for ``RamseteController`` exists with gains defaulted to these values.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      // Using the default constructor of RamseteController. Here
-      // the gains are initialized to 2.0 and 0.7.
-      RamseteController controller1 = new RamseteController();
-
-      // Using the secondary constructor of RamseteController where
-      // the user can choose any other gains.
-      RamseteController controller2 = new RamseteController(2.1, 0.8);
-
-   .. code-block:: c++
-
-      // Using the default constructor of RamseteController. Here
-      // the gains are initialized to 2.0 and 0.7.
-      frc::RamseteController controller1;
-
-      // Using the secondary constructor of RamseteController where
-      // the user can choose any other gains.
-      frc::RamseteController controller2{2.1, 0.8};
-
-Getting Adjusted Velocities
----------------------------
+   ```java
+   // Using the default constructor of RamseteController. Here
+   // the gains are initialized to 2.0 and 0.7.
+   RamseteController controller1 = new RamseteController();
+   // Using the secondary constructor of RamseteController where
+   // the user can choose any other gains.
+   RamseteController controller2 = new RamseteController(2.1, 0.8);
+   ```
+
+   ```c++
+   // Using the default constructor of RamseteController. Here
+   // the gains are initialized to 2.0 and 0.7.
+   frc::RamseteController controller1;
+   // Using the secondary constructor of RamseteController where
+   // the user can choose any other gains.
+   frc::RamseteController controller2{2.1, 0.8};
+   ```
+
+   ```python
+   from wpimath.controller import RamseteController
+   # Using the default constructor of RamseteController. Here
+   # the gains are initialized to 2.0 and 0.7.
+   controller1 = RamseteController()
+   # Using the secondary constructor of RamseteController where
+   # the user can choose any other gains.
+   controller2 = RamseteController(2.1, 0.8)
+   ```
+
+## Getting Adjusted Velocities
 The Ramsete controller returns "adjusted velocities" so that the when the robot tracks these velocities, it accurately reaches the goal point. The controller should be updated periodically with the new goal. The goal comprises of a desired pose, desired linear velocity, and desired angular velocity. Furthermore, the current position of the robot should also be updated periodically. The controller uses these four arguments to return the adjusted linear and angular velocity. Users should command their robot to these linear and angular velocities to achieve optimal trajectory tracking.
 
 .. note:: The "goal pose" represents the position that the robot should be at a particular timestep when tracking the trajectory. It does NOT represent the final endpoint of the trajectory.
 
-The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Java) method. There are two overloads for this method. Both of these overloads accept the current robot position as the first parameter. For the other parameters, one of these overloads takes in the goal as three separate parameters (pose, linear velocity, and angular velocity) whereas the other overload accepts a ``Trajectory.State`` object, which contains information about the goal pose. For its ease, users should use the latter method when tracking trajectories.
+The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Java/Python) method. There are two overloads for this method. Both of these overloads accept the current robot position as the first parameter. For the other parameters, one of these overloads takes in the goal as three separate parameters (pose, linear velocity, and angular velocity) whereas the other overload accepts a ``Trajectory.State`` object, which contains information about the goal pose. For its ease, users should use the latter method when tracking trajectories.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      Trajectory.State goal = trajectory.sample(3.4); // sample the trajectory at 3.4 seconds from the beginning
-      ChassisSpeeds adjustedSpeeds = controller.calculate(currentRobotPose, goal);
+   ```java
+   Trajectory.State goal = trajectory.sample(3.4); // sample the trajectory at 3.4 seconds from the beginning
+   ChassisSpeeds adjustedSpeeds = controller.calculate(currentRobotPose, goal);
+   ```
 
+   ```c++
+   const Trajectory::State goal = trajectory.Sample(3.4_s); // sample the trajectory at 3.4 seconds from the beginning
+   ChassisSpeeds adjustedSpeeds = controller.Calculate(currentRobotPose, goal);
+   ```
 
-   .. code-block:: c++
-
-      const Trajectory::State goal = trajectory.Sample(3.4_s); // sample the trajectory at 3.4 seconds from the beginning
-      ChassisSpeeds adjustedSpeeds = controller.Calculate(currentRobotPose, goal);
+   ```python
+   goal = trajectory.sample(3.4)  # sample the trajectory at 3.4 seconds from the beginning
+   adjustedSpeeds = controller.calculate(currentRobotPose, goal)
+   ```
 
 These calculations should be performed at every loop iteration, with an updated robot position and goal.
 
-Using the Adjusted Velocities
------------------------------
+## Using the Adjusted Velocities
 The adjusted velocities are of type ``ChassisSpeeds``, which contains a ``vx`` (linear velocity in the forward direction), a ``vy`` (linear velocity in the sideways direction), and an ``omega`` (angular velocity around the center of the robot frame). Because the Ramsete controller is a controller for non-holonomic robots (robots which cannot move sideways), the adjusted speeds object has a ``vy`` of zero.
 
 The returned adjusted speeds can be converted to usable speeds using the kinematics classes for your drivetrain type. For example, the adjusted velocities can be converted to left and right velocities for a differential drive using a ``DifferentialDriveKinematics`` object.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      ChassisSpeeds adjustedSpeeds = controller.calculate(currentRobotPose, goal);
-      DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(adjustedSpeeds);
-      double left = wheelSpeeds.leftMetersPerSecond;
-      double right = wheelSpeeds.rightMetersPerSecond;
-
-   .. code-block:: cpp
-
-      ChassisSpeeds adjustedSpeeds = controller.Calculate(currentRobotPose, goal);
-      DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.ToWheelSpeeds(adjustedSpeeds);
-      auto [left, right] = kinematics.ToWheelSpeeds(adjustedSpeeds);
-
-Because these new left and right velocities are still speeds and not voltages, two PID Controllers, one for each side may be used to track these velocities. Either the WPILib PIDController (`C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_p_i_d_controller.html>`_, `Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/PIDController.html>`_) can be used, or the Velocity PID feature on smart motor controllers such as the TalonSRX and the SPARK MAX can be used.
-
-Ramsete in the Command-Based Framework
---------------------------------------
+   ```java
+   ChassisSpeeds adjustedSpeeds = controller.calculate(currentRobotPose, goal);
+   DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(adjustedSpeeds);
+   double left = wheelSpeeds.leftMetersPerSecond;
+   double right = wheelSpeeds.rightMetersPerSecond;
+   ```
+
+   ```c++
+   ChassisSpeeds adjustedSpeeds = controller.Calculate(currentRobotPose, goal);
+   DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.ToWheelSpeeds(adjustedSpeeds);
+   auto [left, right] = kinematics.ToWheelSpeeds(adjustedSpeeds);
+   ```
+
+   ```python
+   adjustedSpeeds = controller.calculate(currentRobotPose, goal)
+   wheelSpeeds = kinematics.toWheelSpeeds(adjustedSpeeds)
+   left = wheelSpeeds.left
+   right = wheelSpeeds.right
+   ```
+
+Because these new left and right velocities are still speeds and not voltages, two PID Controllers, one for each side may be used to track these velocities. Either the WPILib PIDController ([C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_p_i_d_controller.html), [Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/PIDController.html), :external:py:class:`Python <wpimath.controller.PIDController>`) can be used, or the Velocity PID feature on smart motor controllers such as the TalonSRX and the SPARK MAX can be used.
+
+## Ramsete in the Command-Based Framework
 For the sake of ease for users, a ``RamseteCommand`` class is built in to WPILib. For a full tutorial on implementing a path-following autonomous using RamseteCommand, see :ref:`docs/software/pathplanning/trajectory-tutorial/index:Trajectory Tutorial`.
 
diff --git a/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst b/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst
index ba2199d687..e408bda5a1 100644
--- a/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst
+++ b/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst
@@ -1,5 +1,4 @@
-Trajectory Generation
-=====================
+# Trajectory Generation
 WPILib contains classes that help generating trajectories. A trajectory is a smooth curve, with velocities and accelerations at each point along the curve, connecting two endpoints on the field. Generation and following of trajectories is incredibly useful for performing autonomous tasks. Instead of a simple autonomous routine -- which involves moving forward, stopping, turning 90 degrees to the right, then moving forward -- using trajectories allows for motion along a smooth curve. This has the advantage of speeding up autonomous routines, creating more time for other tasks; and when implemented well, makes autonomous navigation more accurate and precise.
 
 This article goes over how to generate a trajectory. The next few articles in this series will go over how to actually follow the generated trajectory. There are a few things that your robot must have before you dive into the world of trajectories:
@@ -9,8 +8,7 @@ This article goes over how to generate a trajectory. The next few articles in th
 
 If you are looking for a simpler way to perform autonomous navigation, see :ref:`the section on driving to a distance <docs/software/hardware-apis/sensors/encoders-software:Driving to a distance>`.
 
-Splines
--------
+## Splines
 A spline refers to a set of curves that interpolate between points. Think of it as connecting dots, except with curves. WPILib supports two types of splines: hermite clamped cubic and hermite quintic.
 
 * Hermite clamped cubic: This is the recommended option for most users. Generation of trajectories using these splines involves specifying the (x, y) coordinates of all points, and the headings at the start and end waypoints. The headings at the interior waypoints are automatically determined to ensure continuous curvature (rate of change of the heading) throughout.
@@ -19,21 +17,19 @@ A spline refers to a set of curves that interpolate between points. Think of it
 
 Splines are used as a tool to generate trajectories; however, the spline itself does not have any information about velocities and accelerations. Therefore, it is not recommended that you use the spline classes directly. In order to generate a smooth path with velocities and accelerations, a *trajectory* must be generated.
 
-Creating the trajectory config
-------------------------------
+## Creating the trajectory config
 A configuration must be created in order to generate a trajectory. The config contains information about special constraints, the max velocity, the max acceleration in addition to the start velocity and end velocity. The config also contains information about whether the trajectory should be reversed (robot travels backward along the waypoints). The ``TrajectoryConfig`` class should be used to construct a config. The constructor for this class takes two arguments, the max velocity and max acceleration. The other fields (``startVelocity``, ``endVelocity``, ``reversed``, ``constraints``) are defaulted to reasonable values (``0``, ``0``, ``false``, ``{}``) when the object is created. If you wish to modify the values of any of these fields, you can call the following methods:
 
-* ``setStartVelocity(double startVelocityMetersPerSecond)`` (Java) / ``SetStartVelocity(units::meters_per_second_t startVelocity)`` (C++)
-* ``setEndVelocity(double endVelocityMetersPerSecond)`` (Java) / ``SetEndVelocity(units::meters_per_second_t endVelocity)`` (C++)
-* ``setReversed(boolean reversed)`` (Java) / ``SetReversed(bool reversed)`` (C++)
-* ``addConstraint(TrajectoryConstraint constraint)`` (Java) / ``AddConstraint(TrajectoryConstraint constraint)`` (C++)
+* ``setStartVelocity(double startVelocityMetersPerSecond)`` (Java/Python) / ``SetStartVelocity(units::meters_per_second_t startVelocity)`` (C++)
+* ``setEndVelocity(double endVelocityMetersPerSecond)`` (Java/Python) / ``SetEndVelocity(units::meters_per_second_t endVelocity)`` (C++)
+* ``setReversed(boolean reversed)`` (Java/Python) / ``SetReversed(bool reversed)`` (C++)
+* ``addConstraint(TrajectoryConstraint constraint)`` (Java/Python) / ``AddConstraint(TrajectoryConstraint constraint)`` (C++)
 
 
 .. note:: The ``reversed`` property simply represents whether the robot is traveling backward. If you specify four waypoints, a, b, c, and d, the robot will still travel in the same order through the waypoints when the ``reversed`` flag is set to ``true``. This also means that you must account for the direction of the robot when providing the waypoints. For example, if your robot is facing your alliance station wall and travels backwards to some field element, the starting waypoint should have a rotation of 180 degrees.
 
 
-Generating the trajectory
--------------------------
+## Generating the trajectory
 
 The method used to generate a trajectory is ``generateTrajectory(...)``. There are four overloads for this method. Two that use clamped cubic splines and the two others that use quintic splines. For each type of spline, there are two ways to construct a trajectory. The easiest methods are the overloads that accept ``Pose2d`` objects.
 
@@ -56,50 +52,70 @@ Here is an example of generating a trajectory using clamped cubic splines for th
    .. tab-item:: C++
 
       .. literalinclude:: examples/trajectory-generation-1/cpp/ExampleTrajectory.cpp
-         :language: cpp
+         :language: c++
          :lines: 8-22
 
-.. note:: The Java code utilizes the `Units <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/util/Units.html>`_ utility, for easy unit conversions.
+   .. tab-item:: Python
+
+      .. literalinclude:: examples/trajectory-generation-1/py/ExampleTrajectory.py
+         :language: python
+         :lines: 5-20
+
+.. note:: The Java code utilizes the [Units](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/util/Units.html) utility, for easy unit conversions.
 
 .. note:: Generating a typical trajectory takes about 10 ms to 25 ms. This isn't long, but it's still highly recommended to generate all trajectories on startup (``robotInit``).
 
-Concatenating Trajectories
---------------------------
+## Concatenating Trajectories
 
-Trajectories in Java can be combined into a single trajectory using the ``concatenate(trajectory)`` function. C++ users can simply add (``+``) the two trajectories together.
+Trajectories in Java can be combined into a single trajectory using the ``concatenate(trajectory)`` function. C++/Python users can simply add (``+``) the two trajectories together.
 
 .. warning:: It is up to the user to ensure that the end of the initial and start of the appended trajectory match. It is also the user's responsibility to ensure that the start and end velocities of their trajectories match.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      var trajectoryOne =
-      TrajectoryGenerator.generateTrajectory(
-         new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
-         List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
-         new Pose2d(3, 0, Rotation2d.fromDegrees(0)),
-         new TrajectoryConfig(Units.feetToMeters(3.0), Units.feetToMeters(3.0)));
-
-      var trajectoryTwo =
-      TrajectoryGenerator.generateTrajectory(
-         new Pose2d(3, 0, Rotation2d.fromDegrees(0)),
-         List.of(new Translation2d(4, 4), new Translation2d(6, 3)),
-         new Pose2d(6, 0, Rotation2d.fromDegrees(0)),
-         new TrajectoryConfig(Units.feetToMeters(3.0), Units.feetToMeters(3.0)));
-
-      var concatTraj = trajectoryOne.concatenate(trajectoryTwo);
-
-   .. code-block:: cpp
-
-      auto trajectoryOne = frc::TrajectoryGenerator::GenerateTrajectory(
-         frc::Pose2d(0_m, 0_m, 0_rad),
-         {frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
-         frc::Pose2d(3_m, 0_m, 0_rad), frc::TrajectoryConfig(3_fps, 3_fps_sq));
-
-      auto trajectoryTwo = frc::TrajectoryGenerator::GenerateTrajectory(
-         frc::Pose2d(3_m, 0_m, 0_rad),
-         {frc::Translation2d(4_m, 4_m), frc::Translation2d(5_m, 3_m)},
-         frc::Pose2d(6_m, 0_m, 0_rad), frc::TrajectoryConfig(3_fps, 3_fps_sq));
+   ```java
+   var trajectoryOne =
+   TrajectoryGenerator.generateTrajectory(
+      new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
+      List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
+      new Pose2d(3, 0, Rotation2d.fromDegrees(0)),
+      new TrajectoryConfig(Units.feetToMeters(3.0), Units.feetToMeters(3.0)));
+   var trajectoryTwo =
+   TrajectoryGenerator.generateTrajectory(
+      new Pose2d(3, 0, Rotation2d.fromDegrees(0)),
+      List.of(new Translation2d(4, 4), new Translation2d(6, 3)),
+      new Pose2d(6, 0, Rotation2d.fromDegrees(0)),
+      new TrajectoryConfig(Units.feetToMeters(3.0), Units.feetToMeters(3.0)));
+   var concatTraj = trajectoryOne.concatenate(trajectoryTwo);
+   ```
+
+   ```c++
+   auto trajectoryOne = frc::TrajectoryGenerator::GenerateTrajectory(
+      frc::Pose2d(0_m, 0_m, 0_rad),
+      {frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
+      frc::Pose2d(3_m, 0_m, 0_rad), frc::TrajectoryConfig(3_fps, 3_fps_sq));
+   auto trajectoryTwo = frc::TrajectoryGenerator::GenerateTrajectory(
+      frc::Pose2d(3_m, 0_m, 0_rad),
+      {frc::Translation2d(4_m, 4_m), frc::Translation2d(5_m, 3_m)},
+      frc::Pose2d(6_m, 0_m, 0_rad), frc::TrajectoryConfig(3_fps, 3_fps_sq));
+   auto concatTraj = m_trajectoryOne + m_trajectoryTwo;
+   ```
+
+   ```python
+   from wpimath.geometry import Pose2d, Rotation2d, Translation2d
+   from wpimath.trajectory import TrajectoryGenerator, TrajectoryConfig
+   trajectoryOne = TrajectoryGenerator.generateTrajectory(
+      Pose2d(0, 0, Rotation2d.fromDegrees(0)),
+      [Translation2d(1, 1), Translation2d(2, -1)],
+      Pose2d(3, 0, Rotation2d.fromDegrees(0)),
+      TrajectoryConfig.fromFps(3.0, 3.0),
+   )
+   trajectoryTwo = TrajectoryGenerator.generateTrajectory(
+      Pose2d(3, 0, Rotation2d.fromDegrees(0)),
+      [Translation2d(4, 4), Translation2d(6, 3)],
+      Pose2d(6, 0, Rotation2d.fromDegrees(0)),
+      TrajectoryConfig.fromFps(3.0, 3.0),
+   )
+      concatTraj = trajectoryOne + trajectoryTwo
+   ```
 
-      auto concatTraj = m_trajectoryOne + m_trajectoryTwo;
diff --git a/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst b/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst
index 38b8d46bed..867db91533 100644
--- a/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst
+++ b/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst
@@ -1,12 +1,10 @@
-Transforming Trajectories
-=========================
+# Transforming Trajectories
 
 Trajectories can be transformed from one coordinate system to another and moved within a coordinate system using the ``relativeTo`` and the ``transformBy`` methods. These methods are useful for moving trajectories within space, or redefining an already existing trajectory in another frame of reference.
 
 .. note:: Neither of these methods changes the shape of the original trajectory.
 
-The ``relativeTo`` Method
--------------------------
+## The ``relativeTo`` Method
 
 The ``relativeTo`` method is used to redefine an already existing trajectory in another frame of reference. This method takes one argument: a pose, (via a ``Pose2d`` object) that is defined with respect to the current coordinate system, that represents the origin of the new coordinate system.
 
@@ -14,23 +12,28 @@ For example, a trajectory defined in coordinate system A can be redefined in coo
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   Pose2d bOrigin = new Pose2d(3, 3, Rotation2d.fromDegrees(30));
+   Trajectory bTrajectory = aTrajectory.relativeTo(bOrigin);
+   ```
 
-      Pose2d bOrigin = new Pose2d(3, 3, Rotation2d.fromDegrees(30));
-      Trajectory bTrajectory = aTrajectory.relativeTo(bOrigin);
+   ```c++
+   frc::Pose2d bOrigin{3_m, 3_m, frc::Rotation2d(30_deg)};
+   frc::Trajectory bTrajectory = aTrajectory.RelativeTo(bOrigin);
+   ```
 
-   .. code-block:: c++
-
-      frc::Pose2d bOrigin{3_m, 3_m, frc::Rotation2d(30_deg)};
-      frc::Trajectory bTrajectory = aTrajectory.RelativeTo(bOrigin);
+   ```python
+   from wpimath.geometry import Pose2d, Rotation2d
+   bOrigin = Pose2d(3, 3, Rotation2d.fromDegrees(30))
+   bTrajectory = aTrajectory.relativeTo(bOrigin)
+   ```
 
 .. image:: images/relative-to.png
    :alt: Coordinate system representation of the trajectory.
 
 In the diagram above, the original trajectory (``aTrajectory`` in the code above) has been defined in coordinate system A, represented by the black axes. The red axes, located at (3, 3) and 30° with respect to the original coordinate system, represent coordinate system B. Calling ``relativeTo`` on ``aTrajectory`` will redefine all poses in the trajectory to be relative to coordinate system B (red axes).
 
-The ``transformBy`` Method
---------------------------
+## The ``transformBy`` Method
 
 The ``transformBy`` method can be used to move (i.e. translate and rotate) a trajectory within a coordinate system. This method takes one argument: a transform (via a ``Transform2d`` object) that maps the current initial position of the trajectory to a desired initial position of the same trajectory.
 
@@ -38,15 +41,21 @@ For example, one may want to transform a trajectory that begins at (2, 2, 30 deg
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      Transform2d transform = new Pose2d(4, 4, Rotation2d.fromDegrees(50)).minus(trajectory.getInitialPose());
-      Trajectory newTrajectory = trajectory.transformBy(transform);
-
-   .. code-block:: c++
-
-      frc::Transform2d transform = Pose2d(4_m, 4_m, Rotation2d(50_deg)) - trajectory.InitialPose();
-      frc::Trajectory newTrajectory = trajectory.TransformBy(transform);
+   ```java
+   Transform2d transform = new Pose2d(4, 4, Rotation2d.fromDegrees(50)).minus(trajectory.getInitialPose());
+   Trajectory newTrajectory = trajectory.transformBy(transform);
+   ```
+
+   ```c++
+   frc::Transform2d transform = Pose2d(4_m, 4_m, Rotation2d(50_deg)) - trajectory.InitialPose();
+   frc::Trajectory newTrajectory = trajectory.TransformBy(transform);
+   ```
+
+   ```python
+   from wpimath.geometry import Pose2d, Rotation2d
+   transform = Pose2d(4, 4, Rotation2d.fromDegrees(50)) - trajectory.initialPose()
+   newTrajectory = trajectory.transformBy(transform)
+   ```
 
 .. image:: images/transform-by.png
    :alt: Coordinate system plot of a transformed trajectory.
diff --git a/source/docs/software/advanced-controls/trajectories/troubleshooting.rst b/source/docs/software/advanced-controls/trajectories/troubleshooting.rst
index 41da7d9b4e..fdd4ba3e30 100644
--- a/source/docs/software/advanced-controls/trajectories/troubleshooting.rst
+++ b/source/docs/software/advanced-controls/trajectories/troubleshooting.rst
@@ -1,8 +1,6 @@
-Troubleshooting
-===============
+# Troubleshooting
 
-Troubleshooting Complete Failures
----------------------------------
+## Troubleshooting Complete Failures
 There are a number of things that can cause your robot to do completely the wrong thing. The below checklist covers some common mistakes.
 
 * My robot doesn't move.
@@ -39,8 +37,7 @@ There are a number of things that can cause your robot to do completely the wron
 
   - Go to the next section.
 
-Troubleshooting Poor Performance
---------------------------------
+## Troubleshooting Poor Performance
 
 .. note:: This section is mostly concerned with troubleshooting poor trajectory tracking performance like a meter of error, not catastrophic failures like compilation errors, robots turning around and going in the wrong direction, or ``MalformedSplineException``\s.
 
@@ -52,8 +49,7 @@ Because it can be so hard to locate the layer of the trajectory generator and fo
 
 .. note:: The below examples put diagnostic values onto :term:`NetworkTables`. The easiest way to graph these values is to :ref:`use Shuffleboard's graphing capabilities <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-graphs:Working With Graphs>`.
 
-Verify Odometry
-^^^^^^^^^^^^^^^
+### Verify Odometry
 If your odometry is bad, then your Ramsete controller may misbehave, because it modifies your robot's target velocities based on where your odometry thinks the robot is.
 
 .. note:: :doc:`Sending your robot pose and trajectory to field2d </docs/software/dashboards/glass/field2d-widget>` can help verify that your robot is driving correctly relative to the robot trajectory.
@@ -62,60 +58,51 @@ If your odometry is bad, then your Ramsete controller may misbehave, because it
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-    NetworkTableEntry m_xEntry = NetworkTableInstance.getDefault().getTable("troubleshooting").getEntry("X");
-    NetworkTableEntry m_yEntry = NetworkTableInstance.getDefault().getTable("troubleshooting").getEntry("Y");
-
-    @Override
-    public void periodic() {
-        // Update the odometry in the periodic block
-        m_odometry.update(Rotation2d.fromDegrees(getHeading()), m_leftEncoder.getDistance(),
-            m_rightEncoder.getDistance());
-
-        var translation = m_odometry.getPoseMeters().getTranslation();
-        m_xEntry.setNumber(translation.getX());
-        m_yEntry.setNumber(translation.getY());
-    }
-
-   .. code-block:: c++
-
-    NetworkTableEntry m_xEntry = nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting")->GetEntry("X");
-    NetworkTableEntry m_yEntry = nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting")->GetEntry("Y");
-
-    void DriveSubsystem::Periodic() {
-        // Implementation of subsystem periodic method goes here.
-        m_odometry.Update(frc::Rotation2d(units::degree_t(GetHeading())),
-                            units::meter_t(m_leftEncoder.GetDistance()),
-                            units::meter_t(m_rightEncoder.GetDistance()));
-
-        auto translation = m_odometry.GetPose().Translation();
-        m_xEntry.SetDouble(translation.X().value());
-        m_yEntry.SetDouble(translation.Y().value());
-    }
+   ```java
+   NetworkTableEntry m_xEntry = NetworkTableInstance.getDefault().getTable("troubleshooting").getEntry("X");
+   NetworkTableEntry m_yEntry = NetworkTableInstance.getDefault().getTable("troubleshooting").getEntry("Y");
+   @Override
+   public void periodic() {
+       // Update the odometry in the periodic block
+       m_odometry.update(Rotation2d.fromDegrees(getHeading()), m_leftEncoder.getDistance(),
+           m_rightEncoder.getDistance());
+       var translation = m_odometry.getPoseMeters().getTranslation();
+       m_xEntry.setNumber(translation.getX());
+       m_yEntry.setNumber(translation.getY());
+   }
+   ```
+
+   ```c++
+   NetworkTableEntry m_xEntry = nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting")->GetEntry("X");
+   NetworkTableEntry m_yEntry = nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting")->GetEntry("Y");
+   void DriveSubsystem::Periodic() {
+       // Implementation of subsystem periodic method goes here.
+       m_odometry.Update(frc::Rotation2d(units::degree_t(GetHeading())),
+                           units::meter_t(m_leftEncoder.GetDistance()),
+                           units::meter_t(m_rightEncoder.GetDistance()));
+       auto translation = m_odometry.GetPose().Translation();
+       m_xEntry.SetDouble(translation.X().value());
+       m_yEntry.SetDouble(translation.Y().value());
+   }
+   ```
 
 2. Lay out a tape measure parallel to your robot and push your robot out about one meter along the tape measure. Lay out a tape measure along the Y axis and start over, pushing your robot one meter along the X axis and one meter along the Y axis in a rough arc.
-3. Compare X and Y reported by the robot to actual X and Y. If X is off by more than 5 centimeters in the first test then you should check that you measured your wheel diameter correctly, and that your wheels are not worn down. If the second test is off by more than 5 centimeters in either X or Y then your track width (distance from the center of the left wheel to the center of the right wheel) may be incorrect; if you're sure that you measured the track width correctly with a tape measure then your robot's wheels may be slipping in a way that is not accounted for by track width--if this is the case then you should :ref:`run the track width identification <docs/software/pathplanning/system-identification/identification-routine:Track Width>` using the "Drivetrain (Angular)" test in SysID and use that track width instead of the one from your tape measure.
+3. Compare X and Y reported by the robot to actual X and Y. If X is off by more than 5 centimeters in the first test then you should check that you measured your wheel diameter correctly, and that your wheels are not worn down. If the second test is off by more than 5 centimeters in either X or Y then your track width (distance from the center of the left wheel to the center of the right wheel) may be incorrect; if you're sure that you measured the track width correctly with a tape measure then your robot's wheels may be slipping in a way that is not accounted for by track width, so try increasing the track width number or measuring it programmatically.
 
-.. image:: images/sysid-trackwidth.png
-  :alt: Highlights the trackwidth section of identification.
-  :width: 350px
-
-Verify Feedforward
-^^^^^^^^^^^^^^^^^^
+### Verify Feedforward
 If your feedforwards are bad then the P controllers for each side of the robot will not track as well, and your ``DifferentialDriveVoltageConstraint`` will not limit your robot's acceleration accurately. We mostly want to turn off the wheel P controllers so that we can isolate and test the feedforwards.
 
 1. First, we must set disable the P controller for each wheel. Set the ``P`` gain to 0 for every controller. In the ``RamseteCommand`` example, you would set ``kPDriveVel`` to 0:
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
     :language: java
     :lines: 123-124
     :linenos:
     :lineno-start: 123
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
     :language: c++
     :lines: 79-80
     :linenos:
@@ -125,117 +112,106 @@ If your feedforwards are bad then the P controllers for each side of the robot w
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-    RamseteController m_disabledRamsete = new RamseteController();
-    m_disabledRamsete.setEnabled(false);
-
-    // Be sure to pass your new disabledRamsete variable
-    RamseteCommand ramseteCommand = new RamseteCommand(
-        exampleTrajectory,
-        m_robotDrive::getPose,
-        m_disabledRamsete,
-        ...
-    );
-
-   .. code-block:: c++
-
-    frc::RamseteController m_disabledRamsete;
-    m_disabledRamsete.SetEnabled(false);
-
-    // Be sure to pass your new disabledRamsete variable
-    frc2::RamseteCommand ramseteCommand(
-      exampleTrajectory,
-      [this]() { return m_drive.GetPose(); },
-      m_disabledRamsete,
-      ...
-    );
+   ```java
+   RamseteController m_disabledRamsete = new RamseteController();
+   m_disabledRamsete.setEnabled(false);
+   // Be sure to pass your new disabledRamsete variable
+   RamseteCommand ramseteCommand = new RamseteCommand(
+       exampleTrajectory,
+       m_robotDrive::getPose,
+       m_disabledRamsete,
+       ...
+   );
+   ```
+
+   ```c++
+   frc::RamseteController m_disabledRamsete;
+   m_disabledRamsete.SetEnabled(false);
+   // Be sure to pass your new disabledRamsete variable
+   frc2::RamseteCommand ramseteCommand(
+     exampleTrajectory,
+     [this]() { return m_drive.GetPose(); },
+     m_disabledRamsete,
+     ...
+   );
+   ```
 
 3. Finally, we need to log desired wheel velocity and actual wheel velocity (you should put actual and desired velocities on the same graph if you're using Shuffleboard, or if your graphing software has that capability):
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-    var table = NetworkTableInstance.getDefault().getTable("troubleshooting");
-    var leftReference = table.getEntry("left_reference");
-    var leftMeasurement = table.getEntry("left_measurement");
-    var rightReference = table.getEntry("right_reference");
-    var rightMeasurement = table.getEntry("right_measurement");
-
-    var leftController = new PIDController(kPDriveVel, 0, 0);
-    var rightController = new PIDController(kPDriveVel, 0, 0);
-    RamseteCommand ramseteCommand = new RamseteCommand(
-        exampleTrajectory,
-        m_robotDrive::getPose,
-        disabledRamsete, // Pass in disabledRamsete here
-        new SimpleMotorFeedforward(ksVolts, kvVoltSecondsPerMeter, kaVoltSecondsSquaredPerMeter),
-        kDriveKinematics,
-        m_robotDrive::getWheelSpeeds,
-        leftController,
-        rightController,
-        // RamseteCommand passes volts to the callback
-        (leftVolts, rightVolts) -> {
-            m_robotDrive.tankDriveVolts(leftVolts, rightVolts);
-
-            leftMeasurement.setNumber(m_robotDrive.getWheelSpeeds().leftMetersPerSecond);
-            leftReference.setNumber(leftController.getSetpoint());
-
-            rightMeasurement.setNumber(m_robotDrive.getWheelSpeeds().rightMetersPerSecond);
-            rightReference.setNumber(rightController.getSetpoint());
-        },
-        m_robotDrive
-    );
-
-   .. code-block:: c++
-
-    auto table =
-        nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting");
-    auto leftRef = table->GetEntry("left_reference");
-    auto leftMeas = table->GetEntry("left_measurement");
-    auto rightRef = table->GetEntry("right_reference");
-    auto rightMeas = table->GetEntry("right_measurement");
-
-    frc::PIDController leftController(DriveConstants::kPDriveVel, 0, 0);
-    frc::PIDController rightController(DriveConstants::kPDriveVel, 0, 0);
-    frc2::RamseteCommand ramseteCommand(
-        exampleTrajectory, [this]() { return m_drive.GetPose(); },
-        frc::RamseteController(AutoConstants::kRamseteB,
-                                AutoConstants::kRamseteZeta),
-        frc::SimpleMotorFeedforward<units::meters>(
-            DriveConstants::ks, DriveConstants::kv, DriveConstants::ka),
-        DriveConstants::kDriveKinematics,
-        [this] { return m_drive.GetWheelSpeeds(); }, leftController,
-        rightController,
-        [=](auto left, auto right) {
-            auto leftReference = leftRef;
-            auto leftMeasurement = leftMeas;
-            auto rightReference = rightRef;
-            auto rightMeasurement = rightMeas;
-
-            m_drive.TankDriveVolts(left, right);
-
-            leftMeasurement.SetDouble(m_drive.GetWheelSpeeds().left.value());
-            leftReference.SetDouble(leftController.GetSetpoint());
-
-            rightMeasurement.SetDouble(m_drive.GetWheelSpeeds().right.value());
-            rightReference.SetDouble(rightController.GetSetpoint());
-        },
-        {&m_drive});
+   ```java
+   var table = NetworkTableInstance.getDefault().getTable("troubleshooting");
+   var leftReference = table.getEntry("left_reference");
+   var leftMeasurement = table.getEntry("left_measurement");
+   var rightReference = table.getEntry("right_reference");
+   var rightMeasurement = table.getEntry("right_measurement");
+   var leftController = new PIDController(kPDriveVel, 0, 0);
+   var rightController = new PIDController(kPDriveVel, 0, 0);
+   RamseteCommand ramseteCommand = new RamseteCommand(
+       exampleTrajectory,
+       m_robotDrive::getPose,
+       disabledRamsete, // Pass in disabledRamsete here
+       new SimpleMotorFeedforward(ksVolts, kvVoltSecondsPerMeter, kaVoltSecondsSquaredPerMeter),
+       kDriveKinematics,
+       m_robotDrive::getWheelSpeeds,
+       leftController,
+       rightController,
+       // RamseteCommand passes volts to the callback
+       (leftVolts, rightVolts) -> {
+           m_robotDrive.tankDriveVolts(leftVolts, rightVolts);
+           leftMeasurement.setNumber(m_robotDrive.getWheelSpeeds().leftMetersPerSecond);
+           leftReference.setNumber(leftController.getSetpoint());
+           rightMeasurement.setNumber(m_robotDrive.getWheelSpeeds().rightMetersPerSecond);
+           rightReference.setNumber(rightController.getSetpoint());
+       },
+       m_robotDrive
+   );
+   ```
+
+   ```c++
+   auto table =
+       nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting");
+   auto leftRef = table->GetEntry("left_reference");
+   auto leftMeas = table->GetEntry("left_measurement");
+   auto rightRef = table->GetEntry("right_reference");
+   auto rightMeas = table->GetEntry("right_measurement");
+   frc::PIDController leftController(DriveConstants::kPDriveVel, 0, 0);
+   frc::PIDController rightController(DriveConstants::kPDriveVel, 0, 0);
+   frc2::RamseteCommand ramseteCommand(
+       exampleTrajectory, [this]() { return m_drive.GetPose(); },
+       frc::RamseteController(AutoConstants::kRamseteB,
+                               AutoConstants::kRamseteZeta),
+       frc::SimpleMotorFeedforward<units::meters>(
+           DriveConstants::ks, DriveConstants::kv, DriveConstants::ka),
+       DriveConstants::kDriveKinematics,
+       [this] { return m_drive.GetWheelSpeeds(); }, leftController,
+       rightController,
+       [=](auto left, auto right) {
+           auto leftReference = leftRef;
+           auto leftMeasurement = leftMeas;
+           auto rightReference = rightRef;
+           auto rightMeasurement = rightMeas;
+           m_drive.TankDriveVolts(left, right);
+           leftMeasurement.SetDouble(m_drive.GetWheelSpeeds().left.value());
+           leftReference.SetDouble(leftController.GetSetpoint());
+           rightMeasurement.SetDouble(m_drive.GetWheelSpeeds().right.value());
+           rightReference.SetDouble(rightController.GetSetpoint());
+       },
+       {&m_drive});
+   ```
 
 4. Run the robot on a variety of trajectories (curved and straight line), and check to see if the actual velocity tracks the desired velocity by looking at graphs from NetworkTables.
 5. If the desired and actual are off by *a lot* then you should check if the wheel diameter and ``encoderEPR`` you used for system identification were correct. If you've verified that your units and conversions are correct, then you should try recharacterizing on the same floor that you're testing on to see if you can get better data.
 
-Verify P Gain
-^^^^^^^^^^^^^
+### Verify P Gain
 If you completed the previous step and the problem went away then your problem can probably be found in one of the next steps. In this step we're going to verify that your wheel P controllers are well-tuned. If you're using Java then we want to turn off Ramsete so that we can just view our PF controllers on their own.
 
-1. You must re-use all the code from the previous step that logs actual vs. desired velocity (and the code that disables Ramsete, if you're using Java), except that **the P gain must be set back to its previous nonzero value.**
+1. You must reuse all the code from the previous step that logs actual vs. desired velocity (and the code that disables Ramsete, if you're using Java), except that **the P gain must be set back to its previous nonzero value.**
 2. Run the robot again on a variety of trajectories, and check that your actual vs. desired graphs look good.
 3. If the graphs do not look good (i.e. the actual velocity is very different from the desired) then you should try tuning your P gain and rerunning your test trajectories.
 
-Check Constraints
-^^^^^^^^^^^^^^^^^
+### Check Constraints
 .. note:: Make sure that your P gain is nonzero for this step and that you still have the logging code added in the previous steps. If you're using Java then you should remove the code to disable Ramsete.
 
 If your accuracy issue persisted through all of the previous steps then you might have an issue with your constraints. Below are a list of symptoms that the different available constraints will exhibit when poorly tuned.
@@ -255,6 +231,5 @@ Test one constraint at a time! Remove the other constraints, tune your one remai
 
   - If your robot ends up at the wrong heading then this could be the culprit. If your robot doesn't seem to turn enough then you should increase the max centripetal acceleration, but if it seems to go around tight turns to quickly then you should decrease the maximum centripetal acceleration.
 
-Check Trajectory Waypoints
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Check Trajectory Waypoints
 It is possible that your trajectory itself is not very driveable. Try moving waypoints (and headings at the waypoints, if applicable) to reduce sharp turns.
diff --git a/source/docs/software/advanced-controls/video-walkthrough.rst b/source/docs/software/advanced-controls/video-walkthrough.rst
index 781edbc1f0..41ed0187d5 100644
--- a/source/docs/software/advanced-controls/video-walkthrough.rst
+++ b/source/docs/software/advanced-controls/video-walkthrough.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-A Video Walkthrough of Model Based Validation of Autonomous in FRC
-==================================================================
+# A Video Walkthrough of Model Based Validation of Autonomous in FRC
 At the "RSN Spring Conference, Presented by WPI" in 2020, Tyler Veness from the WPILib team gave a presentation on Model Based Validation of Autonomous in FRC\ |reg|.
 
 .. raw:: html
@@ -9,4 +8,4 @@ At the "RSN Spring Conference, Presented by WPI" in 2020, Tyler Veness from the
   <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;"> <iframe src="https://www.youtube-nocookie.com/embed/V_LLMIsUgTQ" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe> </div>
 
 
-The link to the presentation is available `here <https://github.com/calcmogul/auton-driving-presentation>`_.
+The link to the presentation is available [here](https://github.com/calcmogul/auton-driving-presentation).
diff --git a/source/docs/software/advanced-gradlerio/code-formatting.rst b/source/docs/software/advanced-gradlerio/code-formatting.rst
index 9fa240c47f..56e2ec27f9 100644
--- a/source/docs/software/advanced-gradlerio/code-formatting.rst
+++ b/source/docs/software/advanced-gradlerio/code-formatting.rst
@@ -1,102 +1,97 @@
-Using a Code Formatter
-======================
+# Using a Code Formatter
 
 Code formatters exist to ensure that the style of code written is consistent throughout the entire codebase. This is used in many major projects; from Android to OpenCV. Teams may wish to add a formatter throughout their robot code to ensure that the codebase maintains readability and consistency throughout.
 
-For this article, we will highlight using `Spotless <https://github.com/diffplug/spotless>`__ for Java teams and `wpiformat <https://github.com/wpilibsuite/styleguide/blob/main/wpiformat/README.rst>`__ for C++ teams.
+For this article, we will highlight using [Spotless](https://github.com/diffplug/spotless) for Java teams and [wpiformat](https://github.com/wpilibsuite/styleguide/blob/main/wpiformat/README.rst) for C++ teams.
 
-Spotless
---------
+## Spotless
 
-Configuration
-^^^^^^^^^^^^^
+### Configuration
 
 Necessary ``build.gradle`` changes are required to get Spotless functional. In the ``plugins {}`` block of your ``build.gradle``, add the Spotless plugin so it appears similar to the below.
 
-.. code-block:: groovy
-
-   plugins {
-      id "java"
-      id "edu.wpi.first.GradleRIO" version "2022.1.1"
-      id 'com.diffplug.spotless' version '6.12.0'
-   }
+```groovy
+plugins {
+   id "java"
+   id "edu.wpi.first.GradleRIO" version "2024.1.1"
+   id 'com.diffplug.spotless' version '6.20.0'
+}
+```
 
 Then ensure you add a required ``spotless {}`` block to correctly configure spotless. This can just get placed at the end of your ``build.gradle``.
 
-.. code-block:: groovy
-
-   spotless {
-      java {
-         target fileTree('.') {
-               include '**/*.java'
-               exclude '**/build/**', '**/build-*/**'
-         }
-         toggleOffOn()
-         googleJavaFormat()
-         removeUnusedImports()
-         trimTrailingWhitespace()
-         endWithNewline()
+```groovy
+spotless {
+   java {
+      target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**'
       }
-      groovyGradle {
-         target fileTree('.') {
-               include '**/*.gradle'
-               exclude '**/build/**', '**/build-*/**'
-         }
-         greclipse()
-         indentWithSpaces(4)
-         trimTrailingWhitespace()
-         endWithNewline()
+      toggleOffOn()
+      googleJavaFormat()
+      removeUnusedImports()
+      trimTrailingWhitespace()
+      endWithNewline()
+   }
+   groovyGradle {
+      target fileTree('.') {
+            include '**/*.gradle'
+            exclude '**/build/**', '**/build-*/**'
       }
-      format 'xml', {
-         target fileTree('.') {
-               include '**/*.xml'
-               exclude '**/build/**', '**/build-*/**'
-         }
-         eclipseWtp('xml')
-         trimTrailingWhitespace()
-         indentWithSpaces(2)
-         endWithNewline()
+      greclipse()
+      indentWithSpaces(4)
+      trimTrailingWhitespace()
+      endWithNewline()
+   }
+   format 'xml', {
+      target fileTree('.') {
+            include '**/*.xml'
+            exclude '**/build/**', '**/build-*/**'
       }
-      format 'misc', {
-         target fileTree('.') {
-               include '**/*.md', '**/.gitignore'
-               exclude '**/build/**', '**/build-*/**'
-         }
-         trimTrailingWhitespace()
-         indentWithSpaces(2)
-         endWithNewline()
+      eclipseWtp('xml')
+      trimTrailingWhitespace()
+      indentWithSpaces(2)
+      endWithNewline()
+   }
+   format 'misc', {
+      target fileTree('.') {
+            include '**/*.md', '**/.gitignore'
+            exclude '**/build/**', '**/build-*/**'
       }
+      trimTrailingWhitespace()
+      indentWithSpaces(2)
+      endWithNewline()
    }
+}
+```
 
-Running Spotless
-^^^^^^^^^^^^^^^^
+### Running Spotless
 
 Spotless can be ran using ``./gradlew spotlessApply`` which will apply all formatting options. You can also specify a specific task by just adding the name of formatter. An example is ``./gradlew spotlessmiscApply``.
 
 In addition to formatting code, Spotless can also ensure the code is correctly formatted; this can be used by running ``./gradlew spotlessCheck``. Thus, Spotless can be used as a :doc:`CI check <robot-code-ci>`, as shown in the following GitHub Actions workflow:
 
-.. code-block:: yaml
-
-   on: [push]
-   # A workflow run is made up of one or more jobs that can run sequentially or in parallel
-   jobs:
-     spotless:
-       # The type of runner that the job will run on
-       runs-on: ubuntu-latest
-       # Steps represent a sequence of tasks that will be executed as part of the job
-       steps:
-         # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-         - uses: actions/checkout@v2
-           with:
-             fetch-depth: 0
-         - uses: actions/setup-java@v3
-           with:
-             distribution: 'zulu'
-             java-version: 17
-         - run: ./gradlew spotlessCheck
-
-Explanation of Options
-^^^^^^^^^^^^^^^^^^^^^^
+```yaml
+on: [push]
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  spotless:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 17
+      - run: ./gradlew spotlessCheck
+```
+
+### Explanation of Options
 
 Each ``format`` section highlights formatting of custom files in the project. The ``java`` and ``groovyGradle`` are natively supported by spotless, so they are defined differently.
 
@@ -109,44 +104,41 @@ Breaking this down, we can split this into multiple parts.
 
 They are all similar, except for some small differences that will be explained. The below example will highlight the ``java {}`` block.
 
-.. code-block:: groovy
-
-   java {
-      target fileTree('.') {
-         include '**/*.java'
-         exclude '**/build/**', '**/build-*/**'
-      }
-      toggleOffOn()
-      googleJavaFormat()
-      removeUnusedImports()
-      trimTrailingWhitespace()
-      endWithNewline()
-   }
-
-Let's explain what each of the options mean.
-
-.. code-block:: groovy
-
+```groovy
+java {
    target fileTree('.') {
       include '**/*.java'
       exclude '**/build/**', '**/build-*/**'
    }
+   toggleOffOn()
+   googleJavaFormat()
+   removeUnusedImports()
+   trimTrailingWhitespace()
+   endWithNewline()
+}
+```
 
-The above example tells spotless where our Java classes are and to exclude the ``build`` directory. The rest of the options are fairly self-explanatory.
-
-- ``toggleOffOn()`` adds the ability to have spotless ignore specific portions of a project. The usage looks like the following
-
-.. code-block:: java
+Let's explain what each of the options mean.
 
-   // format:off
+```groovy
+target fileTree('.') {
+   include '**/*.java'
+   exclude '**/build/**', '**/build-*/**'
+}
+```
 
-   public void myWeirdFunction() {
+The above example tells spotless where our Java classes are and to exclude the ``build`` directory. The rest of the options are fairly self-explanatory.
 
-   }
+- ``toggleOffOn()`` adds the ability to have spotless ignore specific portions of a project. The usage looks like the following
 
-   // format:on
+```java
+// format:off
+public void myWeirdFunction() {
+}
+// format:on
+```
 
-- ``googleJavaFormat()`` tells spotless to format according to the `Google Style Guide <https://google.github.io/styleguide/javaguide.html>`__
+- ``googleJavaFormat()`` tells spotless to format according to the [Google Style Guide](https://google.github.io/styleguide/javaguide.html)
 - ``removeUnusedImports()`` will remove any unused imports from any of your Java classes
 - ``trimTrailingWhitespace()`` will remove any extra whitespace at the end of your lines
 - ``endWithNewline()`` will add a newline character to the end of your classes
@@ -155,32 +147,28 @@ In the ``groovyGradle`` block, there is a ``greclipse`` option. This is the form
 
 Additionally, there is a ``eclipseWtp`` option in the ``xml`` block. This stands for "Gradle Web Tools Platform" and is the formatter to format ``xml`` files. Teams not using any XML files may wish to not include this configuration.
 
-.. note:: A full list of configurations is available on the `Spotless README <https://github.com/diffplug/spotless>`__
+.. note:: A full list of configurations is available on the [Spotless README](https://github.com/diffplug/spotless)
 
-Issues with Line Endings
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Issues with Line Endings
 
 Spotless will attempt to apply line endings per-OS, which means Git diffs will be constantly changing if two users are on different OSes (Unix vs Windows). It's recommended that teams who contribute to the same repository from multiple OSes utilize a ``.gitattributes`` file. The following should suffice for handling line endings.
 
-.. code-block:: text
-
-   *.gradle text eol=lf
-   *.java text eol=lf
-   *.md text eol=lf
-   *.xml text eol=lf
+```text
+*.gradle text eol=lf
+*.java text eol=lf
+*.md text eol=lf
+*.xml text eol=lf
+```
 
-wpiformat
----------
+## wpiformat
 
-Requirements
-^^^^^^^^^^^^
+### Requirements
 
-- `Python 3.6 or higher <https://www.python.org/>`__
+- [Python 3.6 or higher](https://www.python.org/)
 
-You can install `wpiformat <https://github.com/wpilibsuite/styleguide/blob/main/wpiformat/README.rst>`__ by typing ``pip3 install wpiformat`` into a terminal or command prompt.
+You can install [wpiformat](https://github.com/wpilibsuite/styleguide/blob/main/wpiformat/README.rst) by typing ``pip3 install wpiformat`` into a terminal or command prompt.
 
-Usage
-^^^^^
+### Usage
 
 wpiformat can be ran by typing ``wpiformat`` in a console. This will format with ``clang-format``. Three configuration files are required (``.clang-format``, ``.styleguide``, ``.styleguide-license``). These must exist in the project root.
 
@@ -189,27 +177,25 @@ wpiformat can be ran by typing ``wpiformat`` in a console. This will format with
 
 An example styleguide is shown below:
 
-.. code-block:: text
-
-   cppHeaderFileInclude {
-      \.h$
-      \.hpp$
-      \.inc$
-      \.inl$
-   }
-
-   cppSrcFileInclude {
-      \.cpp$
-   }
-
-   modifiableFileExclude {
-      gradle/
-   }
+```text
+cppHeaderFileInclude {
+   \.h$
+   \.hpp$
+   \.inc$
+   \.inl$
+}
+cppSrcFileInclude {
+   \.cpp$
+}
+modifiableFileExclude {
+   gradle/
+}
+```
 
 .. note:: Teams can adapt ``.styleguide`` and ``.styleguide-license`` however they wish. It's important that these are not deleted, as they are required to run wpiformat!
 
 You can turn this into a :doc:`CI check <robot-code-ci>` by running ``git --no-pager diff --exit-code HEAD``, as shown in the example GitHub Actions workflow below:
 
-.. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/.github/workflows/lint-format.yml
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/.github/workflows/lint-format.yml
    :language: yaml
-   :lines: 1-5, 12-34
+   :lines: 1-5, 13-34
diff --git a/source/docs/software/advanced-gradlerio/compiler-args.rst b/source/docs/software/advanced-gradlerio/compiler-args.rst
new file mode 100644
index 0000000000..989e3a6138
--- /dev/null
+++ b/source/docs/software/advanced-gradlerio/compiler-args.rst
@@ -0,0 +1,32 @@
+# Using Compiler Arguments
+
+Compiler arguments allow us to change the behavior of our compiler. This includes making warnings into errors, ignoring certain warnings and choosing optimization level. When compiling code a variety of flags are already included by default which can be found [here](https://github.com/wpilibsuite/native-utils/blob/v2024.7.2/src/main/java/edu/wpi/first/nativeutils/WPINativeUtilsExtension.java#L38). Normally it could be proposed that the solution is to pass them in as flags when compiling our code but this doesn't work in GradleRIO. Instead modify the build.gradle.
+
+.. warning:: Modifying arguments is dangerous and can cause unexpected behavior.
+
+## C++
+
+### Platforms
+
+Different compilers and different platforms use a variety of different flags. Therefore to avoid breaking different platforms with compiler flags configure all flags per platform. The platforms that are supported are listed [here](https://github.com/wpilibsuite/native-utils/blob/v2024.7.2/src/main/java/edu/wpi/first/nativeutils/WPINativeUtilsExtension.java#L96)
+
+### Configuring for a Platform
+
+```groovy
+nativeUtils.platformConfigs.named('windowsx86-64').configure {
+  it.cppCompiler.args.add("/utf-8")
+}
+```
+
+native-utils is used to configure the platform, in this case, `windowsx86-64`. This can be replaced for any platform listed in the previous section. Then arguments, such as `/utf-8` is appended to the C++ compiler.
+
+## Java
+
+Arguments can also be configured for Java. This can be accomplished by editing `build.gradle` and appending arguments to the `FRCJavaArtifact`. An example of this is shown below.
+
+```groovy
+frcJava(getArtifactClass('FRCJavaArtifact')) {
+  jvmArgs.add("-XX:+DisableExplicitGC")
+}
+```
+
diff --git a/source/docs/software/advanced-gradlerio/deploy-git-data.rst b/source/docs/software/advanced-gradlerio/deploy-git-data.rst
index d1a7aad0aa..e121ea0853 100644
--- a/source/docs/software/advanced-gradlerio/deploy-git-data.rst
+++ b/source/docs/software/advanced-gradlerio/deploy-git-data.rst
@@ -1,113 +1,65 @@
-Including Git Data in Deploy
-============================
+# Including Git Data in Deploy
+
+This article will explain how to include metadata from Git in robot code using the [gversion](https://github.com/lessthanoptimal/gversion-plugin) Gradle plugin. This generates a file which can be used for accessing Git metadata in robot code. This can be used to track what revision of code is on the robot, such as by printing or logging it.
+
+.. note:: For Python teams, Git metadata is always copied to your robot during the deploy process. You can use :external:py:func:`wpilib.deployinfo.getDeployData` to retrieve the stored information.
+
+## Installing gversion
+
+To install gversion add the following line to the plugins block of ``build.gradle``. This tells Gradle to use gversion in the project.
+
+```groovy
+plugins {
+    // ...
+    id "com.peterabeles.gversion" version "1.10"
+}
+```
+
+In order to generate the file when building the project, add the following block to the bottom of ``build.gradle``.
+
+```groovy
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+  srcDir       = "src/main/java/"
+  classPackage = "frc.robot"
+  className    = "BuildConstants"
+  dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+  timeZone     = "America/New_York" // Use preferred time zone
+  indent       = "  "
+}
+```
+
+The ``srcDir``, ``classPackage``, and ``className`` parameters tell the plugin where to put the manifest file, and what to name it. The ``timeZone`` field can be set to your team's time zone based on [this list of timezone IDs](https://docs.oracle.com/middleware/12211/wcs/tag-ref/MISC/TimeZones.html). The ``dateFormat`` parameter is based on [this Java class](https://docs.oracle.com/javase/8/docs/api/java/text/SimpleDateFormat.html).
+
+To test this, run a build of your project through the WPILib menu in the top right. Once the code has finished building, there should be a file called ``BuildConstants.java`` in your ``src/main/java`` folder. The following is an example of what this file should look like:
+
+```Java
+package frc.robot;
+/**
+* Automatically generated file containing build version information.
+*/
+public final class BuildConstants {
+  public static final String MAVEN_GROUP = "";
+  public static final String MAVEN_NAME = "GitVersionTest";
+  public static final String VERSION = "unspecified";
+  public static final int GIT_REVISION = 1;
+  public static final String GIT_SHA = "fad108a4b1c1dcdfc8859c6295ea64e06d43f557";
+  public static final String GIT_DATE = "2023-10-26 17:38:59 EDT";
+  public static final String GIT_BRANCH = "main";
+  public static final String BUILD_DATE = "2023-10-27 12:29:57 EDT";
+  public static final long BUILD_UNIX_TIME = 1698424197122L;
+  public static final int DIRTY = 0;
+  private BuildConstants(){}
+}
+```
+
+``DIRTY`` indicates whether there are uncommitted changes in the project. A value of 0 indicates a clean repository, a value of 1 indicates that there are uncommitted changes, and a value -1 indicates an error.
+
+### Ignoring Generated Files with Git
+
+These files are regenerated every time code is built or deployed, so it isn't necessary to track them with Git. The aptly named [.gitignore](https://git-scm.com/docs/gitignore) file tells Git not to track any listed files and should exist by default in any project generated by the WPILib VS Code extension. Below is the line you should add to ``.gitignore`` to ignore the generated file:
+
+```
+src/main/java/frc/robot/BuildConstants.java
+```
 
-This article will go over how to include information from Git, such as branch name or commit hash, into the robot code. This is necessary for using such information in robot code, such as printing out commit hash and branch name when the robot starts.
-
-.. note:: Git must be in the path for this to work. This should be enabled by default when `installing Git <https://git-scm.com/downloads>`__.
-
-Deploying Branch Name
----------------------
-
-This example uses `git rev-parse <https://git-scm.com/docs/git-rev-parse>`__ to extract data the name of the current branch. The Git command used for this is:
-
-.. code-block:: console
-
-   $ git rev-parse --abbrev-ref HEAD
-
-The ``--abbrev-ref`` flag tells Git to use a short version of the name for the current commit that ``rev-parse`` is acting on. When HEAD is the most recent commit on a branch, this will return the name of that branch.
-
-Next, create a new task in the ``build.gradle`` file that will run the above Git command and write it to a file in the ``src/main/deploy`` directory. For example, the following is an example task named ``writeBranchName`` that will write the branch name to a file named ``branch.txt``.
-
-.. code-block:: groovy
-
-   tasks.register("writeBranchName") {
-      // Define an output stream to write to instead of terminal
-      def stdout = new ByteArrayOutputStream()
-
-      // Execute the git command
-      exec {
-         commandLine "git", "rev-parse", "--abbrev-ref", "HEAD"
-         // Write to the output stream instead of terminal
-         standardOutput = stdout
-      }
-
-      // Parse the output into a string
-      def branch = stdout.toString().trim()
-
-      // Create a new file
-      new File(
-         // Join project directory and deploy directory
-         projectDir.toString() + "/src/main/deploy",
-         // File name to write to
-         "branch.txt"
-      ).text = branch // Set the contents of the file to the variable branch
-   }
-
-This registers a `Gradle task <https://docs.gradle.org/current/userguide/tutorial_using_tasks.html>`__ that uses the above Git command, saves the output to a variable, and then writes it to a file. Since it was written to the ``src/main/deploy`` directory, it will be included in the jar file deployed to the robot and accessible in code.
-
-The next step is to make the deploy task depend on the task you created, so that it will automatically run before the code is deployed. This example uses the task name ``writeBranchName`` from the previous example, but it should be replaced with the name of the task in your ``build.gradle``.
-
-.. code-block:: groovy
-
-   deploy.targets.roborio.artifacts.frcStaticFileDeploy.dependsOn(writeBranchName)
-
-Deploying Commit Hash
----------------------
-
-Similar to the previous example, ``git rev-parse`` will be used to parse the current commit hash. The Git command used for this is:
-
-.. code-block:: console
-
-   $ git rev-parse --short HEAD
-
-Similar to the previous Git command, ``rev-parse`` is used to find information about the commit at HEAD. However, instead of using ``--abbrev-ref`` to find the branch name associated with that commit, ``--short`` is used to find the 7-character commit hash.
-
-.. note:: If you wish to use the full commit hash instead of the 7-character version, you can leave out the ``--short`` flag.
-
-Next is to create a task in ``build.gradle`` that runs this command and writes the output to a file. This is largely the same as the first example, except the task is named ``writeCommitHash``, the new Git command is used, and it is written to ``commit.txt`` instead of ``branch.txt``.
-
-.. code-block:: groovy
-
-   tasks.register("writeCommitHash") {
-      def stdout = new ByteArrayOutputStream()
-
-      exec {
-        commandLine "git", "rev-parse", "--short", "HEAD"
-        standardOutput = stdout
-      }
-
-      def commitHash = stdout.toString().trim()
-
-      new File(
-         projectDir.toString() + "/src/main/deploy",
-         "commit.txt"
-      ).text = commitHash
-   }
-
-   deploy.targets.roborio.artifacts.frcStaticFileDeploy.dependsOn(writeCommitHash)
-
-Ignoring Generated Files with Git
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Since these files include data that is already tracked by Git and are regenerated every time code is deployed, it is recommended to not track these changes with Git by using the `gitignore <https://git-scm.com/docs/gitignore>`__ file. This file should exist by default in any project generated by the WPILib VS Code extension. Below is an example that continues to use the ``branch.txt`` and ``commit.txt`` file names:
-
-.. code-block::
-
-  src/main/deploy/branch.txt
-  src/main/deploy/commit.txt
-  ...
-
-Using Deployed Files
---------------------
-
-In order to access files that were written to the deploy directory in code, you have to use the ``getDeployDirectory()`` method of the `Filesystem <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Filesystem.html>`__ class in Java, or the ``GetDeployDirectory()`` function of the `frc::filesystem <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc_1_1filesystem.html>`__ namespace in C++. Below is an example of opening both files from the previous examples:
-
-.. note:: Opening and reading the files is slow and should not be performed during any periodic methods. Since the file will only change on deploy, it only needs to be read once.
-
-.. code-block:: java
-
-   File deployDir = Filesystem.getDeployDirectory();
-   File branchFile = new File(deployDir, "branch.txt");
-   File commitFile = new File(deployDir, "commit.txt");
-
-For more information on how to interact with the file objects, see the documentation of the `File <https://docs.oracle.com/javase/7/docs/api/java/io/File.html>`__ class.
diff --git a/source/docs/software/advanced-gradlerio/external-libraries.rst b/source/docs/software/advanced-gradlerio/external-libraries.rst
index 82aa947996..c545bf8c7f 100644
--- a/source/docs/software/advanced-gradlerio/external-libraries.rst
+++ b/source/docs/software/advanced-gradlerio/external-libraries.rst
@@ -1,12 +1,10 @@
-Using External Libraries with Robot Code
-========================================
+# Using External Libraries with Robot Code
 
 .. warning:: Using external libraries may have unintended behavior with your robot code! It is not recommended unless you are aware of what you are doing!
 
 Often a team might want to add external Java or C++ libraries for usage with their robot code. This article highlights adding Java libraries to your Gradle dependencies, or the options that C++ teams have.
 
-Java
-----
+## Java
 
 .. note:: Any external dependencies that rely on native libraries (JNI) are likely not going to work.
 
@@ -14,44 +12,41 @@ Java is quite simple to add external dependencies. You simply add the required `
 
 Robot projects by default do not have a ``repositories {}`` block in the ``build.gradle`` file. You will have to add this yourself. Above the ``dependencies {}`` block, please add the following:
 
-.. code-block:: groovy
-
-   repositories {
-      mavenCentral()
-      ...
-   }
+```groovy
+repositories {
+   mavenCentral()
+   ...
+}
+```
 
 ``mavenCentral()`` can be replaced with whatever repository the library you want to import is using. Now you have to add the dependency on the library itself. This is done by adding the necessary line to your ``dependencies {}`` block. The below example showcases adding Apache Commons to your Gradle project.
 
-.. code-block:: groovy
-
-   dependencies {
-      implementation 'org.apache.commons:commons-lang3:3.6'
-      ...
-   }
+```groovy
+dependencies {
+   implementation 'org.apache.commons:commons-lang3:3.6'
+   ...
+}
+```
 
 Now you run a build and ensure the dependencies are downloaded. Intellisense may not work properly until a build is ran!
 
-C++
----
+## C++
 
 Adding C++ dependencies to your robot project is non-trivial due to needing to compile for the roboRIO. You have a couple of options.
 
 1. Copy the source code of the wanted library into your robot project.
-2. Use the `vendordep template <https://github.com/wpilibsuite/vendor-template>`__ as an example and create a vendordep.
+2. Use the [vendordep template](https://github.com/wpilibsuite/vendor-template) as an example and create a vendordep.
 
-Copying Source Code
-^^^^^^^^^^^^^^^^^^^
+### Copying Source Code
 
 Simply copy the necessary source and/or headers into your robot project. You can then configure any necessary platform args like below:
 
-.. code-block:: groovy
-
-   nativeUtils.platformConfigs.named("linuxx86-64").configure {
-      it.linker.args.add('-lstdc++fs') // links in C++ filesystem library
-   }
+```groovy
+nativeUtils.platformConfigs.named("linuxx86-64").configure {
+   it.linker.args.add('-lstdc++fs') // links in C++ filesystem library
+}
+```
 
-Creating a Vendordep
-^^^^^^^^^^^^^^^^^^^^
+### Creating a Vendordep
 
-Please follow the instructions in the `vendordep repository <https://github.com/wpilibsuite/vendor-template>`__.
+Please follow the instructions in the [vendordep repository](https://github.com/wpilibsuite/vendor-template).
diff --git a/source/docs/software/advanced-gradlerio/gradlew-tasks.rst b/source/docs/software/advanced-gradlerio/gradlew-tasks.rst
index e96b7b301e..1b27039155 100644
--- a/source/docs/software/advanced-gradlerio/gradlew-tasks.rst
+++ b/source/docs/software/advanced-gradlerio/gradlew-tasks.rst
@@ -1,40 +1,37 @@
-Gradlew Tasks
-=============
+# Gradlew Tasks
 
 This article aims to highlight the gradle commands supported by the WPILib team for user use. These commands can be viewed by typing ``./gradlew tasks`` at the root of your robot project. Not all commands shown in ``./gradlew tasks`` and unsupported commands will not be documented here.
 
-Build tasks
------------
+## Build tasks
 
 ``./gradlew build`` - Assembles and tests this project. Useful for prebuilding your project without deploying to the roboRIO.
+
 ``./gradlew clean`` - Deletes the build directory.
 
-CompileCommands tasks
----------------------
+## CompileCommands tasks
+
+``./gradlew generateCompileCommands`` - Generate compile_commands.json for C++ programs. This is a configuration file that is used by clangd, which is supported by many Integrated Development Environments and build tools. This file will be saved in ``build/TargetedCompileCommands/targetplatformandbuildtype`` but needs to be moved to the root of your project. Many IDE's will have a way to specify where this file is found, which you can use instead if you desire. Make sure you have gitignored this file.
 
-``./gradlew generateCompileCommands`` - Generate compile_commands.json. This is a configuration file that is supported by many Integrated Development Environments.
+.. warning::
+    Using compile commands isn't recommended for most users and has a variety of pitfalls compared to the built-in intellisense.
 
-EmbeddedTools tasks
--------------------
+## DeployUtils tasks
 
 ``./gradlew deploy`` - Deploy all artifacts on all targets. This will deploy your robot project to the available targets (IE, roboRIO).
 
 ``./gradlew discoverRoborio`` - Determine the address(es) of target roboRIO. This will print out the IP address of a connected roboRIO.
 
-GradleRIO tasks
----------------
-
-``./gradlew downloadAll`` - Download all dependencies that may be used by this project
+## GradleRIO tasks
 
 ``./gradlew $TOOL$`` - Runs the tool ``$TOOL$`` (Replace ``$TOOL$`` with the name of the tool. IE, Glass, Shuffleboard, etc)
 
-``./gradlew $TOOL$Install`` - Installs the tool ``$TOOL$`` (Replace ``$TOOL$`` with the name of the tool. IE, Glass, Shuffleboard, etc)
+``./gradlew $TOOL$Install`` - Installs the java tool ``$TOOL$`` (Replace ``$TOOL$`` with the name of the tool. IE, Shuffleboard, SmartDashboard, etc)
 
 ``./gradlew InstallAllTools`` - Installs all available tools. This excludes the development environment such as Visual Studio Code. It's the users requirement to ensure the required dependencies (Java) is installed. Only recommended for advanced users!
 
-``./gradlew simulateExternalCpp`` - Simulate External Task for native executable. Exports a JSON file for use by editors / tools
+``./gradlew simulateExternalNativeRelease`` - Simulate External Task for native executable. Exports a JSON file for use by editors / tools
 
-``./gradlew simulateExternalJava`` - Simulate External Task for Java/Kotlin/JVM. Exports a JSON file for use by editors / tools
+``./gradlew simulateExternalJavaRelease`` - Simulate External Task for Java/Kotlin/JVM. Exports a JSON file for use by editors / tools
 
 ``./gradlew simulateJava`` - Launches simulation for the Java projects
 
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diff --git a/source/docs/software/advanced-gradlerio/index.rst b/source/docs/software/advanced-gradlerio/index.rst
index 83a32d5811..ae75b98836 100644
--- a/source/docs/software/advanced-gradlerio/index.rst
+++ b/source/docs/software/advanced-gradlerio/index.rst
@@ -1,5 +1,4 @@
-Advanced GradleRIO
-==================
+# Advanced GradleRIO
 
 GradleRIO is the mechanism that powers the deployment of robot code to the roboRIO. GradleRIO is built on the popular Gradle dependency and build management system. This section highlights **advanced** configurations that teams can use to enhance their workflow.
 
@@ -11,3 +10,6 @@ GradleRIO is the mechanism that powers the deployment of robot code to the roboR
    code-formatting
    gradlew-tasks
    deploy-git-data
+   compiler-args
+   profiling-with-visualvm
+
diff --git a/source/docs/software/advanced-gradlerio/profiling-with-visualvm.rst b/source/docs/software/advanced-gradlerio/profiling-with-visualvm.rst
new file mode 100644
index 0000000000..a915c42ea3
--- /dev/null
+++ b/source/docs/software/advanced-gradlerio/profiling-with-visualvm.rst
@@ -0,0 +1,134 @@
+# Profiling with VisualVM
+
+This document is intended to familiarize the reader with the diagnostic tool that is [VisualVM](https://visualvm.github.io/) for debugging Java robot programs. VisualVM is a tool for profiling JVM based applications, such as viewing why an application is using a large amount of memory. This document assumes the reader is familiar with the *risks* associated with modifying their robot ``build.gradle``. This tutorial also assumes that the user knows basic terminal/commandline knowledge.
+
+## Unpacking VisualVM
+
+To begin, [download VisualVM](https://visualvm.github.io/download.html) and unpack it to the WPILib installation folder. The folder is located at ``~/wpilib/`` where ``~`` indicates the users home directory. On Windows, this is ``C:\Users\Public\wpilib``.
+
+## Setting up Gradle
+
+GradleRIO supports passing JVM launch arguments, and this is what is necessary to enable remote debugging. Remote debugging is a feature that allows a local machine (such as the user's desktop) to view important information about a remote target (in our case, a roboRIO). To begin, locate the ``frcJava`` code block located in the projects ``build.gradle``. Below is what is looks like.
+
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2024.3.2/vscode-wpilib/resources/gradle/java/build.gradle
+   :language: groovy
+   :lines: 15-40
+   :linenos:
+   :lineno-start: 15
+   :emphasize-lines: 15-16
+
+
+We will be replacing the highlighted lines with:
+
+```groovy
+frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+   // Enable VisualVM connection
+   jvmArgs.add("-Dcom.sun.management.jmxremote=true")
+   jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
+   jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
+   jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
+   jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
+   jvmArgs.add("-Djava.rmi.server.hostname=10.TE.AM.2") // Replace TE.AM with team number
+}
+```
+
+We are adding a few arguments here. In order:
+
+* Enable remote debugging
+* Set the remote debugging port to 1198
+* Allow listening from remote targets
+* Disable SSL authentication being required
+* Set the hostname to the roboRIOs team number. Be sure to replace this. (:ref:`TE.AM IP Notation <docs/networking/networking-introduction/ip-configurations:TE.AM IP Notation>`)
+
+.. important:: The hostname when connected via USB-B should be ``172.22.11.2``.
+
+## Running VisualVM
+
+Launching VisualVM is done via the commandline with a few parameters. First, we navigate to the directory containing VisualVM. Then, launch it with parameters, passing it the WPILib JDK path. On a Windows machine, it looks like the following:
+
+```bash
+cd "C:\Users\Public\wpilib\visualvm_217\bin"
+./visualvm --jdkhome "C:\Users\Public\wpilib\2024\jdk"
+```
+
+.. important:: The exact path ``visualvm_217`` may vary and depends on the version of VisualVM downloaded.
+
+This should launch VisualVM. Once launched, open the :guilabel:`Add JMX Connection` dialog.
+
+.. image:: images/visualvm/visualvm-addconn.png
+   :alt: Add visualvm connection menu option
+   :width: 700
+
+Once opened, configure the connection details and hostname. Ensure that :guilabel:`Do not require SSL connection` is ticked.
+
+.. image:: images/visualvm/visualvm-dialog.png
+   :alt: VisualVM connection dialog is ticked
+   :width: 700
+
+If correctly done, a new menu option in the left-hand sidebar will appear. Clicking on it will show you a detailed dashboard of the running JVM application.
+
+.. image:: images/visualvm/visualvm-dash.png
+   :alt: VisualVM diagnostics dashboard
+   :width: 700
+
+## Analyzing Function Timings
+
+An important feature of VisualVM is the ability to view how much time a specific function is taking up. This is *without* having a code debugger attached. To begin, click on the :guilabel:`Sampler` tab and then click on :guilabel:`CPU`. This will immediately give a breakdown of what functions are taking CPU time.
+
+.. image:: images/visualvm/visualvm-function-profiling.png
+   :alt: Analyzing the VisualVM function timing tree
+   :width: 700
+
+The above screenshot shows a breakdown of the total time a specific function takes. You can see that ``totallyNotSlowFunction()`` accounts for ``61.9%`` of the robot program CPU time. We can then correlate this to our robot program. In ``totallyNotSlowFunction()``, we have the following code.
+
+```Java
+public static void totallyNotSlowFunction() {
+   for (int i = 0; i < 2000; i++) {
+      System.out.println("HAHAHAHA");
+   }
+}
+```
+
+In this code snippet, we can identify 2 major causes of concern. A long running ``for`` loop blocks the rest of the robot program from running. Additionally, ``System.out.println()`` calls on the roboRIO are typically quite expensive. We found this information by profiling the Java application on the roboRIO!
+
+## Creating a Heap Dump
+
+Besides viewing the remote systems CPU and memory usage, VisualVM is most useful by creating a **Heap Dump**. When a Java object is created, it resides in an area of memory called the heap. When the heap is full, a process called [garbage collection](https://www.geeksforgeeks.org/garbage-collection-java/) begins. Garbage collection can be a common cause of loop overruns in a traditional Java robot program.
+
+To begin, ensure you are on the :guilabel:`Monitor` tab and click :guilabel:`Heap Dump`.
+
+.. image:: images/visualvm/visualvm-perform-heapdump.png
+   :alt: Location of heap dump button in VisualVM
+   :width: 700
+
+This heap dump will be stored on the target system (roboRIO) and must be retrieved using SFTP. See :doc:`this article </docs/software/roborio-info/roborio-ftp>` for information on retrieving the dump from the roboRIO.
+
+Once downloaded, the dump can be analyzed with VisualVM.
+
+.. tip:: You can also :ref:`configure the JVM to take a heap dump automatically when your robot code runs out of memory <docs/software/basic-programming/java-gc:Diagnosing Out of Memory Errors with Heap Dumps>`.
+
+## Analyzing a Heap Dump
+
+Reopen VisualVM if closed using the previous instructions. Then click on :guilabel:`File` and :guilabel:`Load`. Navigate to the retrieved dump file and load it.
+
+.. image:: images/visualvm/visualvm-viewing-dump.png
+   :alt: Viewing a dump in VisualVM
+   :width: 700
+
+Clicking on :guilabel:`Summary` and selecting :guilabel:`Objects` instead will show a breakdown of objects by quantity. The below screenshot showcases a completely empty robot program, and then one that creates an million large ``ArrayList`` of integers.
+
+Blank robot program:
+
+.. image:: images/visualvm/visualvm-objects1.png
+   :alt: List of objects in a blank robot program
+   :width: 700
+
+with an ``ArrayList`` of ~10000 integers.
+
+.. image:: images/visualvm/visualvm-objects2.png
+   :alt: List of objects in a modified robot program
+   :width: 700
+
+## Additional Info
+
+For more information on VisualVM, check out the [VisualVM documentation pages](https://visualvm.github.io/documentation.html).
diff --git a/source/docs/software/advanced-gradlerio/robot-code-ci.rst b/source/docs/software/advanced-gradlerio/robot-code-ci.rst
index 78ad86618e..0e784f6bcb 100644
--- a/source/docs/software/advanced-gradlerio/robot-code-ci.rst
+++ b/source/docs/software/advanced-gradlerio/robot-code-ci.rst
@@ -1,14 +1,12 @@
-Setting up CI for Robot Code using GitHub Actions
-=================================================
+# Setting up CI for Robot Code using GitHub Actions
 
 An important aspect of working in a team environment is being able to test code that is pushed to a central repository such as GitHub. For example, a project manager or lead developer might want to run a set of unit tests before merging a pull request or might want to ensure that all code on the main branch of a repository is in working order.
 
-`GitHub Actions <https://github.com/features/actions>`_ is a service that allows for teams and individuals to build and run unit tests on code on various branches and on pull requests. These types of services are more commonly known as "Continuous Integration" services. This tutorial will show you how to setup GitHub Actions on robot code projects.
+[GitHub Actions](https://github.com/features/actions) is a service that allows for teams and individuals to build and run unit tests on code on various branches and on pull requests. These types of services are more commonly known as "Continuous Integration" services. This tutorial will show you how to setup GitHub Actions on robot code projects.
 
 .. note:: This tutorial assumes that your team's robot code is being hosted on GitHub. For an introduction to Git and GitHub, please see this :doc:`introduction guide </docs/software/basic-programming/git-getting-started>`.
 
-Creating the Action
--------------------
+## Creating the Action
 The instructions for carrying out the CI process are stored in a YAML file. To create this, click on the "Actions" tab at the top of your repository. Then click on the "set up a workflow yourself" hyperlink.
 
 .. image:: images/robot-ci/setup.png
@@ -16,46 +14,38 @@ The instructions for carrying out the CI process are stored in a YAML file. To c
 
 You will now be greeted with a text editor. Replace all the default text with the following:
 
-.. code-block:: yaml
-
-    # This is a basic workflow to build robot code.
-
-    name: CI
-
-    # Controls when the action will run. Triggers the workflow on push or pull request
-    # events but only for the main branch.
-    on:
-      push:
-        branches: [ main ]
-      pull_request:
-        branches: [ main ]
-
-    # A workflow run is made up of one or more jobs that can run sequentially or in parallel
-    jobs:
-      # This workflow contains a single job called "build"
-      build:
-        # The type of runner that the job will run on
-        runs-on: ubuntu-latest
-
-        # This grabs the WPILib docker container
-        container: wpilib/roborio-cross-ubuntu:2023-22.04
-
-        # Steps represent a sequence of tasks that will be executed as part of the job
-        steps:
-        # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-        - uses: actions/checkout@v3
-
-        # Declares the repository safe and not under dubious ownership.
-        - name: Add repository to git safe directories
-          run: git config --global --add safe.directory $GITHUB_WORKSPACE
-
-        # Grant execute permission for gradlew
-        - name: Grant execute permission for gradlew
-          run: chmod +x gradlew
-
-        # Runs a single command using the runners shell
-        - name: Compile and run tests on robot code
-          run: ./gradlew build
+```yaml
+# This is a basic workflow to build robot code.
+name: CI
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the main branch.
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+    # This grabs the WPILib docker container
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v4
+    # Declares the repository safe and not under dubious ownership.
+    - name: Add repository to git safe directories
+      run: git config --global --add safe.directory $GITHUB_WORKSPACE
+    # Grant execute permission for gradlew
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+    # Runs a single command using the runners shell
+    - name: Compile and run tests on robot code
+      run: ./gradlew build
+```
 
 Then, save changes by clicking the "Start commit" button on the top-right corner of the screen. You can amend the default commit message if you wish to do so. Then, click the green "Commit new file" button.
 
@@ -68,61 +58,55 @@ GitHub will now automatically run a build whenever a commit is pushed to main or
 .. image:: images/robot-ci/actions.png
   :alt: View of the actions tab
 
-A Breakdown of the Actions YAML File
-------------------------------------
+## A Breakdown of the Actions YAML File
 Here is a breakdown of the YAML file above. Although a strict understanding of each line is not required, some level of understanding will help you add more features and debug potential issues that may arise.
 
-.. code-block:: yaml
-
-    # Controls when the action will run. Triggers the workflow on push or pull request
-    # events but only for the main branch.
-    on:
-      push:
-        branches: [ main ]
-      pull_request:
-        branches: [ main ]
+```yaml
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the main branch.
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+```
 
 This block of code dictates when the Action will run. Currently, the action will run when commits are pushed to main or when pull requests are opened against main.
 
-.. code-block:: yaml
-
-    # A workflow run is made up of one or more jobs that can run sequentially or in parallel
-    jobs:
-      # This workflow contains a single job called "build"
-      build:
-        # The type of runner that the job will run on
-        runs-on: ubuntu-latest
-
-        # This grabs the WPILib docker container
-        container: wpilib/roborio-cross-ubuntu:2023-22.04
+```yaml
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+    # This grabs the WPILib docker container
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+```
 
 Each Action workflow is made of a one or more jobs that run either sequentially (one after another) or in parallel (at the same time). In our workflow, there is only one "build" job.
 
-We specify that we want the job to run on an Ubuntu virtual machine and in a virtualized `Docker container <https://www.docker.com/resources/what-container>`_ that contains the JDK, C++ compiler and roboRIO toolchains.
-
-.. code-block:: yaml
-
-        # Steps represent a sequence of tasks that will be executed as part of the job
-        steps:
-        # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-        - uses: actions/checkout@v3
-
-        # Declares the repository safe and not under dubious ownership.
-        - name: Add repository to git safe directories
-          run: git config --global --add safe.directory $GITHUB_WORKSPACE
-
-        # Grant execute permission for gradlew
-        - name: Grant execute permission for gradlew
-          run: chmod +x gradlew
-
-        # Runs a single command using the runners shell
-        - name: Compile and run tests on robot code
-          run: ./gradlew build
-
-Each job has certain steps that will be executed. This job has four steps. The first step involves checking out the repository to access the robot code. The second step is a workaround for a `GitHub Actions issue <https://github.com/actions/runner/issues/2033>`__. The third step involves giving the virtual machine permission to execute gradle tasks using ``./gradlew``. The final step runs ``./gradlew build`` to compile robot code and run any unit tests.
-
-Adding a Build Status Badge to a README.md File
------------------------------------------------
+We specify that we want the job to run on an Ubuntu virtual machine and in a virtualized [Docker container ](https://www.docker.com/resources/what-container) that contains the JDK, C++ compiler and roboRIO toolchains.
+
+```yaml
+# Steps represent a sequence of tasks that will be executed as part of the job
+steps:
+# Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+- uses: actions/checkout@v4
+# Declares the repository safe and not under dubious ownership.
+- name: Add repository to git safe directories
+  run: git config --global --add safe.directory $GITHUB_WORKSPACE
+# Grant execute permission for gradlew
+- name: Grant execute permission for gradlew
+  run: chmod +x gradlew
+# Runs a single command using the runners shell
+- name: Compile and run tests on robot code
+  run: ./gradlew build
+```
+
+Each job has certain steps that will be executed. This job has four steps. The first step involves checking out the repository to access the robot code. The second step is a workaround for a [GitHub Actions issue](https://github.com/actions/runner/issues/2033). The third step involves giving the virtual machine permission to execute gradle tasks using ``./gradlew``. The final step runs ``./gradlew build`` to compile robot code and run any unit tests.
+
+## Adding a Build Status Badge to a README.md File
 It is helpful to add a CI status badge to the top of your repository's README file to quickly check the status of the latest build on main. To do this, click on the "Actions" tab at the top of the screen and select the "CI" tab on the left side of the screen. Then, click on the "Create status badge" button on the top right and copy the status badge Markdown code.
 
 .. image:: images/robot-ci/badge.png
diff --git a/source/docs/software/basic-programming/alliancecolor.rst b/source/docs/software/basic-programming/alliancecolor.rst
new file mode 100644
index 0000000000..87ea884f42
--- /dev/null
+++ b/source/docs/software/basic-programming/alliancecolor.rst
@@ -0,0 +1,52 @@
+# Get Alliance Color
+
+The ``DriverStation`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/DriverStation.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_driver_station.html), :py:class:`Python <robotpy:wpilib.DriverStation>`) has many useful features for getting data from the Driver Station computer.  One of the most important features is ``getAlliance`` (Java & Python) / ``GetAlliance`` (C++).
+
+Note that there are three cases: red, blue, and no color yet.  It is important that code handles the third case correctly because the alliance color will not be available until the Driver Station connects.  In particular, code should not assume that the alliance color will be available during constructor methods or `robotInit`, but it should be available by the time `autoInit` or `teleopInit` is called.  FMS will set the alliance color automatically; when not connected to FMS, the alliance color can be set from the Driver Station (see :ref:`"Team Station" on the Operation Tab <docs/software/driverstation/driver-station:Operation Tab>`).
+
+## Getting your Alliance Color and Doing an Action
+
+.. tab-set-code::
+
+  ```java
+  Optional<Alliance> ally = DriverStation.getAlliance();
+  if (ally.isPresent()) {
+      if (ally.get() == Alliance.Red) {
+          <RED ACTION>
+      }
+      if (ally.get() == Alliance.Blue) {
+          <BLUE ACTION>
+      }
+  }
+  else {
+      <NO COLOR YET ACTION>
+  }
+  ```
+
+  ```c++
+  using frc::DriverStation::Alliance;
+  if (auto ally = frc::DriverStation::GetAlliance()) {
+      if (ally.value() == Alliance::kRed) {
+          <RED ACTION>
+      }
+      if (ally.value() == Alliance::kBlue) {
+          <BLUE ACTION>
+      }
+  }
+  else {
+      <NO COLOR YET ACTION>
+  }
+  ```
+
+  ```Python
+  from wpilib import DriverStation
+  ally = DriverStation.getAlliance()
+  if ally is not None:
+      if ally == DriverStation.Alliance.kRed:
+          <RED ACTION>
+      elif ally == DriverStation.Alliance.kBlue:
+          <BLUE ACTION>
+  else:
+      <NO COLOR YET ACTION>
+  ```
+
diff --git a/source/docs/software/basic-programming/coordinate-system.rst b/source/docs/software/basic-programming/coordinate-system.rst
new file mode 100644
index 0000000000..e10316af13
--- /dev/null
+++ b/source/docs/software/basic-programming/coordinate-system.rst
@@ -0,0 +1,321 @@
+# Coordinate System
+
+Coordinate systems are used in FRC programming in several places. A few of the common places are: robot movement, joystick input, :term:`pose` estimation, AprilTags, and path planning.
+
+It is important to understand the basics of the coordinate system used throughout WPILib and other common tools for programming an FRC robot, such as PathPlanner. Many teams intuitively  think of a coordinate system that is different from what is used in WPILib, and this leads to problems that need to be tracked down throughout the season. It is worthwhile to take a few minutes to understand the coordinate system, and come back here as a reference when programming. It's not very difficult to get robot movement with a joystick working without getting the coordinate system right, but it will be much more difficult to build on code using a different coordinate system to add :term:`pose estimation` with :term:`AprilTags` and path planning for autonomous.
+
+## WPILib coordinate system
+
+In most cases, WPILib uses the NWU axes convention (North-West-Up as external reference in the world frame.) In the NWU axes convention, where the positive X axis points ahead, the positive Y axis points left, and the positive Z axis points up referenced from the floor. When viewed with each positive axis pointing toward you, counter-clockwise (CCW) is a positive value and clockwise (CW) is a negative value.
+
+.. figure:: images/coordinate-system/robot-3d.svg
+   :scale: 200
+   :alt: NWU axes convention in three dimensions
+
+   Robot coordinate system in three dimensions
+
+The figure above shows the coordinate system in relation to an FRC robot. The figure below shows this same coordinate system when viewed from the top (with the Z axis pointing toward you.) This is how you can think of the robot's coordinates in 2D.
+
+.. figure:: images/coordinate-system/robot-2d.svg
+   :scale: 200
+   :alt: NWU axes convention in two dimensions
+
+   Robot coordinate system in two dimensions
+
+## Rotation conventions
+
+In most cases in WPILib programming, 0° is aligned with the positive X axis, and 180° is aligned with the negative X axis. CCW rotation is positive, so 90° is aligned with the positive Y axis, and -90° is aligned with the negative Y axis.
+
+.. figure:: images/coordinate-system/rotation.svg
+   :scale: 200
+   :alt: Unit circle
+
+   Unit circle with common angles
+
+The figure above shows the unit circle with common angles labeled in degrees (°) and radians (rad). Notice that rotation to the right is negative, and the range for the whole unit circle is -180° to 180° (-Pi radians to Pi radians).
+
+.. note:: The range is (-180, 180], meaning it is exclusive of -180° and inclusive of 180°.
+
+There are some places you may choose to use a different range, such as 0° to 360° or 0 to 1 rotation, but be aware that many core WPILib classes and FRC tools are built with the unit circle above.
+
+.. warning:: Some :term:`gyroscope` and :term:`IMU` models use CW positive rotation, such as the NavX IMU. Care must be taken to handle rotation properly, sensor values may need to be inverted. Read the documentation and verify that rotation is CCW positive.
+
+.. warning:: Many sensors that read rotation around an axis, such as encoders and IMU's, read continuously. This means they read more than one rotation, so when rotating past 180° they read 181°, not -179°. Some sensors have configuration settings where you can choose their wrapping behavior and range, while others need to be handled in your code. Careful attention should be paid to make sure sensor readings are consistent and your control loop handles wrapping in the same way as your sensor.
+
+## Joystick and controller coordinate system
+
+Joysticks, including the sticks on controllers, don't use the same NWU coordinate system. They use the NED (North-East-Down) convention, where the positive X axis points ahead, the positive Y axis points right, and the positive Z axis points down. When viewed with each positive axis pointing toward you, counter-clockwise (CCW) is a positive value and clockwise (CW) is a negative value.
+
+.. figure:: images/coordinate-system/joystick-3d.svg
+   :scale: 200
+   :alt: NED axes convention
+
+   Joystick coordinate system
+
+It's important to note that joystick input values are rotations around an axis, not translations. In practical terms, this means:
+
+- pushing forward on the joystick (toward the positive X axis) is a CW rotation around the Y axis, so you get a negative Y value.
+- pushing to the right (toward the positive Y axis) is a CCW rotation around the X axis, so you get a positive X value.
+- twisting the joystick CW (toward the positive Y axis) is a CCW rotation around the Z axis, so you get a positive Z value.
+
+## Using Joystick and controller input to drive a robot
+
+You may have noticed, the coordinate system used by WPILib for the robot is not the same as the coordinate system used for joysticks and controllers. Care needs to be taken to understand the difference, and properly pass driver input to the drive subsystem.
+
+### Differential drivetrain example
+
+Differential drivetrains are non-holonomic, which means the robot drivetrain cannot move side-to-side (strafe). This type of drivetrain can move forward and backward along the X axis, and rotate around the Z axis. Consider a common arcade drive scheme using a single joystick where the driver pushes the joystick forward/backward for forward/backward robot movement, and push the joystick left/right to rotate the robot left/right.
+
+The code snippet below uses the ``DifferentialDrive`` and ``Joystick`` classes to drive the robot with the arcade scheme described above. ``DifferentialDrive`` uses the robot coordinate system defined above, and ``Joystick`` uses the joystick coordinate system.
+
+.. tab-set-code::
+
+    ```java
+    public void teleopPeriodic() {
+        // Arcade drive with a given forward and turn rate
+        myDrive.arcadeDrive(-driveStick.getY(), -driveStick.getX());
+    }
+    ```
+
+    ```c++
+    void TeleopPeriodic() override {
+        // Arcade drive with a given forward and turn rate
+        myDrive.ArcadeDrive(-driveStick.GetY(), -driveStick.GetX());
+    }
+    ```
+
+    ```python
+    def teleopPeriodic(self):
+        # Arcade drive with a given forward and turn rate
+        self.myDrive.arcadeDrive(-self.driveStick.getY(), -self.driveStick.getX())
+    ```
+
+The code calls the ``DifferentialDrive.arcadeDrive(xSpeed, zRotation)`` method, with values it gets from the ``Joystick`` class:
+
+- The first argument is ``xSpeed``
+
+    - Robot: ``xSpeed`` is the speed along the robot's X axis, which is forward/backward.
+    - Joystick: The driver sets forward/backward speed by rotating the joystick along its Y axis, which is pushing the joystick forward/backward.
+    - Code: Moving the joystick forward is negative Y rotation, whereas moving the robot forward is along the positive X axis. This means the joystick value needs to be inverted by placing a - (minus sign) in front of the value.
+
+- The second argument is ``zRotation``
+
+    - Robot: ``zRotation`` is the speed of rotation along the robot's Z axis, which is rotating left/right.
+    - Joystick: The driver sets rotation speed by rotating the joystick along its X axis, which is pushing the joystick left/right.
+    - Code: Moving the joystick to the right is positive X rotation, whereas robot rotation is CCW positive. This means the joystick value needs to be inverted by placing a - (minus sign) in front of the value.
+
+### Mecanum drivetrain example
+
+Mecanum drivetrains are holonomic, meaning they have the ability to move side-to-side. This type of drivetrain can move forward/backward and rotate around the Z axis like differential drivetrains, but it can also move side-to-side along the robot's Y axis. Consider a common arcade drive scheme using a single joystick where the driver pushes the joystick forward/backward for forward/backward robot movement, pushes the joystick left/right to move side-to-side, and twists the joystick to rotate the robot.
+
+.. tab-set-code::
+
+    ```java
+    public void teleopPeriodic() {
+        // Drive using the X, Y, and Z axes of the joystick.
+        m_robotDrive.driveCartesian(-m_stick.getY(), -m_stick.getX(), -m_stick.getZ());
+    }
+    ```
+
+    ```c++
+    void TeleopPeriodic() override {
+        // Drive using the X, Y, and Z axes of the joystick.
+        m_robotDrive.driveCartesian(-m_stick.GetY(), -m_stick.GetX(), -m_stick.GetZ());
+    }
+    ```
+
+    ```python
+    def teleopPeriodic(self):
+        // Drive using the X, Y, and Z axes of the joystick.
+        self.robotDrive.driveCartesian(-self.stick.getY(), -self.stick.getX(), -self.stick.getZ())
+    ```
+
+The code calls the ``MecanumDrive.driveCartesian(xSpeed, ySpeed, zRotation)`` method, with values it gets from the ``Joystick`` class:
+
+- The first argument is ``xSpeed``
+
+    - Robot: ``xSpeed`` is the speed along the robot's X axis, which is forward/backward.
+    - Joystick: The driver sets forward/backward speed by rotating the joystick along its Y axis, which is pushing the joystick forward/backward.
+    - Code: Moving the joystick forward is negative Y rotation, whereas robot forward is along the positive X axis. This means the joystick value needs to be inverted by placing a - (minus sign) in front of the value.
+
+
+- The second argument is ``ySpeed``
+
+    - Robot: ``ySpeed`` is the speed along the robot's Y axis, which is left/right.
+    - Joystick: The driver sets left/right speed by rotating the joystick along its X axis, which is pushing the joystick left/right.
+    - Code: Moving the joystick to the right is positive X rotation, whereas robot right is along the negative Y axis. This means the joystick value needs to be inverted by placing a - (minus sign) in front of the value.
+
+- The third argument is ``zRotation``
+
+    - Robot: ``zRotation`` is the speed of rotation along the robot's Z axis, which is rotating left/right.
+    - Joystick: The driver sets rotation speed by twisting the joystick along its Z axis, which is twisting the joystick left/right.
+    - Code: Twisting the joystick to the right is positive Z rotation, whereas robot rotation is CCW positive. This means the joystick value needs to be inverted by placing a - (minus sign) in front of the value.
+
+### Swerve drivetrain example
+
+Like mecanum drivetrains, swerve drivetrains are holonomic and have the ability to move side-to-side. Joystick control can be handled the same way for all holonomic drivetrains, but WPILib doesn't have a built-in robot drive class for swerve. Swerve coding is described in other sections of this documentation, but an example of using joystick input to set ``ChassisSpeeds`` values is included below. Consider the same common arcade drive scheme described in the mecanum section above. The scheme uses a single joystick where the driver pushes the joystick forward/backward for forward/backward robot movement, pushes the joystick left/right to move side-to-side, and twists the joystick to rotate the robot.
+
+.. tab-set-code::
+
+   ```java
+   // Drive using the X, Y, and Z axes of the joystick.
+   var speeds = new ChassisSpeeds(-m_stick.getY(), -m_stick.getX(), -m_stick.getZ());
+   ```
+
+   ```c++
+   // Drive using the X, Y, and Z axes of the joystick.
+   frc::ChassisSpeeds speeds{-m_stick.GetY(), -m_stick.GetX(), -m_stick.GetZ()};
+   ```
+
+   ```python
+   # Drive using the X, Y, and Z axes of the joystick.
+   speeds = ChassisSpeeds(-self.stick.getY(), -self.stick.getX(), -self.stick.getZ())
+   ```
+
+The three arguments to the ``ChassisSpeeds`` constructor are the same as ``driveCartesian`` in the mecanum section above; ``xSpeed``, ``ySpeed``, and ``zRotation``. See the description of the arguments, and their joystick input in the section above.
+
+## Robot drive kinematics
+
+:doc:`Kinematics is a topic that is covered in a different section </docs/software/kinematics-and-odometry/intro-and-chassis-speeds>`, but it's worth discussing here in relation to the coordinate system. It is critically important that kinematics is configured using the coordinate system described above. Kinematics is a common starting point for coordinate system errors that then cascade to basic drivetrain control, field oriented driving, pose estimation, and path planning.
+
+When you construct a ``SwerveDriveKinematics`` or ``MecanumDriveKinematics`` object, you specify a translation from the center of your robot to each wheel. These translations use the coordinate system above, with the origin in the center of your robot.
+
+.. figure:: images/coordinate-system/kinematics.svg
+   :alt: Kinematics with translation signs
+
+   Kinematics with translation signs
+
+For the robot in the diagram above, let's assume the distance between the front and rear wheels (wheelbase) is 2'. Let's also assume the distance between the left and right wheels (trackwidth) is also 2'. Our translations (x, y) would be like this:
+
+- Front left: (1', 1')
+- Front right: (1', -1')
+- Rear left: (-1', 1')
+- Rear right: (-1', -1')
+
+.. warning:: A common error is to use an incorrect coordinate system where the positive Y axis points forward on the robot. The correct coordinate system has the positive X axis pointing forward.
+
+## Field coordinate systems
+
+The field coordinate system (or global coordinate system) is an absolute coordinate system where a point on the field is designated as the origin. Two common uses of the field coordinate system will be explored in this document:
+
+- Field oriented driving is a drive scheme for holonomic drivetrains, where the driver moves the controls relative to their perspective of the field, and the robot moves in that direction regardless of where the front of the robot is facing. For example, a driver on the red alliance pushes the joystick forward, the robot will move downfield toward the blue alliance wall, even if the robot's front is facing the driver.
+- Pose estimation with odometry and/or AprilTags are used to estimate the robot's pose on the field.
+
+### Mirrored field vs. rotated field
+
+Historically, FRC has used two types of field layouts in relation to the red and blue alliance.
+
+Games such as Rapid React in 2022 used a rotated layout. A rotated layout means that, from your perspective from behind your alliance wall, your field elements and your opponent's elements are in the same location. Notice in the Rapid React field layout diagram below, whether you are on the red or blue alliance, your human player station is on your right and your hanger is on your left.
+
+.. figure:: images/coordinate-system/rapid-react-field.jpg
+   :alt: Rotated Rapid React field from 2022
+
+   Rotated field from RAPID REACT in 2022 [#]_
+
+Games such as CHARGED UP in 2023 and CRESCENDO in 2024 used a mirrored layout. A mirrored layout means that the red and blue alliance layout are mirrored across the centerpoint of the field. Refer to the CHARGED UP field diagram below. When you are standing behind the blue alliance wall, the charge station is on the right side of the field from your perspective. However, standing behind the red alliance wall, the charge station is on the left side of the field from your perspective.
+
+.. figure:: images/coordinate-system/charged-up-field.jpg
+   :alt: Mirrored CHARGED UP field from 2023
+
+   Mirrored field from CHARGED UP in 2023 [#]_
+
+### Dealing with red or blue alliance
+
+There are two primary ways many teams choose to define the field coordinate system. In both methods, positive rotation (theta) is in the counter-clockwise (CCW) direction.
+
+.. warning:: There are cases where your alliance may change (or appear to change) after the code is initialized. When you are not connected to the :term:`FMS` at a competition, you can change your alliance station in the Driver Station application at any time. Even when you are at a competition, your robot will usually initialize before connecting to the FMS so you will not have alliance information.
+
+.. note:: At competition events, the FMS will automatically report your Team Station and alliance color. When you are not connected to an FMS, you can choose your Team Station and alliance color on the Driver Station :ref:`docs/software/driverstation/driver-station:operation tab`.
+
+#### Always blue origin
+
+You may choose to define the origin of the field on the blue side, and keep it there regardless of your alliance color. With this solution, positive x-axis points away from the blue alliance wall.
+
+.. figure:: images/coordinate-system/field-blue-alliance.svg
+   :alt: CHARGED UP with blue origin
+   :scale: 200
+
+   CHARGED UP with blue origin
+
+Some advantages to this approach are:
+
+- Pose estimation with AprilTags is simplified. AprilTags throughout the field are unique. If you keep the coordinate system the same regardless of alliance, there is no need for special logic to deal with the location of AprilTags on the field relative to your alliance.
+- Many of the tools and libraries used in FRC follow this convention. Some of the tools include: PathPlanner, Choreo, and the ShuffleBoard and Glass Field2d widget.
+
+In order to use this approach for field oriented driving, driver input needs to consider the alliance color. When your alliance is red and the driver is standing behind the red alliance wall, they will want the robot to move downfield toward the blue alliance wall. However, when your alliance is blue, the driver will want the robot to go downfield toward the red alliance wall.
+
+A simple way to deal with field oriented driving is to check the alliance color reported by the `DriverStation` class, and invert the driver's controls based on the alliance. As noted above, your alliance color can change so it needs to be checked on every robot iteration.
+
+.. tab-set-code::
+
+   ```java
+   // The origin is always blue. When our alliance is red, X and Y need to be inverted
+   var alliance = DriverStation.getAlliance();
+   var invert = 1;
+   if (alliance.isPresent() && alliance.get() == Alliance.Red) {
+       invert = -1;
+   }
+   // Create field relative ChassisSpeeds for controlling Swerve
+   var chassisSpeeds = ChassisSpeeds
+           .fromFieldRelativeSpeeds(xSpeed * invert, ySpeed * invert, zRotation, imu.getRotation2d());
+   // Control a mecanum drivetrain
+   m_robotDrive.driveCartesian(xSpeed * invert, ySpeed * invert, zRotation, imu.getRotation2d());
+   ```
+
+   ```c++
+   // The origin is always blue. When our alliance is red, X and Y need to be inverted
+   int invert = 1;
+   if (frc::DriverStation::GetAlliance() == frc::DriverStation::Alliance::kRed) {
+       invert = -1;
+   }
+   // Create field relative ChassisSpeeds for controlling Swerve
+   frc::ChassisSpeeds chassisSpeeds =
+           frc::ChassisSpeeds::FromFieldRelativeSpeeds(xSpeed * invert, ySpeed * invert, zRotation, imu.GetRotation2d());
+   // Control a mecanum drivetrain
+   m_robotDrive.driveCartesian(xSpeed * invert, ySpeed * invert, zRotation, imu.GetRotation2d());
+   ```
+
+   ```python
+   # The origin is always blue. When our alliance is red, X and Y need to be inverted
+   invert = 1
+   if wpilib.DriverStation.getAlliance() == wpilib.DriverStation.Alliance.kRed:
+       invert = -1
+   # Create field relative ChassisSpeeds for controlling Swerve
+   chassis_speeds = wpilib.ChassisSpeeds.FromFieldRelativeSpeeds(
+       xSpeed * invert, ySpeed * invert, zRotation, self.imu.GetAngle()
+   )
+   # Control a mecanum drivetrain
+   self.robotDrive.driveCartesian(xSpeed * invert, ySpeed * invert, zRotation, self.imu.GetAngle())
+   ```
+
+#### Origin follows your alliance
+
+You may choose to define the origin of the field based on the alliance you are one. With this approach, the positive x-axis always points away from your alliance wall.
+
+When you are on the blue alliance, your origin looks like this:
+
+.. figure:: images/coordinate-system/field-blue-alliance.svg
+   :alt: CHARGED UP with alliance as origin
+   :scale: 200
+
+   CHARGED UP field with blue alliance as origin
+
+When you are on the red alliance, your origin looks like this:
+
+.. figure:: images/coordinate-system/field-red-alliance.svg
+   :alt: CHARGED UP with alliance as origin
+   :scale: 200
+
+   CHARGED UP field with red alliance as origin
+
+This approach has a few more complications than the previous approach, especially in years when the field layout is mirrored between alliances.
+
+In years when the field layout is rotated, this is a simple approach if you are not using AprilTags for pose estimation or doing other advanced techniques. When the field layout is rotated, the field elements appear at the same coordinates regardless of your alliance.
+
+Some things you need to consider when using this approach are:
+
+- As warned above, your alliance color can change after initialization. If you are not using AprilTags, you may not have anything to adjust when the alliance changes. However, if you are using AprilTags and your robot has seen a tag and used it for pose estimation, you will need to adjust your origin and reset your estimated pose.
+- The field image in the ShuffleBoard and Glass Field2d widget follows the *Always blue origin* approach. Special handling is needed to display your robot pose correctly when your alliance is red. You will need to change the origin for your estimated pose to the blue alliance coordinate system before sending it to the dashboard.
+
+.. [#] Rapid React field image from MikLast on Chiefdelphi `<https://www.chiefdelphi.com/t/2022-top-down-field-renders/399031>`__
+.. [#] CHARGED UP field image from MikLast on Chiefdelphi `<https://www.chiefdelphi.com/t/2023-top-down-field-renders/421365>`__
diff --git a/source/docs/software/basic-programming/cpp-units.rst b/source/docs/software/basic-programming/cpp-units.rst
index ebc765b22d..760275837c 100644
--- a/source/docs/software/basic-programming/cpp-units.rst
+++ b/source/docs/software/basic-programming/cpp-units.rst
@@ -1,188 +1,173 @@
-The C++ Units Library
-=====================
+# The C++ Units Library
 
-WPILib is coupled with a `Units <https://github.com/nholthaus/units>`_ library for C++ teams.  This library leverages the C++ `type system <https://docs.microsoft.com/en-us/cpp/cpp/cpp-type-system-modern-cpp?view=msvc-170&viewFallbackFrom=vs-2019>`__ to enforce proper dimensionality for method parameters, automatically perform unit conversions, and even allow users to define arbitrary defined unit types.  Since the C++ type system is enforced at compile-time, the library has essentially no runtime cost.
+WPILib is coupled with a [Units](https://github.com/nholthaus/units) library for C++ teams.  This library leverages the C++ [type system](https://docs.microsoft.com/en-us/cpp/cpp/cpp-type-system-modern-cpp?view=msvc-170&viewFallbackFrom=vs-2019) to enforce proper dimensionality for method parameters, automatically perform unit conversions, and even allow users to define arbitrary defined unit types.  Since the C++ type system is enforced at compile-time, the library has essentially no runtime cost.
 
-Using the Units Library
------------------------
+## Using the Units Library
 
 The units library is a header-only library. You must include the relevant header in your source files for the units you want to use. Here's a list of available units.
 
-.. code-block:: c++
-
-   #include <units/acceleration.h>
-   #include <units/angle.h>
-   #include <units/angular_acceleration.h>
-   #include <units/angular_velocity.h>
-   #include <units/area.h>
-   #include <units/capacitance.h>
-   #include <units/charge.h>
-   #include <units/concentration.h>
-   #include <units/conductance.h>
-   #include <units/current.h>
-   #include <units/curvature.h>
-   #include <units/data.h>
-   #include <units/data_transfer_rate.h>
-   #include <units/density.h>
-   #include <units/dimensionless.h>
-   #include <units/energy.h>
-   #include <units/force.h>
-   #include <units/frequency.h>
-   #include <units/illuminance.h>
-   #include <units/impedance.h>
-   #include <units/inductance.h>
-   #include <units/length.h>
-   #include <units/luminous_flux.h>
-   #include <units/luminous_intensity.h>
-   #include <units/magnetic_field_strength.h>
-   #include <units/magnetic_flux.h>
-   #include <units/mass.h>
-   #include <units/moment_of_inertia.h>
-   #include <units/power.h>
-   #include <units/pressure.h>
-   #include <units/radiation.h>
-   #include <units/solid_angle.h>
-   #include <units/substance.h>
-   #include <units/temperature.h>
-   #include <units/time.h>
-   #include <units/torque.h>
-   #include <units/velocity.h>
-   #include <units/voltage.h>
-   #include <units/volume.h>
+```c++
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_acceleration.h>
+#include <units/angular_velocity.h>
+#include <units/area.h>
+#include <units/capacitance.h>
+#include <units/charge.h>
+#include <units/concentration.h>
+#include <units/conductance.h>
+#include <units/current.h>
+#include <units/curvature.h>
+#include <units/data.h>
+#include <units/data_transfer_rate.h>
+#include <units/density.h>
+#include <units/dimensionless.h>
+#include <units/energy.h>
+#include <units/force.h>
+#include <units/frequency.h>
+#include <units/illuminance.h>
+#include <units/impedance.h>
+#include <units/inductance.h>
+#include <units/length.h>
+#include <units/luminous_flux.h>
+#include <units/luminous_intensity.h>
+#include <units/magnetic_field_strength.h>
+#include <units/magnetic_flux.h>
+#include <units/mass.h>
+#include <units/moment_of_inertia.h>
+#include <units/power.h>
+#include <units/pressure.h>
+#include <units/radiation.h>
+#include <units/solid_angle.h>
+#include <units/substance.h>
+#include <units/temperature.h>
+#include <units/time.h>
+#include <units/torque.h>
+#include <units/velocity.h>
+#include <units/voltage.h>
+#include <units/volume.h>
+```
 
 The ``units/math.h`` header provides unit-aware functions like ``units::math::abs()``.
 
-Unit Types and Container Types
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Unit Types and Container Types
 
 The C++ units library is based around two sorts of type definitions: unit types and container types.
 
-Unit Types
-~~~~~~~~~~
+#### Unit Types
 
 Unit types correspond to the abstract concept of a unit, without any actual stored value.  Unit types are the fundamental "building block" of the units library - all unit types are defined constructively (using the ``compound_unit`` template) from a small number of "basic" unit types (such as ``meters``, ``seconds``, etc).
 
-While unit types cannot contain numerical values, their use in building other unit types means that when a type or method uses a `template parameter <https://cplusplus.com/doc/oldtutorial/templates/>`__ to specify its dimensionality, that parameter will be a unit type.
+While unit types cannot contain numerical values, their use in building other unit types means that when a type or method uses a [template parameter](https://cplusplus.com/doc/oldtutorial/templates/) to specify its dimensionality, that parameter will be a unit type.
 
-Container Types
-~~~~~~~~~~~~~~~
+#### Container Types
 
 Container types correspond to an actual quantity dimensioned according to some unit - that is, they are what actually hold the numerical value. Container types are constructed from unit types with the ``unit_t`` template.  Most unit types have a corresponding container type that has the same name suffixed by ``_t`` - for example, the unit type ``units::meter`` corresponds to the container type ``units::meter_t``.
 
 Whenever a specific quantity of a unit is used (as a variable or a method parameter), it will be an instance of the container type.  By default, container types will store the actual value as a ``double`` - advanced users may change this by calling the ``unit_t`` template manually.
 
-A full list of unit and container types can be found in the `documentation <https://github.com/nholthaus/units#namespaces>`__.
+A full list of unit and container types can be found in the [documentation](https://github.com/nholthaus/units#namespaces).
 
-Creating Instances of Units
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Creating Instances of Units
 
 To create an instance of a specific unit, we create an instance of its container type:
 
-.. code-block:: c++
+```c++
+// The variable speed has a value of 5 meters per second.
+units::meter_per_second_t speed{5.0};
+```
 
-   // The variable speed has a value of 5 meters per second.
-   units::meter_per_second_t speed{5.0};
+Alternatively, the units library has [type literals](https://en.cppreference.com/w/cpp/language/user_literal) defined for some of the more common container types.  These can be used in conjunction with type inference via ``auto`` to define a unit more succinctly:
 
-Alternatively, the units library has `type literals <https://en.cppreference.com/w/cpp/language/user_literal>`__ defined for some of the more common container types.  These can be used in conjunction with type inference via ``auto`` to define a unit more succinctly:
-
-.. code-block:: c++
-
-   // The variable speed has a value of 5 meters per second.
-   auto speed = 5_mps;
+```c++
+// The variable speed has a value of 5 meters per second.
+auto speed = 5_mps;
+```
 
 Units can also be initialized using a value of an another container type, as long as the types can be converted between one another. For example, a ``meter_t`` value can be created from a ``foot_t`` value.
 
-.. code-block:: c++
-
-   auto feet = 6_ft;
-   units::meter_t meters{feet};
+```c++
+auto feet = 6_ft;
+units::meter_t meters{feet};
+```
 
 In fact, all container types representing convertible unit types are *implicitly convertible*.  Thus, the following is perfectly legal:
 
-.. code-block:: c++
-
-   units::meter_t distance = 6_ft;
+```c++
+units::meter_t distance = 6_ft;
+```
 
 In short, we can use *any* unit of length in place of *any other* unit of length, anywhere in our code; the units library will automatically perform the correct conversion for us.
 
-Performing Arithmetic with Units
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Performing Arithmetic with Units
 
 Container types support all of the ordinary arithmetic operations of their underlying data type, with the added condition that the operation must be *dimensionally* sound.  Thus, addition must always be performed on two compatible container types:
 
-.. code-block:: c++
-
-   // Add two meter_t values together
-   auto sum = 5_m + 7_m; // sum is 12_m
-
-   // Adds meters to feet; both are length, so this is fine
-   auto sum = 5_m + 7_ft;
-
-   // Tries to add a meter_t to a second_t, will throw a compile-time error
-   auto sum = 5_m + 7_s;
+```c++
+// Add two meter_t values together
+auto sum = 5_m + 7_m; // sum is 12_m
+// Adds meters to feet; both are length, so this is fine
+auto sum = 5_m + 7_ft;
+// Tries to add a meter_t to a second_t, will throw a compile-time error
+auto sum = 5_m + 7_s;
+```
 
 Multiplication may be performed on any pair of container types, and yields the container type of a compound unit:
 
 .. note:: When a calculation yields a compound unit type, this type will only be checked for validity at the point of operation if the result type is specified explicitly.  If ``auto`` is used, this check will not occur.  For example, when we divide distance by time, we may want to ensure the result is, indeed, a velocity (i.e. ``units::meter_per_second_t``). If the return type is declared as ``auto``, this check will not be made.
 
-.. code-block:: c++
-
-   // Multiply two meter_t values, result is square_meter_t
-   auto product = 5_m * 7_m; // product is 35_sq_m
-
-.. code-block:: c++
+```c++
+// Multiply two meter_t values, result is square_meter_t
+auto product = 5_m * 7_m; // product is 35_sq_m
+```
 
-   // Divide a meter_t value by a second_t, result is a meter_per_second_t
-   units::meter_per_second_t speed = 6_m / 0.5_s; // speed is 12_mps
+```c++
+// Divide a meter_t value by a second_t, result is a meter_per_second_t
+units::meter_per_second_t speed = 6_m / 0.5_s; // speed is 12_mps
+```
 
-``<cmath>`` Functions
-^^^^^^^^^^^^^^^^^^^^^
+### ``<cmath>`` Functions
 
 Some ``std`` functions (such as ``clamp``) are templated to accept any type on which the arithmetic operations can be performed.  Quantities stored as container types will work with these functions without issue.
 
 However, other ``std`` functions work only on ordinary numerical types (e.g. ``double``).  The units library's ``units::math`` namespace contains wrappers for several of these functions that accept units. Examples of such functions include ``sqrt``, ``pow``, etc.
 
-.. code-block:: c++
+```c++
+auto area = 36_sq_m;
+units::meter_t sideLength = units::math::sqrt(area);
+```
 
-   auto area = 36_sq_m;
-   units::meter_t sideLength = units::math::sqrt(area);
-
-Removing the Unit Wrapper
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Removing the Unit Wrapper
 
 To convert a container type to its underlying value, use the ``value()`` method. This serves as an escape hatch from the units type system, which should be used only when necessary.
 
-.. code-block:: c++
-
-   units::meter_t distance = 6.5_m;
-   double distanceMeters = distance.value();
+```c++
+units::meter_t distance = 6.5_m;
+double distanceMeters = distance.value();
+```
 
-
-Example of the Units Library in WPILib Code
--------------------------------------------
+## Example of the Units Library in WPILib Code
 Several arguments for methods in new features of WPILib (ex. :ref:`kinematics <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:What is kinematics?>`) use the units library. Here is an example of :ref:`sampling a trajectory <docs/software/advanced-controls/trajectories/manipulating-trajectories:Sampling the trajectory>`.
 
-.. code-block:: c++
-
-   // Sample the trajectory at 1.2 seconds. This represents where the robot
-   // should be after 1.2 seconds of traversal.
-   Trajectory::State point = trajectory.Sample(1.2_s);
-
-   // Since units of time are implicitly convertible, this is exactly equivalent to the above code
-   Trajectory::State point = trajectory.Sample(1200_ms);
+```c++
+// Sample the trajectory at 1.2 seconds. This represents where the robot
+// should be after 1.2 seconds of traversal.
+Trajectory::State point = trajectory.Sample(1.2_s);
+// Since units of time are implicitly convertible, this is exactly equivalent to the above code
+Trajectory::State point = trajectory.Sample(1200_ms);
+```
 
 Some WPILib classes represent objects that could naturally work with multiple choices of unit types - for example, a motion profile might operate on either linear distance (e.g. meters) or angular distance (e.g. radians).  For such classes, the unit type is required as a template parameter:
 
-.. code-block:: c++
-
-   // Creates a new set of trapezoidal motion profile constraints
-   // Max velocity of 10 meters per second
-   // Max acceleration of 20 meters per second squared
-   frc::TrapezoidProfile<units::meters>::Constraints{10_mps, 20_mps_sq};
-
-   // Creates a new set of trapezoidal motion profile constraints
-   // Max velocity of 10 radians per second
-   // Max acceleration of 20 radians per second squared
-   frc::TrapezoidProfile<units::radians>::Constraints{10_rad_per_s, 20__rad_per_s / 1_s};
-
-For more detailed documentation, please visit the official `GitHub page <https://github.com/nholthaus/units>`_ for the units library.
+```c++
+// Creates a new set of trapezoidal motion profile constraints
+// Max velocity of 10 meters per second
+// Max acceleration of 20 meters per second squared
+frc::TrapezoidProfile<units::meters>::Constraints{10_mps, 20_mps_sq};
+// Creates a new set of trapezoidal motion profile constraints
+// Max velocity of 10 radians per second
+// Max acceleration of 20 radians per second squared
+frc::TrapezoidProfile<units::radians>::Constraints{10_rad_per_s, 20__rad_per_s / 1_s};
+```
+
+For more detailed documentation, please visit the official [GitHub page](https://github.com/nholthaus/units) for the units library.
diff --git a/source/docs/software/basic-programming/functions-as-data.rst b/source/docs/software/basic-programming/functions-as-data.rst
index 1bf2d4f753..a9dfb7823c 100644
--- a/source/docs/software/basic-programming/functions-as-data.rst
+++ b/source/docs/software/basic-programming/functions-as-data.rst
@@ -1,12 +1,10 @@
-Treating Functions as Data
-==========================
+# Treating Functions as Data
 
 Regardless of programming language, one of the first things anyone learns to do when programming a computer is to write a function (also known as a "method" or a "subroutine").  Functions are a fundamental part of organized code - writing functions lets us avoid duplicating the same piece of code over and over again.  Instead of writing duplicated sections of code, we call a single function that contains the code we want to execute from multiple places (provided we named the function well, the function name is also easier to read than the code itself!).  If the section of code needs some additional information about its surrounding context to run, we pass those to the function as "parameters", and if it needs to yield something back to the rest of the code once it finishes, we call that a "return value" (together, the parameters and return value are called the function's "signature");
 
 Sometimes, we need to pass functions from one part of the code to another part of the code.  This might seem like a strange concept, if we're used to thinking of functions as part of a class definition rather than objects in their own right.  But at a basic level, functions are just data - in the same way we can store an ``integer`` or a ``double`` as a variable and pass it around our program, we can do the same thing with a function.  A variable whose value is a function is called a "functional interface" in Java, and a "function pointer" or "functor" in C++.
 
-Why Would We Want to Treat Functions as Data?
----------------------------------------------
+## Why Would We Want to Treat Functions as Data?
 
 Typically, code that calls a function is coupled to (depends on) the definition of the function. While this occurs all the time, it becomes problematic when the code *calling* the function (for example, WPILib) is developed independently and without direct knowledge of the code that *defines* the function (for example, code from an FRC team). Sometimes we solve this challenge through the use of class interfaces, which define collections of data and functions that are meant to be used together.  However, often we really only have a dependency on a *single function*, rather than on an *entire class*.
 
@@ -20,57 +18,53 @@ It's important that *passing* a function is not the same as *calling* a function
 
 Inside of code that passes a function, we will see some syntax that either refers to the name of an existing function in a special way, or else defines a new function to be passed inside of the call expression.  The specific syntax needed (and the rules around it) depends on which programming language we are using.
 
-Treating Functions as Data in Java
-----------------------------------
+## Treating Functions as Data in Java
 
-Java represents functions-as-data as instances of `functional interfaces <https://docs.oracle.com/javase/8/docs/api/java/util/function/package-summary.html>`__.  A "functional interface" is a special kind of class that has only a single method - since Java was originally designed strictly for object-oriented programming, it has no way of representing a single function detached from a class.  Instead, it defines a particular group of classes that *only* represent single functions.  Each type of function signature has its own functional interface, which is an interface with a single function definition of that signature.
+Java represents functions-as-data as instances of [functional interfaces](https://docs.oracle.com/javase/8/docs/api/java/util/function/package-summary.html).  A "functional interface" is a special kind of class that has only a single method - since Java was originally designed strictly for object-oriented programming, it has no way of representing a single function detached from a class.  Instead, it defines a particular group of classes that *only* represent single functions.  Each type of function signature has its own functional interface, which is an interface with a single function definition of that signature.
 
 This might sound complicated, but in the context of WPILib we don't really need to worry much about using the functional interfaces themselves - the code that does that is internal to WPILib.  Instead, all we need to know is how to pass a function that we've written to a method that takes a functional interface as a parameter.  For a simple example, consider the signature of ``Commands.runOnce`` (which creates an ``InstantCommand`` that, when scheduled, runs the given function once and then terminates):
 
 .. note:: The ``requirements`` parameter is explained in the :ref:`Command-based documentation <docs/software/commandbased/commands:getRequirements>`, and will not be discussed here.
-.. code-block:: java
-
-   public static Command runOnce(Runnable action, Subsystem... requirements)
+```java
+public static Command runOnce(Runnable action, Subsystem... requirements)
+```
 
 ``runOnce`` expects us to give it a ``Runnable`` parameter (named ``action``).  A ``Runnable`` is the Java term for a function that takes no parameters and returns no value.  When we call ``runOnce``, we need to give it a function with no parameters and no return value.  There are two ways to do this: we can refer to some existing function using a "method reference", or we can define the function we want inline using a "lambda expression".
 
-Method References
-^^^^^^^^^^^^^^^^^
+### Method References
 
 A method reference lets us pass an already-existing function as our ``Runnable``:
 
-.. code-block:: java
-
-   // Create an InstantCommand that runs the `resetEncoders` method of the `drivetrain` object
-   Command disableCommand = runOnce(drivetrain::resetEncoders, drivetrain);
+```java
+// Create an InstantCommand that runs the `resetEncoders` method of the `drivetrain` object
+Command disableCommand = runOnce(drivetrain::resetEncoders, drivetrain);
+```
 
 The expression ``drivetrain::resetEncoders`` is a reference to the ``resetEncoders`` method of the ``drivetrain`` object.  It is not a method *call* - this line of code does not *itself* reset the encoders of the drivetrain.  Instead, it returns a ``Command`` that will do so *when it is scheduled.*
 
 Remember that in order for this to work, ``resetEncoders`` must be a ``Runnable`` - that is, it must take no parameters and return no value.  So, its signature must look like this:
 
-.. code-block:: java
-
-   // void because it returns no parameters, and has an empty parameter list
-   public void resetEncoders()
+```java
+// void because it returns no parameters, and has an empty parameter list
+public void resetEncoders()
+```
 
 If the function signature does not match this, Java will not be able to interpret the method reference as a ``Runnable`` and the code will not compile.  Note that all we need to do is make sure that the signature matches the signature of the single method in the ``Runnable`` functional interface - we don't need to *explicitly* name it as a ``Runnable``.
 
-Lambda Expressions in Java
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Lambda Expressions in Java
 
 If we do not already have a named function that does what we want, we can define a function "inline" - that means, right inside of the call to ``runOnce``!  We do this by writing our function with a special syntax that uses an "arrow" symbol to link the argument list to the function body:
 
-.. code-block:: java
-
-   // Create an InstantCommand that runs the drive forward at half speed
-   Command driveHalfSpeed = runOnce(() -> { drivetrain.arcadeDrive(0.5, 0.0); }, drivetrain);
+```java
+// Create an InstantCommand that runs the drive forward at half speed
+Command driveHalfSpeed = runOnce(() -> { drivetrain.arcadeDrive(0.5, 0.0); }, drivetrain);
+```
 
 Java calls ``() -> { drivetrain.arcadeDrive(0.5, 0.0); }`` a "lambda expression"; it may be less-confusingly called an "arrow function", "inline function", or "anonymous function" (because it has no name).  While this may look a bit funky, it is just another way of writing a function - the parentheses before the arrow are the function's argument list, and the code contained in the brackets is the function body.  The "lambda expression" here represents a function that calls ``drivetrain.arcadeDrive`` with a specific set of parameters - note again that this does not *call* the function, but merely defines it and passes it to the ``Command`` to be run later when the ``Command`` is scheduled.
 
 As with method references, we do not need to *explicitly* name the lambda expression as a ``Runnable`` - Java can infer that our lambda expression is a ``Runnable`` so long as its signature matches that of the single method in the ``Runnable`` interface.  Accordingly, our lambda takes no arguments and has no return statement - if it did not match the ``Runnable`` contract, our code would fail to compile.
 
-Capturing State in Java Lambda Expressions
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Capturing State in Java Lambda Expressions
 
 In the above example, our function body references an object that lives outside of the function itself (namely, the ``drivetrain`` object).  This is called a "capture" of a variable from the surrounding code (which is sometimes called the "outer scope" or "enclosing scope").  Usually the captured variables are either local variables from the enclosing method body in which the lambda expression is defined, or else fields of an enclosing class definition in which that method is defined.
 
@@ -78,71 +72,65 @@ In Java capturing state is a fairly safe thing to do in general, with one major
 
 This means we can only capture primitive types (like ``int``, ``double``, and ``boolean``) if they're constants.  If we want to capture a state variable that can change, it *must be wrapped in a mutable object*.
 
-Syntactic Sugar for Java Lambda Expressions
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Syntactic Sugar for Java Lambda Expressions
 
 The full lambda expression syntax can be needlessly verbose in some cases.  To help with this, Java lets us take some shortcuts (called "syntactic sugar") in cases where some of the notation is redundant.
 
-Omitting Function Body Brackets for One-Line Lambdas
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Omitting Function Body Brackets for One-Line Lambdas
 
 If the function body of our lambda expression is only one line, Java lets us omit the brackets around the function body.  When omitting function brackets, we also omit trailing semicolons And the `return` keyword.
 
 So, our ``Runnable`` lambda above could instead be written:
 
-.. code-block:: java
+```java
+// Create an InstantCommand that runs the drive forward at half speed
+Command driveHalfSpeed = runOnce(() -> drivetrain.arcadeDrive(0.5, 0.0), drivetrain);
+```
 
-   // Create an InstantCommand that runs the drive forward at half speed
-   Command driveHalfSpeed = runOnce(() -> drivetrain.arcadeDrive(0.5, 0.0), drivetrain);
-
-Omitting Parentheses around Single Lambda Parameters
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Omitting Parentheses around Single Lambda Parameters
 
 If the lambda expression is for a functional interface that takes only a single argument, we can omit the parenthesis around the parameter list:
 
-.. code-block:: java
-
-   // We can write this lambda with no parenthesis around its single argument
-   IntConsumer exampleLambda = (a -> System.out.println(a));
+```java
+// We can write this lambda with no parenthesis around its single argument
+IntConsumer exampleLambda = (a -> System.out.println(a));
+```
 
-Treating Functions as Data in C++
----------------------------------
+## Treating Functions as Data in C++
 
 C++ has a number of ways to treat functions as data.  For the sake of this article, we'll only talk about the parts that are relevant to using WPILibC.
 
-In WPILibC, function types are represented with the ``std::function`` class (https://en.cppreference.com/w/cpp/utility/functional/function).  This standard library class is templated on the function's signature - that means we have to provide it a `function type <https://stackoverflow.com/questions/17446220/c-function-types>`__ as a template parameter to specify the signature of the function (compare this to :ref:`Java <docs/software/basic-programming/functions-as-data:Treating Functions as Data in Java>` above, where we have a separate interface type for each kind of signature).
+In WPILibC, function types are represented with the ``std::function`` class (https://en.cppreference.com/w/cpp/utility/functional/function).  This standard library class is templated on the function's signature - that means we have to provide it a [function type](https://stackoverflow.com/questions/17446220/c-function-types) as a template parameter to specify the signature of the function (compare this to :ref:`Java <docs/software/basic-programming/functions-as-data:Treating Functions as Data in Java>` above, where we have a separate interface type for each kind of signature).
 
 This sounds a lot more complicated than it is to use in practice.  Let's look at the call signature of ``cmd::RunOnce`` (which creates an ``InstantCommand`` that, when scheduled, runs the given function once and then terminates):
 
 .. note:: The ``requirements`` parameter is explained in the :ref:`Command-based documentation <docs/software/commandbased/commands:getRequirements>`, and will not be discussed here.
 
-.. code-block:: cpp
-
-   CommandPtr RunOnce(
-    std::function<void()> action,
-    Requirements requirements);
+```c++
+CommandPtr RunOnce(
+ std::function<void()> action,
+ Requirements requirements);
+```
 
 ``runOnce`` expects us to give it a ``std::function<void()>`` parameter (named ``action``).  A ``std::function<void()>`` is the C++ type for a ``std::function`` that takes no parameters and returns no value (the template parameter, ``void()``, is a function type with no parameters and no return value).  When we call ``runOnce``, we need to give it a function with no parameters and no return value.  C++ lacks a clean way to refer to existing class methods in a way that can automatically be converted to a ``std::function``, so the typical way to do this is to define a new function inline with a "lambda expression".
 
-Lambda Expressions in C++
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Lambda Expressions in C++
 
 To pass a function to ``runOnce``, we need to write a short inline function expression using a special syntax that resembles ordinary C++ function declarations, but varies in a few important ways:
 
-.. code-block:: cpp
-
-   // Create an InstantCommand that runs the drive forward at half speed
-   CommandPtr driveHalfSpeed = cmd::RunOnce([this] { drivetrain.ArcadeDrive(0.5, 0.0); }, {drivetrain});
+```c++
+// Create an InstantCommand that runs the drive forward at half speed
+CommandPtr driveHalfSpeed = cmd::RunOnce([this] { drivetrain.ArcadeDrive(0.5, 0.0); }, {drivetrain});
+```
 
 C++ calls ``[captures] (params) { body; }`` a "lambda expression".  It has three parts: a *capture list* (square brackets), an optional *parameter list* (parentheses), and a *function body* (curly brackets).  It may look a little strange, but the only real difference between a lambda expression and an ordinary function (apart from the lack of a function name) is the addition of the capture list.
 
 Since ``RunOnce`` wants a function with no parameters and no return value, our lambda expression has no parameter list and no return statement.  The "lambda expression" here represents a function that calls ``drivetrain.ArcadeDrive`` with a specific set of parameters - note again that the above code does not *call* the function, but merely defines it and passes it to the ``Command`` to be run later when the ``Command`` is scheduled.
 
-Capturing State in C++ Lambda Expressions
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Capturing State in C++ Lambda Expressions
 
 In the above example, our function body references an object that lives outside of the function itself (namely, the ``drivetrain`` object).  This is called a "capture" of a variable from the surrounding code (which is sometimes called the "outer scope" or "enclosing scope").  Usually the captured variables are either local variables from the enclosing method body in which the lambda expression is defined, or else fields of an enclosing class definition in which that method is defined.
 
 C++ has somewhat more-powerful semantics than Java.  One cost of this is that we generally need to give the C++ compiler some help to figure out *how exactly* we want it to capture state from the enclosing scope.  This is the purpose of the *capture list*.  For the purposes of using the WPILibC Command-based framework, it is usually sufficient to use a capture list of ``[this]``, which gives access to members of the enclosing class by capturing the enclosing class's ``this`` pointer by value.
 
-Method locals cannot be captured with the ``this`` pointer, and must be captured explicitly either by reference or by value by including them in the capture list (or by implicitly by instead specifying a default capture semantics).  It is typically safer to capture locals by-value, since a lambda can outlive the lifespan of an object it captures by reference.  For more details, consult the `C++ standard library documentation on capture semantics <https://en.cppreference.com/w/cpp/language/lambda#Lambda_capture>`__.
+Method locals cannot be captured with the ``this`` pointer, and must be captured explicitly either by reference or by value by including them in the capture list (or by implicitly by instead specifying a default capture semantics).  It is typically safer to capture locals by-value, since a lambda can outlive the lifespan of an object it captures by reference.  For more details, consult the [C++ standard library documentation on capture semantics](https://en.cppreference.com/w/cpp/language/lambda#Lambda_capture).
diff --git a/source/docs/software/basic-programming/git-getting-started.rst b/source/docs/software/basic-programming/git-getting-started.rst
index 9ff426728c..65e17d733a 100644
--- a/source/docs/software/basic-programming/git-getting-started.rst
+++ b/source/docs/software/basic-programming/git-getting-started.rst
@@ -1,32 +1,29 @@
 .. include:: <isonum.txt>
 
-Git Version Control Introduction
-================================
+# Git Version Control Introduction
 
-.. important:: A more in-depth guide on Git is available on the `Git website <https://git-scm.com/book/en/v2>`__.
+.. important:: A more in-depth guide on Git is available on the [Git website](https://git-scm.com/book/en/v2).
 
-`Git <https://git-scm.com/about>`_ is a Distributed Version Control System (VCS) created by Linus Torvalds, also known for creating and maintaining the Linux kernel. Version Control is a system for tracking changes of code for developers. The advantages of Git Version Control are:
+[Git](https://git-scm.com/about) is a Distributed Version Control System (VCS) created by Linus Torvalds, also known for creating and maintaining the Linux kernel. Version Control is a system for tracking changes of code for developers. The advantages of Git Version Control are:
 
 - Separation of testing environments into *branches*
 - Ability to navigate to a particular *commit* without removing history
 - Ability to manage *commits* in various ways, including combining them
-- Various other features, see `here <https://git-scm.com/about>`__
+- Various other features, see [here](https://git-scm.com/about)
 
-Prerequisites
--------------
+## Prerequisites
 
 .. important:: This tutorial uses the Windows operating system
 
 You have to download and install Git from the following links:
 
-- `Windows <https://git-scm.com/download/win>`_
-- `macOS <https://git-scm.com/download/mac>`_
-- `Linux <https://git-scm.com/download/linux>`_
+- [Windows](https://git-scm.com/download/win)
+- [macOS](https://git-scm.com/download/mac)
+- [Linux](https://git-scm.com/download/linux)
 
-.. note:: You may need to add Git to your `path <https://www.google.com/search?q=adding+git+to+path>`__
+.. note:: You may need to add Git to your [path](https://www.google.com/search?q=adding+git+to+path)
 
-Git Vocabulary
---------------
+## Git Vocabulary
 
 Git revolves around several core data structures and commands:
 
@@ -39,8 +36,7 @@ Git revolves around several core data structures and commands:
 - **Fork:** duplicate a pre-existing repository to modify, and to compare against the original
 - **Merge:** combine various changes from different branches/commits/forks into a single history
 
-Repository
-----------
+## Repository
 
 A Git repository is a data structure containing the structure, history, and files of a project.
 
@@ -50,23 +46,20 @@ Git repositories usually consist of:
 - A ``.gitignore`` file. This file contains the files or directories that you do *not* want included when you commit.
 - Files and folders. This is the main content of the repository.
 
-Creating the repository
-^^^^^^^^^^^^^^^^^^^^^^^
+### Creating the repository
 
-You can store the repository locally, or through a remote -- a remote being the cloud, or possibly another storage medium or server that hosts your repository. `GitHub <https://github.com/>`_ is a popular free hosting service. Numerous developers use it, and that's what this tutorial will use.
+You can store the repository locally, or through a remote -- a remote being the cloud, or possibly another storage medium or server that hosts your repository. [GitHub](https://github.com/) is a popular free hosting service. Numerous developers use it, and that's what this tutorial will use.
 
-.. note:: There are various providers that can host repositories. `Gitlab <https://about.gitlab.com>`_ and `Bitbucket <https://bitbucket.org/>`_ are a few alternatives to Github.
+.. note:: There are various providers that can host repositories. [Gitlab](https://about.gitlab.com) and [Bitbucket](https://bitbucket.org/) are a few alternatives to Github.
 
-Creating a GitHub Account
-~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Creating a GitHub Account
 
 Go ahead and create a GitHub account by visiting the `website <https://github.com>`_ and following the on-screen prompts.
 
 .. image:: images/git-getting-started/create-account.png
    :alt: How to create a new GitHub account.
 
-Local Creation
-~~~~~~~~~~~~~~
+#### Local Creation
 
 After creating and verifying your account, you'll want to visit the homepage. It'll look similar to the shown image.
 
@@ -95,7 +88,7 @@ You should see a screen similar to this
 
 .. note:: The keyboard shortcut :kbd:`Ctrl+~` can be used to open a terminal in Visual Studio Code for Windows.
 
-Now you'll want to open a PowerShell window and navigate to your project directory. An excellent tutorial on PowerShell can be found `here <https://programminghistorian.org/en/lessons/intro-to-powershell>`__. Please consult your search engine on how to open a terminal on alternative operating systems.
+Now you'll want to open a PowerShell window and navigate to your project directory. An excellent tutorial on PowerShell can be found [here](https://programminghistorian.org/en/lessons/intro-to-powershell). Please consult your search engine on how to open a terminal on alternative operating systems.
 
 .. image:: images/git-getting-started/powershell.png
    :alt: An empty powershell window.
@@ -108,54 +101,52 @@ If a directory is empty, a file needs to be created in order for git to have som
 
    .. tab-item:: Empty Directory
 
-      .. code-block:: console
-
-         > cd "C:\Users\ExampleUser9007\Documents\Example Folder"
-         > git init
-         Initialized empty Git repository in C:/Users/ExampleUser9007/Documents/Example Folder/.git/
-         > echo "# ExampleRepo" >> README.md
-         > git add README.md
-         > git commit -m "First commit"
-         [main (root-commit) fafafa] First commit
-          1 file changed, 1 insertions(+), 0 deletions(-)
-          create mode 100644 README.md
-         > git remote add origin https://github.com/ExampleUser9007/ExampleRepo.git
-         > git push -u origin main
+      ```console
+      > cd "C:\Users\ExampleUser9007\Documents\Example Folder"
+      > git init
+      Initialized empty Git repository in C:/Users/ExampleUser9007/Documents/Example Folder/.git/
+      > echo "# ExampleRepo" >> README.md
+      > git add README.md
+      > git commit -m "First commit"
+      [main (root-commit) fafafa] First commit
+       1 file changed, 1 insertions(+), 0 deletions(-)
+       create mode 100644 README.md
+      > git remote add origin https://github.com/ExampleUser9007/ExampleRepo.git
+      > git push -u origin main
+      ```
 
    .. tab-item:: Existing Project
 
-      .. code-block:: console
-
-         > cd "C:\Users\ExampleUser9007\Documents\Example Folder"
-         > git init
-         Initialized empty Git repository in C:/Users/ExampleUser9007/Documents/Example Folder/.git/
-         > git add .
-         > git commit -m "First commit"
-         [main (root-commit) fafafa] First commit
-          1 file changed, 1 insertions(+), 0 deletions(-)
-          create mode 100644 README.md
-         > git remote add origin https://github.com/ExampleUser9007/ExampleRepo.git
-         > git push -u origin main
-
-Commits
--------
+      ```console
+      > cd "C:\Users\ExampleUser9007\Documents\Example Folder"
+      > git init
+      Initialized empty Git repository in C:/Users/ExampleUser9007/Documents/Example Folder/.git/
+      > git add .
+      > git commit -m "First commit"
+      [main (root-commit) fafafa] First commit
+       1 file changed, 1 insertions(+), 0 deletions(-)
+       create mode 100644 README.md
+      > git remote add origin https://github.com/ExampleUser9007/ExampleRepo.git
+      > git push -u origin main
+      ```
+
+## Commits
 
 Repositories are primarily composed of commits. Commits are saved states or *versions* of code.
 
 In the previous example, we created a file called README.md. Open that file in your favorite text editor and edit a few lines. After tinkering with the file for a bit, simply save and close. Navigate to PowerShell and type the following commands.
 
-.. code-block:: console
+```console
+> git add README.md
+> git commit -m "Adds a description to the repository"
+[main bcbcbc] Adds a description to the repository
+ 1 file changed, 2 insertions(+), 0 deletions(-)
+> git push
+```
 
-    > git add README.md
-    > git commit -m "Adds a description to the repository"
-    [main bcbcbc] Adds a description to the repository
-     1 file changed, 2 insertions(+), 0 deletions(-)
-    > git push
+.. note:: Writing good commit messages is a key part of a maintainable project. A guide on writing commit messages can be found [here](https://cbea.ms/git-commit/).
 
-.. note:: Writing good commit messages is a key part of a maintainable project. A guide on writing commit messages can be found `here <https://cbea.ms/git-commit/>`_.
-
-Git Pull
-^^^^^^^^
+### Git Pull
 
 .. note:: ``git fetch`` can be used when the user does not wish to automatically merge into the current working branch
 
@@ -163,8 +154,7 @@ This command retrieves the history or commits from the remote repository. When t
 
 Run: ``git pull``
 
-Git Add
-^^^^^^^
+### Git Add
 
 This command "stages" the specified file(s) so that they will be included in the next commit.
 
@@ -172,8 +162,7 @@ For a single file, run ``git add FILENAME.txt`` where FILENAME.txt is the name a
 To add every file/folder that isn't excluded via *gitignore*,
 run ``git add .``.  When run in the root of the repository this command will stage every untracked, unexcluded file.
 
-Git Commit
-^^^^^^^^^^
+### Git Commit
 
 This command creates the commit and stores it locally. This saves the state and adds it to the repository's history.
 The commit will consist of whatever changes ("diffs") were made to the staged files since the last commit.
@@ -181,15 +170,13 @@ It is required to specify a "commit message" explaining why you changed this set
 
 Run: ``git commit -m "type message here"``
 
-Git Push
-^^^^^^^^
+### Git Push
 
 Upload (Push) your local changes to the remote (Cloud)
 
 Run: ``git push``
 
-Branches
---------
+## Branches
 
 Branches in Git are similar to parallel worlds. They start off the same, and then they can "branch" out into different varying paths. Consider the Git control flow to look similar to this.
 
@@ -198,20 +185,17 @@ Branches in Git are similar to parallel worlds. They start off the same, and the
 
 In the above example, main was branched (or duplicated) into the branch Feature 1 and someone checked out the branch, creating a local copy. Then, someone committed (or uploaded) their changes, merging them into the branch Feature 1. You are "merging" the changes from one branch into another.
 
-Creating a Branch
-^^^^^^^^^^^^^^^^^
+### Creating a Branch
 
 Run: ``git branch branch-name`` where branch-name is the name of the branch to create. The new branch history will be created from the current active branch.
 
-Entering a Branch
-^^^^^^^^^^^^^^^^^
+### Entering a Branch
 
 Once a branch is created, you have to then enter the branch.
 
 Run: ``git checkout branch-name`` where branch-name is the branch that was previously created.
 
-Merging
--------
+## Merging
 
 In scenarios where you want to copy one branches history into another, you can merge them. A merge is done by calling ``git merge branch-name`` with branch-name being the name of the branch to merge from. It is automatically merged into the current active branch.
 
@@ -222,67 +206,58 @@ It's common for a remote repository to contain work (history) that you do not ha
 
 However, in the above example, what if File A was modified by both branch Feature1 and Feature2? This is called a **merge conflict**. A merge conflict can be resolved by editing the conflicting file. In the example, we would need to edit File A to keep the history or changes that we want. After that has been done, simply re-add, re-commit, and then push your changes.
 
-Resets
-------
+## Resets
 
 Sometimes history needs to be reset, or a commit needs to be undone. This can be done multiple ways.
 
-Reverting the Commit
-^^^^^^^^^^^^^^^^^^^^
+### Reverting the Commit
 
 .. note:: You cannot revert a merge, as git does not know which branch or origin it should choose.
 
 To revert history leading up to a commit run ``git revert commit-id``. The commit IDs can be shown using the ``git log`` command.
 
-Resetting the Head
-^^^^^^^^^^^^^^^^^^
+### Resetting the Head
 
 .. warning:: Forcibly resetting the head is a dangerous command. It permanently erases all history past the target. You have been warned!
 
 Run: ``git reset --hard commit-id``.
 
-Forks
------
+## Forks
 
 Forks can be treated similarly to branches. You can merge the upstream (original repository) into the origin (forked repository).
 
-Cloning an Existing Repo
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Cloning an Existing Repo
 
 In the situation that a repository is already created and stored on a remote, you can clone it using
 
-.. code-block:: console
-
-   git clone https://github.com/myrepo.git
+```console
+git clone https://github.com/myrepo.git
+```
 
 where ``myrepo.git`` is replaced with your git repo. If you follow this, you can skip to :ref:`commits <docs/software/basic-programming/git-getting-started:Commits>`.
 
-Updating a Fork
-^^^^^^^^^^^^^^^
+### Updating a Fork
 
 1. Add the upstream: ``git remote add upstream https://github.com/ORIGINAL_OWNER/ORIGINAL_REPOSITORY.git``
 2. Confirm it was added via: ``git remote -v``
 3. Pull changes from upstream: ``git fetch upstream``
 4. Merge the changes into head: ``git merge upstream/upstream-branch-name``
 
-Gitignore
----------
+## Gitignore
 
 .. important:: It is extremely important that teams **do not** modify the ``.gitignore`` file that is included with their robot project. This can lead to offline deployment not working.
 
-A ``.gitignore`` file is commonly used as a list of files to not automatically commit with ``git add``. Any files or directory listed in this file will **not** be committed. They will also not show up with `git status <https://git-scm.com/docs/git-status>`_.
+A ``.gitignore`` file is commonly used as a list of files to not automatically commit with ``git add``. Any files or directory listed in this file will **not** be committed. They will also not show up with [git status](https://git-scm.com/docs/git-status).
 
-Additional Information can be found `here <https://www.atlassian.com/git/tutorials/saving-changes/gitignore>`__.
+Additional Information can be found [here](https://www.atlassian.com/git/tutorials/saving-changes/gitignore).
 
-Hiding a Folder
-^^^^^^^^^^^^^^^
+### Hiding a Folder
 
 Simply add a new line containing the folder to hide, with a forward slash at the end
 
 EX: ``directory-to-exclude/``
 
-Hiding a File
-^^^^^^^^^^^^^
+### Hiding a File
 
 Add a new line with the name of the file to hide, including any prepending directory relative to the root of the repository.
 
@@ -290,9 +265,8 @@ EX: ``directory/file-to-hide.txt``
 
 EX: ``file-to-hide2.txt``
 
-Additional Information
-----------------------
+## Additional Information
 
-A much more in-depth tutorial can be found at the official `git <https://git-scm.com/docs/gittutorial>`__ website.
+A much more in-depth tutorial can be found at the official [git](https://git-scm.com/docs/gittutorial) website.
 
-A guide for correcting common mistakes can be found at the git `flight rules <https://github.com/k88hudson/git-flight-rules/blob/master/README.md>`_ repository.
+A guide for correcting common mistakes can be found at the git [flight rules](https://github.com/k88hudson/git-flight-rules/blob/master/README.md) repository.
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+			<title>Sheet.15</title>
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+		</g>
+		<g id="shape16-11" v:mID="16" v:groupContext="shape" transform="translate(262.995,-161.711)">
+			<title>Sheet.16</title>
+			<path d="M14.68 183.33 L15.04 183.33 L104.2 183.33" class="st4"/>
+		</g>
+		<g id="shape17-17" v:mID="17" v:groupContext="shape" transform="translate(354.255,-36.7013)">
+			<title>Sheet.17</title>
+			<desc>+Y</desc>
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+			<title>Sheet.18</title>
+			<desc>+X</desc>
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+			<title>Circular Arrow.19</title>
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new file mode 100644
index 0000000000..05d2af4cee
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+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:ev="http://www.w3.org/2001/xml-events"
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+		.st7 {fill:#000000;font-family:Calibri;font-size:1.16666em}
+		.st8 {font-size:1em}
+		.st9 {stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-width:0.75}
+		.st10 {fill:#4bacc6;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-width:0.75}
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+				markerUnits="strokeWidth" overflow="visible">
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+		<marker id="mrkr4-9" class="st2" v:arrowType="4" v:arrowSize="2" v:setback="5.36" refX="-5.36" orient="auto"
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+		<marker id="mrkr4-16" class="st4" v:arrowType="4" v:arrowSize="2" v:setback="5.12" refX="5.12" orient="auto"
+				markerUnits="strokeWidth" overflow="visible">
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+		<marker id="mrkr4-18" class="st4" v:arrowType="4" v:arrowSize="2" v:setback="5.36" refX="-5.36" orient="auto"
+				markerUnits="strokeWidth" overflow="visible">
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+	</defs>
+	<g v:mID="0" v:index="1" v:groupContext="foregroundPage">
+		<title>Page-1</title>
+		<v:pageProperties v:drawingScale="1" v:pageScale="1" v:drawingUnits="0" v:shadowOffsetX="9" v:shadowOffsetY="-9"/>
+		<g id="shape21-1" v:mID="21" v:groupContext="shape" transform="translate(413.235,30.2998) rotate(90)">
+			<title>Sheet.21</title>
+			<path d="M7.68 269.85 L8.04 269.85 L198.96 269.85" class="st1"/>
+		</g>
+		<g id="shape22-10" v:mID="22" v:groupContext="shape" transform="translate(246.885,403.65) rotate(180)">
+			<title>Sheet.22</title>
+			<path d="M7.68 269.85 L8.04 269.85 L198.96 269.85" class="st3"/>
+		</g>
+		<g id="shape1-19" v:mID="1" v:groupContext="shape" transform="translate(63.375,-54.9582)">
+			<title>Circle</title>
+			<v:userDefs>
+				<v:ud v:nameU="visVersion" v:val="VT0(15):26"/>
+			</v:userDefs>
+			<path d="M0 188.85 A81 81 0 1 1 162 188.85 A81 81 0 0 1 -0 188.85 Z" class="st5"/>
+		</g>
+		<g id="shape8-21" v:mID="8" v:groupContext="shape" transform="translate(112.875,-237.3)">
+			<title>Sheet.8</title>
+			<desc>0° 0 rad</desc>
+			<v:textBlock v:margins="rect(4,4,4,4)"/>
+			<v:textRect cx="31.5" cy="254.1" width="63.01" height="31.5"/>
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+			<text x="25.58" y="249.9" class="st7" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>0°<v:newlineChar/><tspan
+						x="16.9" dy="1.2em" class="st8">0 rad </tspan> </text>		</g>
+		<g id="shape10-25" v:mID="10" v:groupContext="shape" transform="translate(0.375,-120.208)">
+			<title>Sheet.10</title>
+			<desc>90° ½π rad</desc>
+			<v:textBlock v:margins="rect(4,4,4,4)"/>
+			<v:textRect cx="31.5" cy="254.1" width="63.01" height="31.5"/>
+			<rect x="0" y="238.35" width="63" height="31.5" class="st6"/>
+			<text x="22.03" y="249.9" class="st7" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>90°<v:newlineChar/><tspan
+						x="10.3" dy="1.2em" class="st8">½</tspan>π  rad  </text>		</g>
+		<g id="shape11-29" v:mID="11" v:groupContext="shape" transform="translate(112.875,-1.05002)">
+			<title>Sheet.11</title>
+			<desc>180° π rad</desc>
+			<v:textBlock v:margins="rect(4,4,4,4)"/>
+			<v:textRect cx="31.5" cy="254.1" width="63.01" height="31.5"/>
+			<rect x="0" y="238.35" width="63" height="31.5" class="st6"/>
+			<text x="18.48" y="249.9" class="st7" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>180°<v:newlineChar/><tspan
+						x="14.99" dy="1.2em" class="st8">π</tspan>  rad  </text>		</g>
+		<g id="shape12-33" v:mID="12" v:groupContext="shape" transform="translate(229.875,-120.208)">
+			<title>Sheet.12</title>
+			<desc>-90° -½π rad</desc>
+			<v:textBlock v:margins="rect(4,4,4,4)"/>
+			<v:textRect cx="31.5" cy="254.1" width="63.01" height="31.5"/>
+			<rect x="0" y="238.35" width="63" height="31.5" class="st6"/>
+			<text x="19.89" y="249.9" class="st7" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>-90°<v:newlineChar/><tspan
+						x="8.15" dy="1.2em" class="st8">-</tspan>½π  rad  </text>		</g>
+		<g id="shape13-37" v:mID="13" v:groupContext="shape" transform="translate(4.95947,-108.41) rotate(-45)">
+			<title>Sheet.13</title>
+			<path d="M0 269.85 L18 269.85" class="st9"/>
+		</g>
+		<g id="shape14-40" v:mID="14" v:groupContext="shape" transform="translate(-109.438,5.98715) rotate(-45)">
+			<title>Sheet.14</title>
+			<path d="M0 269.85 L18 269.85" class="st9"/>
+		</g>
+		<g id="shape15-43" v:mID="15" v:groupContext="shape" transform="translate(385.46,-6.74079) rotate(45)">
+			<title>Sheet.15</title>
+			<path d="M0 269.85 L18 269.85" class="st9"/>
+		</g>
+		<g id="shape16-46" v:mID="16" v:groupContext="shape" transform="translate(271.835,-120.366) rotate(45)">
+			<title>Sheet.16</title>
+			<path d="M0 269.85 L18 269.85" class="st9"/>
+		</g>
+		<g id="shape17-49" v:mID="17" v:groupContext="shape" transform="translate(-132.164,-98.1913) rotate(-45)">
+			<title>Sheet.17</title>
+			<desc>45° ¼π rad</desc>
+			<v:textBlock v:margins="rect(4,4,4,4)"/>
+			<v:textRect cx="31.5" cy="254.1" width="63.01" height="31.5"/>
+			<rect x="0" y="238.35" width="63" height="31.5" class="st6"/>
+			<text x="22.03" y="249.9" class="st7" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>45°<v:newlineChar/><tspan
+						x="10.54" dy="1.2em" class="st8">¼</tspan>π  rad  </text>		</g>
+		<g id="shape18-53" v:mID="18" v:groupContext="shape" transform="translate(380.188,-144.65) rotate(45)">
+			<title>Sheet.18</title>
+			<desc>-45° -¼π rad</desc>
+			<v:textBlock v:margins="rect(4,4,4,4)"/>
+			<v:textRect cx="31.5" cy="254.1" width="63.01" height="31.5"/>
+			<rect x="0" y="238.35" width="63" height="31.5" class="st6"/>
+			<text x="19.89" y="249.9" class="st7" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>-45°<v:newlineChar/><tspan
+						x="8.4" dy="1.2em" class="st8">-</tspan>¼π  rad  </text>		</g>
+		<g id="shape19-57" v:mID="19" v:groupContext="shape" transform="translate(5.97548,68.3437) rotate(-50)">
+			<title>Sheet.19</title>
+			<desc>-135° -¾π rad</desc>
+			<v:textBlock v:margins="rect(4,4,4,4)"/>
+			<v:textRect cx="31.5" cy="254.1" width="63.01" height="31.5"/>
+			<rect x="0" y="238.35" width="63" height="31.5" class="st6"/>
+			<text x="16.34" y="249.9" class="st7" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>-135°<v:newlineChar/><tspan
+						x="8.12" dy="1.2em" class="st8">-</tspan>¾π  rad  </text>		</g>
+		<g id="shape20-61" v:mID="20" v:groupContext="shape" transform="translate(227.188,6.43942) rotate(45)">
+			<title>Sheet.20</title>
+			<desc>135° ¾π rad</desc>
+			<v:textBlock v:margins="rect(4,4,4,4)"/>
+			<v:textRect cx="31.5" cy="254.1" width="63.01" height="31.5"/>
+			<rect x="0" y="238.35" width="63" height="31.5" class="st6"/>
+			<text x="18.48" y="249.9" class="st7" v:langID="1033"><v:paragraph v:horizAlign="1"/><v:tabList/>135°<v:newlineChar/><tspan
+						x="10.27" dy="1.2em" class="st8">¾</tspan>π  rad  </text>		</g>
+		<g id="shape2-65" v:mID="2" v:groupContext="shape" transform="translate(164.625,-115.708) scale(-1,1)">
+			<title>Circular Arrow</title>
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+				<v:ud v:nameU="MidAngle" v:prompt="" v:val="VT0(1.5707963267949):32"/>
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diff --git a/source/docs/software/basic-programming/images/robot-preferences/view-edit-preferences-values-shuffleboard.png b/source/docs/software/basic-programming/images/robot-preferences/view-edit-preferences-values-shuffleboard.png
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diff --git a/source/docs/software/basic-programming/index.rst b/source/docs/software/basic-programming/index.rst
index 65a5e883dc..a077d7096e 100644
--- a/source/docs/software/basic-programming/index.rst
+++ b/source/docs/software/basic-programming/index.rst
@@ -1,5 +1,4 @@
-Basic Programming
-=================
+# Basic Programming
 
 .. toctree::
    :maxdepth: 1
@@ -8,8 +7,10 @@ Basic Programming
    cpp-units
    java-units
    joystick
+   coordinate-system
    robot-preferences
    using-test-mode
    reading-stacktraces
    functions-as-data
+   alliancecolor
    java-gc
diff --git a/source/docs/software/basic-programming/java-gc.rst b/source/docs/software/basic-programming/java-gc.rst
index 74d4baa70f..c1a331d2e7 100644
--- a/source/docs/software/basic-programming/java-gc.rst
+++ b/source/docs/software/basic-programming/java-gc.rst
@@ -1,31 +1,172 @@
-Java Garbage Collection
-=======================
+# Java Garbage Collection
 Java garbage collection is the process of automatically managing memory for Java objects. The Java Virtual Machine (JVM) is responsible for creating and destroying objects, and the garbage collector is responsible for identifying and reclaiming unused objects.
 
 Java garbage collection is an automatic process, which means that the programmer does not need to explicitly deallocate memory. The garbage collector keeps track of which objects are in use and which are not, and it periodically reclaims unused objects.
 
-Object Creation
----------------
+## Object Creation
 
 Creating a large number of objects in Java can lead to memory and performance issues. While the Java Garbage Collector (GC) is designed to handle memory management efficiently, creating too many objects can overwhelm the GC and cause performance degradation.
 
-Memory Concerns
-^^^^^^^^^^^^^^^
+### Memory Concerns
 
 When a large number of objects are created, it increases the overall memory footprint of the application. While the overhead for a single object may be insignificant, it can become substantial when multiplied by a large number of objects.
 
-Performance Concerns
-^^^^^^^^^^^^^^^^^^^^
+.. note:: :doc:`VisualVM </docs/software/advanced-gradlerio/profiling-with-visualvm>` can be used to see where memory is allocated.
+
+### Performance Concerns
 
 The GC's job is to periodically identify and reclaim unused objects in memory. While garbage collection is running on an FRC robot coded in Java, execution of the robot program is paused. When the GC has to collect a large number of objects, it has to pause the application to run more frequently or for longer periods of time. This is because the GC has to perform more work to collect and process each object.
 
 GC-related performance degradation in robot programs can manifest as occasional pauses, freezes, or loop overruns as the GC works to reclaim memory.
 
-Design Considerations
-^^^^^^^^^^^^^^^^^^^^^
+### Design Considerations
 
 If you anticipate your application creating a large number of short-lived objects, it is important to consider design strategies to mitigate the potential memory and performance issues. Here are some strategies to consider:
 
 - Minimize object creation: Carefully evaluate the need for each object creation. If possible, reuse existing objects or use alternative data structures, such as arrays or primitives, to avoid creating new objects.
 
 - Efficient data structures: Use data structures that are well-suited for the type of data you are working with. For example, if you are dealing with a large number of primitive values, consider using arrays or collections specifically designed for primitives.
+
+## Diagnosing Out of Memory Errors with Heap Dumps
+
+All objects in Java are retained in a section of memory called the *heap*. As objects typically consume the greatest amount of memory in a Java program, it is often useful to take a snapshot of the state of the heap---a heap dump---to analyze memory issues. Heap dumps only capture the state of a program's heap at a single point in time, so they are unlikely to be useful if not captured exactly at the time the program is experiencing memory issues.
+
+Since ``OutOfMemoryError``\ s both crash the program and are a common reason to want a heap dump, the JVM can be configured to automatically take a heap dump the moment an ``OutOfMemoryError`` is caught by the JVM. To configure these options, locate the ``frcJava`` code block in your project's ``build.gradle``:
+
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2024.3.1/vscode-wpilib/resources/gradle/java/build.gradle
+   :language: groovy
+   :lines: 15-40
+   :linenos:
+   :lineno-start: 15
+   :emphasize-lines: 15-16
+
+Add to the code block so that it contains two ``jvmArgs`` commands, as shown below:
+
+```groovy
+frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+    // If you have other configuration here, you do not need to remove it.
+    // Enable automatic heap dumps on OutOfMemoryError
+    // Note: the heap dump path here is a path on a USB flash drive, see below
+    jvmArgs.add("-XX:+HeapDumpOnOutOfMemoryError")
+    jvmArgs.add("-XX:HeapDumpPath=/u/frc-usercode.hprof")
+}
+```
+
+This will cause the JVM to write heap dumps to a file named ``frc-usercode.hprof`` at the root of a USB flash drive attached to the roboRIO when the code runs out of memory. It is recommended to save these heap dumps to a USB flash drive because heap dumps intrinsically consume the same amount of space on disk as the program heap did in memory when the program crashed, and are likely to be larger than the roboRIO's internal storage has capacity for. Once you have reproduced the ``OutOfMemoryError``, redeploy your code without these options enabled, and use the USB flash drive to transfer the heap dump to a computer for analysis in a memory profiler such as :ref:`VisualVM <docs/software/advanced-gradlerio/profiling-with-visualvm:Analyzing a Heap Dump>`.
+
+.. warning:: Configuring the JVM this way requires that the flash drive remain connected to the roboRIO while your code is running.
+
+Larger SD cards may provide enough onboard storage to allow the use of these options on the roboRIO 2 without a USB flash drive. To do this, set the ``-XX:HeapDumpPath`` option to reference a path on the SD card, and use :doc:`FTP/SFTP to transfer the heap dump to a computer </docs/software/roborio-info/roborio-ftp>` before deleting it from the SD card.
+
+Note that the JVM will **not** overwrite heap dumps with the exact path and filename specified by ``-XX:HeapDumpPath`` if they already exist, nor will it dump the process heap to a file with a different name. If a path to a directory is supplied instead of a path to a file, the JVM will instead write out heap dumps with unique filenames within the specified directory, with the name ``java_pidNNNN.hprof``, where ``NNNN`` is the process ID of the JVM that ran out of memory. Note that this can cause large files to build up on disk if they are not cleaned out, so if you configure the JVM this way, be sure to frequently copy heap dumps to a computer and delete them from the flash drive/SD card afterward.
+
+.. caution:: Always be vigilant about the amount of available space on the underlying storage medium while you use this feature.
+
+   Use of this feature is not recommended during competitive play.
+
+## System Memory Tuning
+
+If the JVM cannot allocate memory, the program will be terminated. As an embedded system with only a small amount of memory available (256 MB on the roboRIO 1, 512 MB on the roboRIO 2), the roboRIO is particularly susceptible to running out of memory.
+
+.. admonition :: No amount of system tuning can fix out of memory errors caused by out-of-control allocations.
+
+    If you are running out of memory, always investigate allocations with heap dumps and/or :doc:`VisualVM </docs/software/advanced-gradlerio/profiling-with-visualvm>` first.
+
+If you continue to run out of memory even after investigating with VisualVM and taking steps to minimize the number of allocated objects, a few different options are available to make additional memory available to the robot program.
+
+- Disabling the system web server
+- Setting sysctls (Linux kernel options)
+- Periodically calling the garbage collector
+- Setting up swap on a USB flash drive
+
+Implementing most of these options require :doc:`connecting with SSH </docs/software/roborio-info/roborio-ssh>` to the roboRIO and running commands. If run incorrectly, it may require a reimage to recover, so be careful when following the instructions.
+
+### Disabling the System Web Server
+
+The built-in NI system web server provides the webpage (the :doc:`roboRIO Web Dashboard </docs/software/roborio-info/roborio-web-dashboard>`) seen when using a web browser to connect to the roboRIO, e.g. to change IP address settings. It also is used by the Driver Station's data log download functionality. However, it consumes several MB of RAM, so disabling it will free up that memory for the robot program to use. There are several ways to disable the web server:
+
+The first and easiest is to use the :doc:`RoboRIO Team Number Setter </docs/software/wpilib-tools/roborio-team-number-setter/index>` tool. Versions 2024.2.1 and later of the tool have a button to disable or enable the web server. However, a few teams have reported that this does not work or does not persist between reboots. There are two alternate ways to disable the web server; both require connecting to the roboRIO with SSH and logging in as the ``admin`` user.
+
+1. Run ``/etc/init.d/systemWebServer stop; update-rc.d -f systemWebServer remove; sync``
+
+2. Run ``chmod a-x /usr/local/natinst/etc/init.d/systemWebServer; sync``
+
+To revert the alternate ways and re-enable the web server, take the corresponding step:
+
+1. Run ``update-rc.d -f systemWebServer defaults; /etc/init.d/systemWebServer start; sync``
+
+2. Run ``chmod a+x /usr/local/natinst/etc/init.d/systemWebServer; sync``
+
+### Setting sysctls
+
+Several Linux kernel options (called sysctls) can be set to tweak how the kernel allocates memory. Several options have been found to reduce out-of-memory errors:
+
+- Setting ``vm.overcommit_memory`` to 1 (the default value is 2). This causes the kernel to always pretend there is enough memory for a requested memory allocation at the time of allocation; the default setting always checks to see if there's actually enough memory to back an allocation at the time of allocation, not when the memory is actually used.
+- Setting ``vm.vfs_cache_pressure`` to 1000 (the default value is 100). Increasing this causes the kernel to much more aggressively reclaim file system object caches; it may slightly degrade performance.
+- Setting ``vm.swappiness`` to 100 (the default value is 60). This causes the kernel to more aggressively swap process memory to the swap file. Changing this option has no effect unless you add a swap file.
+
+You can set some or all of these options; the most important one is ``vm.overcommit_memory``. Setting these options requires connecting to the roboRIO with SSH and logging in as the ``admin`` user, then running the following commands:
+
+```text
+echo "vm.overcommit_memory=1" >> /etc/sysctl.conf
+echo "vm.vfs_cache_pressure=1000" >> /etc/sysctl.conf
+echo "vm.swappiness=100" >> /etc/sysctl.conf
+sync
+```
+
+The ``/etc/sysctl.conf`` file should contain the following lines at the end when done (to check, you can run the command ``cat /etc/sysctl.conf``):
+
+```text
+vm.overcommit_memory=1
+vm.vfs_cache_pressure=1000
+vm.swappiness=100
+```
+
+To revert the change, edit ``/etc/sysctl.conf`` (this will require the use of the vi editor) and remove these 3 lines.
+
+### Periodically Calling the Garbage Collector
+
+Sometimes the garbage collector won't run frequently enough to keep up with the quantity of allocations. As Java provides a way to trigger a garbage collection to occur, running it on a periodic basis may reduce peak memory usage. This can be done by adding a ``Timer`` and a periodic check:
+
+```java
+Timer m_gcTimer = new Timer();
+public void robotInit() {
+  m_gcTimer.start();
+}
+public void periodic() {
+  // run the garbage collector every 5 seconds
+  if (m_gcTimer.advanceIfElapsed(5)) {
+    System.gc();
+  }
+}
+```
+
+### Setting Up Swap on a USB Flash Drive
+
+A swap file on a Linux system provides disk-backed space that can be used by the system as additional virtual memory to put infrequently used data and programs when they aren't being used, freeing up physical RAM for active use such as the robot program. It is strongly recommended to not use the built-in non-replaceable flash storage on the roboRIO 1 for a swap file, as it has very limited write cycles and may wear out quickly. Instead, however, a FAT32-formatted USB flash drive may be used for this purpose. This does require the USB flash drive to always be plugged into the roboRIO before boot.
+
+.. caution:: Having a swap file on a USB stick means it's critical the USB stick stay connected to the roboRIO at all times it is powered.
+
+    This should be used as a last resort if none of the other steps above help. Generally needing swap is indicative of some other allocation issue, so use VisualVM first to optimize allocations.
+
+A swap file can be set up by plugging the USB flash drive into the roboRIO USB port, connecting to the roboRIO with SSH and logging in as the ``admin`` user, and running the following commands. Note the vi step requires knowledge of how to edit and save a file in vi.
+
+```text
+fallocate -l 100M /u/swapfile
+mkswap /u/swapfile
+swapon /u/swapfile
+vi /etc/init.d/addswap.sh
+chmod a+x /etc/init.d/addswap.sh
+update-rc.d -v addswap.sh defaults
+sync
+```
+
+The ``/etc/init.d/addswap.sh`` file contents should look like this:
+
+```text
+#!/bin/sh
+[ -x /sbin/swapon ] && swapon -e /u/swapfile
+: exit 0
+```
+
+To revert the change, run ``update-rc.d -f addswap.sh remove; rm /etc/init.d/addswap.sh; sync; reboot``.
diff --git a/source/docs/software/basic-programming/java-units.rst b/source/docs/software/basic-programming/java-units.rst
index 9a6d38ec67..865dde2528 100644
--- a/source/docs/software/basic-programming/java-units.rst
+++ b/source/docs/software/basic-programming/java-units.rst
@@ -1,5 +1,6 @@
-The Java Units Library
-======================
+# The Java Units Library
+
+.. note:: New for 2025: The units library has been refactored to have unit-specific measurement classes instead of a single generic ``Measure`` class. The new measurement classes have clearer names (``Distance`` instead of ``Measure<Distance>``, or ``LinearAcceleration`` instead of ``Measure<Velocity<Velocity<Distance>>>``), and implement math operations to return the most specific result types possible instead of a wildcard ``Measure<?>``.
 
 The units library is a tool that helps programmers avoid mistakes related to units of measurement. It does this by keeping track of the units of measurement, and by ensuring that all operations are performed with the correct units. This can help to prevent errors that can lead to incorrect results, such as adding a distance in inches to a distance in meters.
 
@@ -12,8 +13,7 @@ The units library has a number of features:
 - Support for performing arithmetic and comparisons on quantities with units.
 - Support for displaying quantities with units in a human-readable format.
 
-Terminology
------------
+## Terminology
 Dimension
   Dimensions represent the nature of a physical quantity, such as length, time, or mass. They are independent of any specific unit system. For example, the dimension of meters is length, regardless of whether the length is expressed in meters, millimeters, or inches.
 
@@ -25,122 +25,122 @@ Measure
 
 These concepts are used within the Units Library. For example, the **measure** *10 seconds* has a magnitude of 10, the **dimension** is time, and the **unit** is seconds.
 
-Using the Units Library
------------------------
+## Using the Units Library
 
 The Java units library is available in the ``edu.wpi.first.units`` package. The most relevant classes are:
 
-- The various classes for predefined dimensions, such as `Distance <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/units/Distance.html>`__ and `Time <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/units/Time.html>`__
-- `Units <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/units/Units.html>`__, which contains a set of predefined units. Take a look a the `Units javadoc <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/units/Units.html>`__ to browse the available units and their types.
-- `Measure <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/units/Measure.html>`__, which is used to tag a value with a unit.
+- The various classes for predefined dimensions, such as [DistanceUnit](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/units/DistanceUnit.html) and [TimeUnit](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/units/TimeUnit.html)
+- [Units](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/units/Units.html), which contains a set of predefined units. Take a look a the [Units javadoc](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/units/Units.html) to browse the available units and their types.
+- [Measure](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/units/Measure.html), which is used to tag a value with a unit, and the dimension-specific implementations like [Distance](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/units/measure/Distance.html) and [Time](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/units/measure/Time.html)
 
 .. note:: It is recommended to static import ``edu.wpi.first.units.Units.*`` to get full access to all the predefined units.
 
-Java Generics
-^^^^^^^^^^^^^
-Units of measurement can be complex expressions involving various dimension, such as distance, time, and velocity. Nested `generic type parameters <https://docs.oracle.com/javase/tutorial/java/generics/index.html>`__ allow for the definition of units that can represent such complex expressions. Generics are used to keep the library concise, reusable, and extensible, but it tends to be verbose due to the syntax for Java generics.
-
-For instance, consider the type ``Measure<Velocity<Distance>>``. This type represents a measurement for velocity, where the velocity itself is expressed as a unit of distance per unit of time. This nested structure allows for the representation of units like meters per second or feet per minute. Similarly, the type ``Measure<Per<Voltage, Velocity<Distance>>>`` represents a measurement for a ratio of voltage to velocity. This type is useful for representing quantities like volts per meter per second, the unit of measure for some :ref:`feedforward<docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>` gains.
-
-It's important to note that not all measurements require such complex nested types. For example, the type ``Measure<Distance>`` is sufficient for representing simple units like meters or feet. However, for more complex units, the use of nested generic type parameters is essential.
+### Creating Measures
 
-For local variables, you may choose to use Java's `var` keyword instead of including the full type name. For example, these are equivalent:
+Every dimension has a measurement class with the corresponding name - for example, a ``Distance`` measures distance, ``Time`` measures time, and ``LinearVelocity`` measures linear velocity. To instantiate one of these measurements, call the ``Unit.of`` method on the appropriate unit object. For example, to create a ``Distance`` object representing a distance of 6 inches, you would write:
 
-.. code-block:: java
+```java
+Distance wheelDiameter = Inches.of(6);
+```
 
-  Measure<Per<Voltage, Velocity<Distance>>> v = VoltsPerMeterPerSecond.of(8);
-  var v = VoltsPerMeterPerSecond.of(8);
-
-Creating Measures
-^^^^^^^^^^^^^^^^^
+Other measures can also be created using their ``Unit.of`` method:
 
-The ``Measure`` class is a generic type that represents a magnitude (physical quantity) with its corresponding unit. It provides a consistent and type-safe way to handle different dimensions of measurements, such as distance, angle, and velocity, but abstracts away the particular unit (e.g. meter vs. inch). To create a ``Measure`` object, you call the ``Unit.of`` method on the appropriate unit object. For example, to create a ``Measure<Distance>`` object representing a distance of 6 inches, you would write:
+```java
+Mass kArmMass = Kilograms.of(1.423);
+Distance kArmLength = Inches.of(32.25);
+Angle kMinArmAngle = Degrees.of(5);
+Angle kArmMaxTravel = Rotations.of(0.45);
+LinearVelocity kMaxSpeed = MetersPerSecond.of(2.5);
+```
 
-.. code-block:: java
+.. warning:: Composite units with ``PerUnit`` and ``MultUnit`` have special requirements, and the ``of`` method is not recommended to be used with them
 
-  Measure<Distance> wheelDiameter = Inches.of(6);
+#### Using Composite Unit Types
 
-Other measures can also be created using their ``Unit.of`` method:
+Due to requirements of inheritance in Java's type system, ``PerUnit`` and ``MultUnit`` cannot return a normal ``Per`` or ``Mult`` object from their ``of`` factory methods. Instead, they need to return a bounded wildcard ``Measure<? extends PerUnit<...>>`` or ``Measure<? extends MultUnit<...>>`` to allow subclasses like ``LinearVelocity`` to return a compatible type. New ``ofNative`` methods are provided to be able to work with known ``Per`` and ``Mult`` objects
 
-.. code-block:: java
+```java
+// Using ofNative:
+Per<VoltageUnit, DistanceUnit> kP = VoltsPerMeter.ofNative(1);
+kP.in(VoltsPerMeter); // 1.0
 
-  Measure<Mass> kArmMass = Kilograms.of(1.423);
-  Measure<Distance> kArmLength = Inches.of(32.25);
-  Measure<Angle> kMinArmAngle = Degrees.of(5);
-  Measure<Angle> kArmMaxTravel = Rotations.of(0.45);
-  Measure<Velocity<Distance> kMaxSpeed = MetersPerSecond.of(2.5);
+Measure<VoltageUnit> output = kP.timesDivisor(Meters.of(1));
+output.in(Volts); // 1.0
 
-Performing Calculations
-^^^^^^^^^^^^^^^^^^^^^^^
+// Without ofNative
+Measure<? extends PerUnit<VoltageUnit, DistanceUnit>> kP = VoltsPerMeter.of(1);
+kP.in(VoltsPerMeter); // Compilation error!
 
-The ``Measure`` class also supports arithmetic operations, such as addition, subtraction, multiplication, and division. These are done by calling methods on the objects. These operations always ensure that the units are compatible before performing the calculation, and they return a new ``Measure`` object. For example, you can add two ``Measure<Distance>`` objects together, even if they have different units:
+Measure<?> output = kP.times(Meters.of(1)); // The compiler can't know what unit this is
+output.in(Volts); // Compilation error!
+```
 
-.. code-block:: java
+### Performing Calculations
 
-  Measure<Distance> distance1 = Inches.of(10);
-  Measure<Distance> distance2 = Meters.of(0.254);
+The ``Measure`` class also supports arithmetic operations, such as addition, subtraction, multiplication, and division. These are done by calling methods on the objects. These operations always ensure that the units are compatible before performing the calculation, and they return a new ``Measure`` object. For example, you can add two ``Distance`` objects together, even if they have different units:
 
-  Measure<Distance> totalDistance = distance1.plus(distance2);
+```java
+Distance distance1 = Inches.of(10);
+Distance distance2 = Meters.of(0.254);
+Distance totalDistance = distance1.plus(distance2);
+```
 
-In this code, the units library will automatically convert the measures to the same unit before adding the two distances. The resulting ``totalDistance`` object will be a new ``Measure<Distance>`` object that has a value of 0.508 meters, or 20 inches.
+In this code, the units library will automatically convert the measures to the same unit before adding the two distances. The resulting ``totalDistance`` object will be a new ``Distance`` object that has a value of 0.508 meters, or 20 inches.
 
-This example combines the wheel diameter and gear ratio to calcualate the distance per rotation of the wheel:
+.. note:: Mathematical operations are type safe. It is impossible to add a distance to a time, or subtract an angle from a voltage. However, multiplication and division operations make a best-effort attempt to return results in the most appropriate unit type; dividing a distance by time results in a ``LinearVelocity`` measurement, and multiplying it by time returns a ``Distance``.
 
-.. code-block:: java
+This example combines the wheel diameter and gear ratio to calculate the distance per rotation of the wheel:
 
-   Measure<Distance> wheelDiameter = Inches.of(3);
-   double gearRatio = 10.48;
-   Measure<Distance> distancePerRotation = wheelDiameter.times(Math.PI).divide(gearRatio);
+```java
+Distance wheelDiameter = Inches.of(3);
+double gearRatio = 10.48;
+Distance distancePerRotation = wheelDiameter.times(Math.PI).divide(gearRatio);
+```
 
 .. warning:: By default, arithmetic operations create new ``Measure`` instances for their results. See :ref:`Java Garbage Collection<docs/software/basic-programming/java-gc:Java Garbage Collection>` for discussion on creating a large number of short-lived objects. See also, the `Mutability and Object Creation`_ section below for a possible workaround.
 
-Converting Units
-^^^^^^^^^^^^^^^^
+### Converting Units
 
 Unit conversions can be done by calling ``Measure.in(Unit)``. The Java type system will prevent units from being converted between incompatible types, such as distances to angles. The returned values will be bare ``double`` values without unit information - it is up to you, the programmer, to interpret them correctly! It is strongly recommended to only use unit conversions when interacting with APIs that do not support the units library.
 
-.. code-block:: java
+```java
+LinearVelocity kMaxVelocity = FeetPerSecond.of(12.5);
+LinearAcceleration kMaxAcceleration = FeetPerSecond.per(Second).of(22.9);
+kMaxVelocity.in(MetersPerSecond); // => OK! Returns 3.81
+kMaxVelocity.in(RadiansPerSecond); // => Compile error! LinearVelocity cannot be converted to AngularVelocity
 
-   Measure<Velocity<Distance>> kMaxVelocity = FeetPerSecond.of(12.5);
-   Measure<Velocity<Velocity<Distance>>> kMaxAcceleration = FeetPerSecond.per(Second).of(22.9);
+// The WPILib math libraries use SI metric units, so we have to convert to meters:
+TrapezoidProfile.Constraints kDriveConstraints = new TrapezoidProfile.Constraints(
+  maxVelocity.in(MetersPerSecond),
+  maxAcceleration.in(MetersPerSecondPerSecond)
+);
+```
 
-   kMaxVelocity.in(MetersPerSecond); // => OK! Returns 3.81
-   kMaxVelocity.in(RadiansPerSecond); // => Compile error! Velocity<Angle> cannot be converted to Unit<Velocity<Distance>>
-
-   // The WPILib math libraries use SI metric units, so we have to convert to meters:
-   TrapezoidProfile.Constraints kDriveConstraints = new TrapezoidProfile.Constraints(
-     maxVelocity.in(MetersPerSecond),
-     maxAcceleration.in(MetersPerSecondPerSecond)
-   );
-
-Usage Example
-^^^^^^^^^^^^^
+### Usage Example
 
 Pulling all of the concepts together, we can create an example that calculates the end effector position of an arm mechanism:
 
-.. code-block:: java
-
-  Measure<Distance> armLength = Feet.of(3).plus(Inches.of(4.25));
-  Measure<Distance> endEffectorX = armLength.times(Math.cos(getArmAngle().in(Radians)));
-  Measure<Distance> endEffectorY = armLength.times(Math.sin(getArmAngle().in(Radians)));
+```java
+Distance armLength = Feet.of(3).plus(Inches.of(4.25));
+Distance endEffectorX = armLength.times(Math.cos(getArmAngle().in(Radians)));
+Distance endEffectorY = armLength.times(Math.sin(getArmAngle().in(Radians)));
+```
 
-Human-readable Formatting
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Human-readable Formatting
 
 The ``Measure`` class has methods that can be used to get a human-readable representation of the measure. This feature is useful to display a measure on a dashboard or in logs.
 
 - ``toString()`` and ``toShortString()`` return a string representation of the measure in a shorthand form. The symbol of the backing unit is used, rather than the full name, and the magnitude is represented in scientific notation. For example, 1.234e+04 V/m
 - ``toLongString()`` returns a string representation of the measure in a longhand form. The name of the backing unit is used, rather than its symbol, and the magnitude is represented in a full string, not scientific notation. For example, 1234 Volt per Meter
 
-Mutability and Object Creation
-------------------------------
+## Mutability and Object Creation
 
-To reduce the number of object instances you create, and reduce memory usage, a special ``MutableMeasure`` class is available. You may want to consider using mutable objects if you are using the units library repeatedly, such as in the robot's periodic loop. See :ref:`Java Garbage Collection<docs/software/basic-programming/java-gc:Java Garbage Collection>` for more discussion on creating a large number of short-lived objects.
+To reduce the number of object instances you create, and reduce memory usage, a special ``MutableMeasure`` class is available, with unit-specific subtypes like ``MutDistance`` and ``MutTime``. You may want to consider using mutable objects if you are using the units library repeatedly, such as in the robot's periodic loop. See :ref:`Java Garbage Collection<docs/software/basic-programming/java-gc:Java Garbage Collection>` for more discussion on creating a large number of short-lived objects. Mutable measures can be created in a similar way to regular, immutable measures using the ``Unit.mutable`` method (instead of ``Unit.of``).
 
 ``MutableMeasure`` allows the internal state of the object to be updated, such as with the results of arithmetic operations, to avoid allocating new objects. Special care needs to be taken when mutating a measure because it will change the value every place that instance is referenced. If the object will be exposed as part of a public method, have that method return a regular ``Measure`` in its signature to prevent the caller from modifying your internal state.
 
 Extra methods are available on ``MutableMeasure`` for updating the internal value. Note that these methods all begin with the ``mut_`` prefix - this is to make it obvious that these methods will be mutating the object and are potentially unsafe!
-For the full list of methods and API documentation, see `the MutableMeasure API documentation <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/units/MutableMeasure.html>`__
+For the full list of methods and API documentation, see [the MutableMeasure API documentation](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/units/MutableMeasure.html)
 
 +-------------------------------+--------------------------------------------------------------------------------------------------+
 | ``mut_plus(double, Unit)``    | Increments the internal value by an amount in another unit. The internal unit will stay the same |
@@ -162,134 +162,125 @@ For the full list of methods and API documentation, see `the MutableMeasure API
 | ``mut_setMagnitude(double)``  | Overrides the internal value, keeping the internal unit. Be careful when using this!             |
 +-------------------------------+--------------------------------------------------------------------------------------------------+
 
-.. code-block:: java
-
-   MutableMeasure<Distance> measure = MutableMeasure.zero(Feet);
-   measure.mut_plus(10, Inches);    // 0.8333 feet
-   measure.mut_plus(Inches.of(10)); // 1.6667 feet
-   measure.mut_minus(5, Inches);    // 1.25 feet
-   measure.mut_minus(Inches.of(5)); // 0.8333 feet
-   measure.mut_times(6);            // 0.8333 * 6 = 5 feet
-   measure.mut_divide(5);           // 5 / 5 = 1 foot
-   measure.mut_replace(6.2, Meters) // 6.2 meters - note the unit changed!
-   measure.mut_replace(Millimeters.of(14.2)) // 14.2mm - the unit changed again!
-   measure.mut_setMagnitude(72)     // 72mm
+```java
+MutDistance measure = Feet.mutable(0);
+measure.mut_plus(10, Inches);    // 0.8333 feet
+measure.mut_plus(Inches.of(10)); // 1.6667 feet
+measure.mut_minus(5, Inches);    // 1.25 feet
+measure.mut_minus(Inches.of(5)); // 0.8333 feet
+measure.mut_times(6);            // 0.8333 * 6 = 5 feet
+measure.mut_divide(5);           // 5 / 5 = 1 foot
+measure.mut_replace(6.2, Meters) // 6.2 meters - note the unit changed!
+measure.mut_replace(Millimeters.of(14.2)) // 14.2mm - the unit changed again!
+measure.mut_setMagnitude(72)     // 72mm
+```
 
 Revisiting the arm example from above, we can use ``mut_replace`` - and, optionally, ``mut_times`` - to calculate the end effector position
 
-.. code-block:: java
-
-   import edu.wpi.first.units.Measure;
-   import edu.wpi.first.units.MutableMeasure;
-   import static edu.wpi.first.units.Units.*;
-
-   public class Arm {
-     // Note the two ephemeral object allocations for the Feet.of and Inches.of calls.
-     // Because this is a constant value computed just once, they will easily be garbage collected without
-     // any problems with memory use or loop timing jitter.
-     private static final Measure<Distance> kArmLength = Feet.of(3).plus(Inches.of(4.25));
-
-     // Angle and X/Y locations will likely be called in the main robot loop, let's store them in a MutableMeasure
-     // to avoid allocating lots of short-lived objects
-     private final MutableMeasure<Angle> m_angle = MutableMeasure.zero(Degrees);
-     private final MutableMeasure<Distance> m_endEffectorX = MutableMeasure.zero(Feet);
-     private final MutableMeasure<Distance> m_endEffectorY = MutableMeasure.zero(Feet);
-
-     private final Encoder m_encoder = new Encoder(...);
-
-     public Measure<Distance> getEndEffectorX() {
-       m_endEffectorX.mut_replace(
-         Math.cos(getAngle().in(Radians)) * kArmLength.in(Feet), // the new magnitude to store
-         Feet // the units of the new magnitude
-       );
-       return m_endEffectorX;
-     }
-
-     public Measure<Distance> getEndEffectorY() {
-       // An alternative approach so we don't have to unpack and repack the units
-       m_endEffectorY.mut_replace(kArmLength);
-       m_endEffectorY.mut_times(Math.sin(getAngle().in(Radians)));
-       return m_endEffectorY;
-     }
-
-     public Measure<Angle> getAngle() {
-       double rawAngle = m_encoder.getPosition();
-       m_angle.mut_replace(rawAngle, Degrees); // NOTE: the encoder must be configured with distancePerPulse in terms of degrees!
-       return m_angle;
-     }
-   }
+```java
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.MutableMeasure;
+import static edu.wpi.first.units.Units.*;
+public class Arm {
+  // Note the two ephemeral object allocations for the Feet.of and Inches.of calls.
+  // Because this is a constant value computed just once, they will easily be garbage collected without
+  // any problems with memory use or loop timing jitter.
+  private static final Distance kArmLength = Feet.of(3).plus(Inches.of(4.25));
+
+  // Angle and X/Y locations will likely be called in the main robot loop, let's store them in a MutableMeasure
+  // to avoid allocating lots of short-lived objects
+  private final MutAngle m_angle = Degrees.mutable(0);
+  private final MutDistance m_endEffectorX = Feet.mutable(0);
+  private final MutDistance m_endEffectorY = Feet.mutable(0);
+  private final Encoder m_encoder = new Encoder(...);
+
+  public Distance getEndEffectorX() {
+    return m_endEffectorX.mut_replace(
+      Math.cos(getAngle().in(Radians)) * kArmLength.in(Feet), // the new magnitude to store
+      Feet // the units of the new magnitude
+    );
+  }
+
+  public Distance getEndEffectorY() {
+    // An alternative approach so we don't have to unpack and repack the units
+    m_endEffectorY.mut_replace(kArmLength);
+    m_endEffectorY.mut_times(Math.sin(getAngle().in(Radians)));
+    return m_endEffectorY;
+  }
+
+  public Angle getAngle() {
+    double rawAngle = m_encoder.getPosition();
+    m_angle.mut_replace(rawAngle, Degrees); // NOTE: the encoder must be configured with distancePerPulse in terms of degrees!
+    return m_angle;
+  }
+}
+```
 
 .. warning:: ``MutableMeasure`` objects can - by definition - change their values at any time! It is unsafe to keep a stateful reference to them - prefer to extract a value using the ``Measure.in`` method, or create a copy with ``Measure.copy`` that can be safely stored. For the same reason, library authors must also be careful about methods accepting ``Measure``.
 
 Can you spot the bug in this code?
 
-.. code-block:: java
-
-   private Measure<Distance> m_lastDistance;
-
-   public Measure<Distance> calculateDelta(Measure<Distance> currentDistance) {
-     if (m_lastDistance == null) {
-       m_lastDistance = currentDistance;
-       return currentDistance;
-     } else {
-       Measure<Distance> delta = currentDistance.minus(m_lastDistance);
-       m_lastDistance = currentDistance;
-       return delta;
-     }
-   }
+```java
+private Distance m_lastDistance;
+public Distance calculateDelta(Distance currentDistance) {
+  if (m_lastDistance == null) {
+    m_lastDistance = currentDistance;
+    return currentDistance;
+  } else {
+    Distance delta = currentDistance.minus(m_lastDistance);
+    m_lastDistance = currentDistance;
+    return delta;
+  }
+}
+```
 
 If we run the ``calculateDelta`` method a few times, we can see a pattern:
 
-.. code-block:: java
+```java
+MutDistance distance = Inches.mutable(0);
+distance.mut_plus(10, Inches);
+calculateDelta(distance); // expect 10 inches and get 10 - good!
+distance.mut_plus(2, Inches);
+calculateDelta(distance); // expect 2 inches, but get 0 instead!
+distance.mut_plus(8, Inches);
+calculateDelta(distance); // expect 8 inches, but get 0 instead!
+```
 
-   MutableMeasure<Distance> distance = MutableMeasure.zero(Inches);
-   distance.mut_plus(10, Inches);
-   calculateDelta(distance); // expect 10 inches and get 10 - good!
-
-   distance.mut_plus(2, Inches);
-   calculateDelta(distance); // expect 2 inches, but get 0 instead!
-
-   distance.mut_plus(8, Inches);
-   calculateDelta(distance); // expect 8 inches, but get 0 instead!
-
-This is because the ``m_lastDistance`` field is a reference to the *same* ``MutableMeasure`` object as the input! Effectively, the delta is calculated as (currentDistance - currentDistance) on every call after the first, which naturally always returns zero. One solution would be to track ``m_lastDistance`` as a *copy* of the input measure to take a snapshot; however, this approach does incur one extra object allocation for the copy. If you need to be careful about object allocations, ``m_lastDistance`` could also be stored as a ``MutableMeasure``.
+This is because the ``m_lastDistance`` field is a reference to the *same* ``MutDistance`` object as the input! Effectively, the delta is calculated as (currentDistance - currentDistance) on every call after the first, which naturally always returns zero. One solution would be to track ``m_lastDistance`` as a *copy* of the input measure to take a snapshot; however, this approach does incur one extra object allocation for the copy. If you need to be careful about object allocations, ``m_lastDistance`` could also be stored as a ``MutDistance``.
 
 .. tab-set::
 
    .. tab-item:: Immutable Copies
 
-      .. code-block:: java
-
-         private Measure<Distance> m_lastDistance;
-
-         public Measure<Distance> calculateDelta(Measure<Distance> currentDistance) {
-           if (m_lastDistance == null) {
-             m_lastDistance = currentDistance.copy();
-             return currentDistance;
-           } else {
-             var delta = currentDistance.minus(m_lastDistance);
-             m_lastDistance = currentDistance.copy();
-             return delta;
-           }
-         }
+      ```java
+      private Distance m_lastDistance;
+      public Distance calculateDelta(Distance currentDistance) {
+        if (m_lastDistance == null) {
+          m_lastDistance = currentDistance.copy();
+          return currentDistance;
+        } else {
+          var delta = currentDistance.minus(m_lastDistance);
+          m_lastDistance = currentDistance.copy();
+          return delta;
+        }
+      }
+      ```
 
    .. tab-item:: Zero-allocation Mutables
 
-      .. code-block:: java
-
-         private final MutableMeasure<Distance> m_lastDistance = MutableMeasure.zero(Meters);
-         private final MutableMeasure<Distance> m_delta = MutableMeasure.zero(Meters);
+      ```java
+      private final MutDistance m_lastDistance = Meters.mutable(0);
+      private final MutDistance m_delta = Meters.mutable(0);
+      public Distance calculateDelta(Distance currentDistance) {
+        // m_delta = currentDistance - m_lastDistance
+        m_delta.mut_replace(currentDistance);
+        m_delta.mut_minus(m_lastDistance);
+        m_lastDistance.mut_replace(currentDistance);
+        return m_delta;
+      }
+      ```
 
-         public Measure<Distance> calculateDelta(Measure<Distance> currentDistance) {
-           // m_delta = currentDistance - m_lastDistance
-           m_delta.mut_replace(currentDistance);
-           m_delta.mut_minus(m_lastDistance);
-           m_lastDistance.mut_replace(currentDistance);
-           return m_delta;
-         }
-
-Defining New Units
-------------------
+## Defining New Units
 
 There are four ways to define a new unit that isn't already present in the library:
 
@@ -300,41 +291,82 @@ There are four ways to define a new unit that isn't already present in the libra
 
 New units can be defined as combinations of existing units using the ``Unit.mult`` and ``Unit.per`` methods.
 
-.. code-block:: java
-
-   Per<Voltage, Distance> VoltsPerInch = Volts.per(Inch);
-   Velocity<Mass> KgPerSecond = Kilograms.per(Second);
-   Mult<Mass, Velocity<Velocity<Distance>> Newtons = Kilograms.mult(MetersPerSecondSquared);
+```java
+PerUnit<VoltageUnit, DistanceUnit> VoltsPerInch = Volts.per(Inch);
+VelocityUnit<MassUnit> KgPerSecond = Kilograms.per(Second); // Could also be declared as PerUnit<MassUnit, TimeUnit>
+DistanceUnit FootMinutesPerSecond = FeetPerSecond.mult(Minutes);
+```
 
 Using ``mult`` and ``per`` will store the resulting unit. Every call will return the same object to avoid unnecessary allocations and garbage collector pressure.
 
-.. code-block:: java
-
-   @Override
-   public void robotPeriodic() {
-     // Feet.per(Millisecond) creates a new unit on the first loop,
-     // which will be reused on every successive loop
-     SmartDashboard.putNumber("Speed", m_drivebase.getSpeed().in(Feet.per(Millisecond)));
-   }
+```java
+@Override
+public void robotPeriodic() {
+  // Feet.per(Millisecond) creates a new unit on the first loop,
+  // which will be reused on every successive loop
+  SmartDashboard.putNumber("Speed", m_drivebase.getSpeed().in(Feet.per(Millisecond)));
+}
+```
 
 .. note:: Calling ``Unit.per(Time)`` will return a ``Velocity`` unit, which is different from and incompatible with a ``Per`` unit!
 
-New dimensions can also be created by subclassing ``Unit`` and implementing the two constructors. Note that ``Unit`` is also a parameterized generic type, where the generic type argument is self-referential; ``Distance`` is a ``Unit<Distance>``. This is what allows us to have stronger guarantees in the type system to prevent conversions between unrelated dimensions.
-
-.. code-block:: java
-
-   public class ElectricCharge extends Unit<ElectricCharge> {
-     public ElectricCharge(double baseUnitEquivalent, String name, String symbol) {
-       super(ElectricCharge.class, baseUnitEquivalent, name, symbol);
-     }
-
-     // required for derivation with Milli, Kilo, etc.
-     public ElectricCharge(UnaryFunction toBaseConverter, UnaryFunction fromBaseConverter, String name, String symbol) {
-        super(ElectricCharge.class, toBaseConverter, fromBaseConverter, name, symbol);
-     }
-   }
+New dimensions can also be created by subclassing ``Unit`` and implementing the two constructors. Dimension-specific measurement types are recommended, but take considerable effort to implement all the unit-specific math operations.
+
+```java
+public class ElectricChargeUnit extends Unit {
+  public ElectricCharge(double baseUnitEquivalent, String name, String symbol) {
+    super(ElectricCharge.class, baseUnitEquivalent, name, symbol);
+  }
+  // required for derivation with Milli, Kilo, etc.
+  public ElectricCharge(UnaryFunction toBaseConverter, UnaryFunction fromBaseConverter, String name, String symbol) {
+     super(ElectricCharge.class, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  @Override
+  public ElectricChargeUnit getBaseUnit() {
+    // The base method must be overridden in order to return the correct type
+    return (ElectricChargeUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public Measure<ElectricChargeUnit> of(double magnitude) {
+    return ImmutableMeasure.ofRelativeUnits(magnitude, this);
+  }
+
+  @Override
+  public Measure<ElectricChargeUnit> ofBaseUnits(double baseUnitMagnitude) {
+    return ImmutableMeasure.ofBaseUnits(baseUnitMagnitude, this);
+  }
+
+  @Override
+  public Measure<ElectricChargeUnit> zero() {
+    return (Measure<ElectricChargeUnit>) super.zero();
+  }
+
+  @Override
+  public Measure<ElectricChargeUnit> one() {
+    return (Measure<ElectricChargeUnit>) super.one();
+  }
+
+  @Override
+  public MutableMeasure<ElectricChargeUnit> mutable(double magnitude) {
+    return new GenericMutableMeasureImpl(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<ElectricChargeUnit> per(TimeUnit period) {
+    // Note: technically, this would return a CurrentUnit, since electric charge per time is current (measured in Amperes)
+    return VelocityUnit.combine(this, period);
+  }
+
+  public double convertFrom(double magnitude, ElectricChargeUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}
+
+public static final ElectricCharge Coulomb = new ElectricCharge(1, "Coulomb", "C");
+public static final ElectricCharge ElectronCharge = new ElectricCharge(1.60217646e-19, "Electron Charge", "e");
+public static final ElectricCharge AmpHour = new ElectricCharge(3600, "Amp Hour", "Ah");
+public static final ElectricCharge MilliampHour = Milli(AmpHour);
+```
 
-   public static final ElectricCharge Coulomb = new ElectricCharge(1, "Coulomb", "C");
-   public static final ElectricCharge ElectronCharge = new ElectricCharge(1.60217646e-19, "Electron Charge", "e");
-   public static final ElectricCharge AmpHour = new ElectricCharge(3600, "Amp Hour", "Ah");
-   public static final ElectricCharge MilliampHour = Milli(AmpHour);
diff --git a/source/docs/software/basic-programming/joystick.rst b/source/docs/software/basic-programming/joystick.rst
index 661483fd7d..9391316028 100644
--- a/source/docs/software/basic-programming/joystick.rst
+++ b/source/docs/software/basic-programming/joystick.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Joysticks
-=========
+# Joysticks
 
 A joystick can be used with the Driver Station program to control the robot.  Almost any "controller" that can be recognized by Windows can be used as a joystick.  Joysticks are accessed using the ``GenericHID`` class.  This class has three relevant subclasses for preconfigured joysticks.  You may also implement your own for other controllers by extending ``GenericHID``.  The first is ``Joystick`` which is useful for standard flight joysticks.  The second is ``XboxController`` which works for the Xbox 360, Xbox One, or Logitech F310 (in XInput mode).  Finally, the ``PS4Controller`` class is ideal for using that controller.  Each axis of the controller ranges from -1 to 1.
 
 The command based way to use the these classes is detailed in the section: :ref:`docs/software/commandbased/binding-commands-to-triggers:Binding Commands to Triggers`.
 
-Driver Station Joysticks
-------------------------
+## Driver Station Joysticks
 
 .. image:: /docs/software/driverstation/images/driver-station/ds-usb-tab.png
    :alt: The 4th tab down on the left hand side is the USB devices tab.
@@ -26,8 +24,7 @@ When the Driver Station is in disabled mode, it is routinely looking for status
 
 When the robot is connected to the Field Management System at competition, the Driver Station mode is dictated by the :term:`FMS`. This means that you cannot disable your robot and the DS cannot disable itself in order to detect joystick changes. A manual complete refresh of the joysticks can be initiated by pressing the F1 key on the keyboard. Note that this will close and re-open all devices, so all devices should be in their center position as noted above.
 
-``Joystick`` Class
-------------------
+## ``Joystick`` Class
 
 .. image:: images/joystick/joystick.png
    :alt: A Logitech flight stick with an explanation of the axis values and buttons.
@@ -35,46 +32,46 @@ When the robot is connected to the Field Management System at competition, the D
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   Joystick exampleJoystick = new Joystick(0); // 0 is the USB Port to be used as indicated on the Driver Station
+   ```
 
-      Joystick exampleJoystick = new Joystick(0); // 0 is the USB Port to be used as indicated on the Driver Station
+   ```c++
+   Joystick exampleJoystick{0}; // 0 is the USB Port to be used as indicated on the Driver Station
+   ```
 
-   .. code-block:: c++
-
-      Joystick exampleJoystick{0}; // 0 is the USB Port to be used as indicated on the Driver Station
-
-   .. code-block:: python
-
-      exampleJoystick = wpilib.Joystick(0) # 0 is the USB Port to be used as indicated on the Driver Station
+   ```python
+   exampleJoystick = wpilib.Joystick(0) # 0 is the USB Port to be used as indicated on the Driver Station
+   ```
 
 The ``Joystick`` class is designed to make using a flight joystick to operate the robot significantly easier.  Depending on the flight joystick, the user may need to set the specific X, Y, Z, and Throttle channels that your flight joystick uses.  This class offers special methods for accessing the angle and magnitude of the flight joystick.
 
-.. important:: Forward on joysticks is the negative direction. Teams often negate the values when reading joystick axes to account for this.
+.. important:: Due to differences in coordinate systems, teams usually negate the values when reading joystick axes. See the :ref:`docs/software/basic-programming/coordinate-system:Joystick and controller coordinate system` section for more detail.
 
-``XboxController`` Class
-------------------------
+## ``XboxController`` Class
 
 .. image:: images/joystick/xbox.jpg
    :alt: Original Xbox Controller.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      XboxController exampleXbox = new XboxController(0); // 0 is the USB Port to be used as indicated on the Driver Station
+   ```java
+   XboxController exampleXbox = new XboxController(0); // 0 is the USB Port to be used as indicated on the Driver Station
+   ```
 
-   .. code-block:: c++
+   ```c++
+   XboxController exampleXbox{0}; // 0 is the USB Port to be used as indicated on the Driver Station
+   ```
 
-      XboxController exampleXbox{0}; // 0 is the USB Port to be used as indicated on the Driver Station
-
-   .. code-block:: python
-
-      exampleXbox = wpilib.XboxController(0) # 0 is the USB Port to be used as indicated on the Driver Station
+   ```python
+   exampleXbox = wpilib.XboxController(0) # 0 is the USB Port to be used as indicated on the Driver Station
+   ```
 
 The ``XboxController`` class provides named methods (e.g. ``getXButton``, ``getXButtonPressed``, ``getXButtonReleased``) for each of the buttons, and the indices can be accessed with ``XboxController.Button.kX.value``.  The rumble feature of the controller can be controlled by using ``XboxController.setRumble(GenericHID.RumbleType.kRightRumble, value)``.  Many users do a split stick arcade drive that uses the left stick for just forwards / backwards and the right stick for left / right turning.
 
-``PS4Controller`` Class
------------------------
+.. important:: Due to differences in coordinate systems, teams usually negate the values when reading joystick axes. See the :ref:`docs/software/basic-programming/coordinate-system:Joystick and controller coordinate system` section for more detail.
+
+## ``PS4Controller`` Class
 
 .. image:: images/joystick/ps4.jpg
    :alt: PlayStation 4 controller.
@@ -82,22 +79,23 @@ The ``XboxController`` class provides named methods (e.g. ``getXButton``, ``getX
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   PS4Controller examplePS4 = new PS4Controller(0); // 0 is the USB Port to be used as indicated on the Driver Station
+   ```
 
-      PS4Controller examplePS4 = new PS4Controller(0); // 0 is the USB Port to be used as indicated on the Driver Station
+   ```c++
+   PS4Controller examplePS4{0}; // 0 is the USB Port to be used as indicated on the Driver Station
+   ```
 
-   .. code-block:: c++
-
-      PS4Controller examplePS4{0}; // 0 is the USB Port to be used as indicated on the Driver Station
-
-   .. code-block:: python
-
-      examplePS4 = wpilib.PS4Controller(0) # 0 is the USB Port to be used as indicated on the Driver Station
+   ```python
+   examplePS4 = wpilib.PS4Controller(0) # 0 is the USB Port to be used as indicated on the Driver Station
+   ```
 
 The ``PS4Controller`` class provides named methods (e.g. ``getSquareButton``, ``getSquareButtonPressed``, ``getSquareButtonReleased``) for each of the buttons, and the indices can be accessed with  ``PS4Controller.Button.kSquare.value``.  The rumble feature of the controller can be controlled by using ``PS4Controller.setRumble(GenericHID.RumbleType.kRightRumble, value)``.
 
-POV
----
+.. important:: Due to differences in coordinate systems, teams usually negate the values when reading joystick axes. See the :ref:`docs/software/basic-programming/coordinate-system:Joystick and controller coordinate system` section for more detail.
+
+## POV
 
 .. image:: images/joystick/dpadangles.png
    :alt: The angles used by the code of the POV/D-pad with 0 at the top and continuing clockwise.
@@ -105,43 +103,38 @@ POV
 
 On joysticks, the POV is a directional hat that can select one of 8 different angles or read -1 for unpressed.  The XboxController/PS4Controller D-pad works the same as a POV.  Be careful when using a POV with exact angle requirements as it is hard for the user to ensure they select exactly the angle desired.
 
-``GenericHID`` Usage
---------------------
+## ``GenericHID`` Usage
 
 An axis can be used with ``.getRawAxis(int index)`` (if not using any of the classes above) that returns the current value.  Zero and one in this example are each the index of an axis as found in the Driver Station mentioned above.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      private final PWMSparkMax m_leftMotor = new PWMSparkMax(Constants.kLeftMotorPort);
-      private final PWMSparkMax m_rightMotor = new PWMSparkMax(Constants.kRightMotorPort);
-      private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
-      private final GenericHID m_stick = new GenericHID(Constants.kJoystickPort);
-
-      m_robotDrive.arcadeDrive(-m_stick.getRawAxis(0), m_stick.getRawAxis(1));
-
-   .. code-block:: c++
-
-      frc::PWMVictorSPX m_leftMotor{Constants::kLeftMotorPort};
-      frc::PWMVictorSPX m_rightMotor{Constants::kRightMotorPort};
-      frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
-      frc::GenericHID m_stick{Constants::kJoystickPort};
-
-      m_robotDrive.ArcadeDrive(-m_stick.GetRawAxis(0), m_stick.GetRawAxis(1));
-
-   .. code-block:: python
-
-      leftMotor = wpilib.PWMVictorSPX(LEFT_MOTOR_PORT)
-      rightMotor = wpilib.PWMVictorSPX(RIGHT_MOTOR_PORT)
-      self.robotDrive = wpilib.drive.DifferentialDrive(leftMotor, rightMotor)
-      self.stick = wpilib.GenericHID(JOYSTICK_PORT)
-
-      self.robotDrive.arcadeDrive(-self.stick.getRawAxis(0), self.stick.getRawAxis(1))
-
-
-Button Usage
-------------
+   ```java
+   private final PWMSparkMax m_leftMotor = new PWMSparkMax(Constants.kLeftMotorPort);
+   private final PWMSparkMax m_rightMotor = new PWMSparkMax(Constants.kRightMotorPort);
+   private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);
+   private final GenericHID m_stick = new GenericHID(Constants.kJoystickPort);
+   m_robotDrive.arcadeDrive(-m_stick.getRawAxis(0), m_stick.getRawAxis(1));
+   ```
+
+   ```c++
+   frc::PWMVictorSPX m_leftMotor{Constants::kLeftMotorPort};
+   frc::PWMVictorSPX m_rightMotor{Constants::kRightMotorPort};
+   frc::DifferentialDrive m_robotDrive{[&](double output) { m_leftMotor.Set(output); },
+                                       [&](double output) { m_rightMotor.Set(output); }};
+   frc::GenericHID m_stick{Constants::kJoystickPort};
+   m_robotDrive.ArcadeDrive(-m_stick.GetRawAxis(0), m_stick.GetRawAxis(1));
+   ```
+
+   ```python
+   leftMotor = wpilib.PWMVictorSPX(LEFT_MOTOR_PORT)
+   rightMotor = wpilib.PWMVictorSPX(RIGHT_MOTOR_PORT)
+   self.robotDrive = wpilib.drive.DifferentialDrive(leftMotor, rightMotor)
+   self.stick = wpilib.GenericHID(JOYSTICK_PORT)
+   self.robotDrive.arcadeDrive(-self.stick.getRawAxis(0), self.stick.getRawAxis(1))
+   ```
+
+## Button Usage
 
 .. note:: Usage such as the following is for code not using the command-based framework. For button usage in the command-based framework, see :ref:`docs/software/commandbased/binding-commands-to-triggers:Binding Commands to Triggers`.
 
@@ -149,101 +142,92 @@ Unlike an axis, you will usually want to use the ``pressed`` and ``released`` me
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   if (joystick.getRawButtonPressed(0)) {
+      turnIntakeOn(); // When pressed the intake turns on
+   }
+   if (joystick.getRawButtonReleased(0)) {
+      turnIntakeOff(); // When released the intake turns off
+   }
+   // OR
+   if (joystick.getRawButton(0)) {
+      turnIntakeOn();
+   } else {
+      turnIntakeOff();
+   }
+   ```
+
+   ```c++
+   if (joystick.GetRawButtonPressed(0)) {
+      turnIntakeOn(); // When pressed the intake turns on
+   }
+   if (joystick.GetRawButtonReleased(0)) {
+      turnIntakeOff(); // When released the intake turns off
+   }
+   // OR
+   if (joystick.GetRawButton(0)) {
+      turnIntakeOn();
+   } else {
+      turnIntakeOff();
+   }
+   ```
+
+   ```python
+   if joystick.getRawButtonPressed(0):
+      turnIntakeOn() # When pressed the intake turns on
+   if joystick.getRawButtonReleased(0):
+      turnIntakeOff() # When released the intake turns off
+   # OR
+   if joystick.getRawButton(0):
+      turnIntakeOn()
+   else:
+      turnIntakeOff()
+   ```
 
-      if (joystick.getRawButtonPressed(0)) {
-         turnIntakeOn(); // When pressed the intake turns on
-      }
-      if (joystick.getRawButtonReleased(0)) {
-         turnIntakeOff(); // When released the intake turns off
-      }
+A common request is to toggle something on and off with the press of a button.  Toggles should be used with caution, as they require the user to keep track of the robot state.
 
-      OR
+.. tab-set-code::
 
-      if (joystick.getRawButton(0)) {
-         turnIntakeOn();
+   ```java
+   boolean toggle = false;
+   if (joystick.getRawButtonPressed(0)) {
+      if (toggle) {
+         // Current state is true so turn off
+         retractIntake();
+         toggle = false;
       } else {
-         turnIntakeOff();
+         // Current state is false so turn on
+         deployIntake();
+         toggle = true;
       }
-
-   .. code-block:: c++
-
-      if (joystick.GetRawButtonPressed(0)) {
-         turnIntakeOn(); // When pressed the intake turns on
-      }
-      if (joystick.GetRawButtonReleased(0)) {
-         turnIntakeOff(); // When released the intake turns off
-      }
-
-      OR
-
-      if (joystick.GetRawButton(0)) {
-         turnIntakeOn();
+   }
+   ```
+
+   ```c++
+   bool toggle{false};
+   if (joystick.GetRawButtonPressed(0)) {
+      if (toggle) {
+         // Current state is true so turn off
+         retractIntake();
+         toggle = false;
       } else {
-         turnIntakeOff();
+         // Current state is false so turn on
+         deployIntake();
+         toggle = true;
       }
-
-   .. code-block:: python
-
-      if joystick.getRawButtonPressed(0):
-         turnIntakeOn() # When pressed the intake turns on
-
-      if joystick.getRawButtonReleased(0):
-         turnIntakeOff() # When released the intake turns off
-
-      # OR
-
-      if joystick.getRawButton(0):
-         turnIntakeOn()
+   }
+   ```
+
+   ```python
+   toggle = False
+   if joystick.getRawButtonPressed(0):
+      if toggle:
+         # current state is True so turn off
+         retractIntake()
+         toggle = False
       else:
-         turnIntakeOff()
-
-A common request is to toggle something on and off with the press of a button.  Toggles should be used with caution, as they require the user to keep track of the robot state.
-
-.. tab-set-code::
-
-   .. code-block:: java
-
-      boolean toggle = false;
-
-      if (joystick.getRawButtonPressed(0)) {
-         if (toggle) {
-            // Current state is true so turn off
-            retractIntake();
-            toggle = false;
-         } else {
-            // Current state is false so turn on
-            deployIntake();
-            toggle = true;
-         }
-      }
-
-   .. code-block:: c++
-
-      bool toggle{false};
-
-      if (joystick.GetRawButtonPressed(0)) {
-         if (toggle) {
-            // Current state is true so turn off
-            retractIntake();
-            toggle = false;
-         } else {
-            // Current state is false so turn on
-            deployIntake();
-            toggle = true;
-         }
-      }
-
-   .. code-block:: python
-
-      toggle = False
+         # Current state is False so turn on
+         deployIntake()
+         toggle = True
+   ```
 
-      if joystick.getRawButtonPressed(0):
-         if toggle:
-            # current state is True so turn off
-            retractIntake()
-            toggle = False
-         else:
-            # Current state is False so turn on
-            deployIntake()
-            toggle = True
diff --git a/source/docs/software/basic-programming/reading-stacktraces.rst b/source/docs/software/basic-programming/reading-stacktraces.rst
index 46991a814e..61109685b0 100644
--- a/source/docs/software/basic-programming/reading-stacktraces.rst
+++ b/source/docs/software/basic-programming/reading-stacktraces.rst
@@ -1,5 +1,4 @@
-Reading Stacktraces
-===================
+# Reading Stacktraces
 
 ``An unexpected error has occurred.``
 
@@ -9,8 +8,7 @@ When an unhandled exception occurs, it means that your code has one or more bugs
 
 This article will explore some of the tools and techniques involved in finding and fixing those bugs.
 
-What's a "Stack Trace"?
------------------------
+## What's a "Stack Trace"?
 
 The ``unexpected error has occurred`` message is a signal that a *stack trace* has been printed out.
 
@@ -18,18 +16,15 @@ In Java and C++, the :term:`call stack` data structure is used to store informat
 
 A *stack trace* prints information about what was on this stack when the unhandled exception occurred. This points you to the lines of code which were running just before the problem happened. While it doesn't always point you to the exact *root cause* of your issue, it's usually the best place to start looking.
 
-What's an "Unhandled Exception"?
---------------------------------
+## What's an "Unhandled Exception"?
 
 An unrecoverable error is any condition which arises where the processor cannot continue executing code. It almost always implies that, even though the code compiled and started running, it no longer makes sense for execution to continue.
 
 In almost all cases, the root cause of an unhandled exception is code that isn't correctly implemented. It almost never implies that any hardware has malfunctioned.
 
-So How Do I Fix My Issue?
--------------------------
+## So How Do I Fix My Issue?
 
-Read the Stack Trace
-^^^^^^^^^^^^^^^^^^^^
+### Read the Stack Trace
 
 To start, search above the ``unexpected error has occurred`` for the stack trace.
 
@@ -40,14 +35,14 @@ To start, search above the ``unexpected error has occurred`` for the stack trace
 
       In Java, it should look something like this:
 
-      .. code-block:: text
-
-         Error at frc.robot.Robot.robotInit(Robot.java:24): Unhandled exception: java.lang.NullPointerException
-                  at frc.robot.Robot.robotInit(Robot.java:24)
-                  at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:94)
-                  at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:335)
-                  at edu.wpi.first.wpilibj.RobotBase.lambda$startRobot$0(RobotBase.java:387)
-                  at java.base/java.lang.Thread.run(Thread.java:834)
+      ```text
+      Error at frc.robot.Robot.robotInit(Robot.java:24): Unhandled exception: java.lang.NullPointerException
+               at frc.robot.Robot.robotInit(Robot.java:24)
+               at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:94)
+               at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:335)
+               at edu.wpi.first.wpilibj.RobotBase.lambda$startRobot$0(RobotBase.java:387)
+               at java.base/java.lang.Thread.run(Thread.java:834)
+      ```
 
       There's a few important things to pick out of here:
 
@@ -69,17 +64,17 @@ To start, search above the ``unexpected error has occurred`` for the stack trace
 
       For example, If the error happened deep inside your codebase, you might see more entries on the stack:
 
-      .. code-block:: text
-
-         Error at frc.robot.Robot.buggyMethod(TooManyBugs.java:1138): Unhandled exception: java.lang.NullPointerException
-                  at frc.robot.Robot.buggyMethod(TooManyBugs.java:1138)
-                  at frc.robot.Robot.barInit(Bar.java:21)
-                  at frc.robot.Robot.fooInit(Foo.java:34)
-                  at frc.robot.Robot.robotInit(Robot.java:24)
-                  at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:94)
-                  at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:335)
-                  at edu.wpi.first.wpilibj.RobotBase.lambda$startRobot$0(RobotBase.java:387)
-                  at java.base/java.lang.Thread.run(Thread.java:834)
+      ```text
+      Error at frc.robot.Robot.buggyMethod(TooManyBugs.java:1138): Unhandled exception: java.lang.NullPointerException
+               at frc.robot.Robot.buggyMethod(TooManyBugs.java:1138)
+               at frc.robot.Robot.barInit(Bar.java:21)
+               at frc.robot.Robot.fooInit(Foo.java:34)
+               at frc.robot.Robot.robotInit(Robot.java:24)
+               at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:94)
+               at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:335)
+               at edu.wpi.first.wpilibj.RobotBase.lambda$startRobot$0(RobotBase.java:387)
+               at java.base/java.lang.Thread.run(Thread.java:834)
+      ```
 
       In this case: ``robotInit`` called ``fooInit``, which in turn called ``barInit``, which in turn called ``buggyMethod``. Then, during the execution of ``buggyMethod``, the ``NullPointerException`` occurred.
 
@@ -118,8 +113,7 @@ To start, search above the ``unexpected error has occurred`` for the stack trace
       The examples in this page assume you are running code examples in simulation, with the debugger connected and watching for unexpected errors. Similar techniques should apply while running on a real robot.
 
 
-Perform Code Analysis
-^^^^^^^^^^^^^^^^^^^^^
+### Perform Code Analysis
 
 Once you've found the stack trace, and found the lines of code which are triggering the unhandled exception, you can start the process of determining root cause.
 
@@ -134,31 +128,26 @@ A key strategy for analyzing code is to ask the following questions:
 
 Frequent testing and careful code changes help make this particular strategy more effective.
 
-Run the Single Step Debugger
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Run the Single Step Debugger
 
 Sometimes, just looking at code isn't enough to spot the issue. The :ref:`single-step debugger <docs/software/vscode-overview/debugging-robot-program:Debugging a Robot Program>` is a great option in this case - it allows you to inspect the series of events leading up to the unhandled exception.
 
-Search for More Information
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Search for More Information
 
-`Google <https://www.google.com/>`_ is a phenomenal resource for understanding the root cause of errors. Searches involving the programming language and the name of the exception will often yield good results on more explanations for what the error means, how it comes about, and potential fixes.
+[Google](https://www.google.com/) is a phenomenal resource for understanding the root cause of errors. Searches involving the programming language and the name of the exception will often yield good results on more explanations for what the error means, how it comes about, and potential fixes.
 
-Seeking Outside Help
-^^^^^^^^^^^^^^^^^^^^
+### Seeking Outside Help
 
 If all else fails, you can seek out advice and help from others (both in-person and online). When working with folks who aren't familiar with your codebase, it's very important to provide the following information:
 
  * Access to your source code, (EX: :ref:`on github.com <docs/software/basic-programming/git-getting-started:Git Version Control Introduction>`)
  * The **full text** of the error, including the full stack trace.
 
-Common Examples & Patterns
---------------------------
+## Common Examples & Patterns
 
 There are a number of common issues which result in runtime exceptions.
 
-Null Pointers and References
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Null Pointers and References
 
 Both C++ and Java have the concept of "null" - they use it to indicate something which has not yet been initialized, and does not refer to anything meaningful.
 
@@ -169,31 +158,27 @@ For example, consider the following code:
 .. tab-set-code::
 
 
-   .. code-block:: Java
-         :lineno-start: 19
-
-         PWMSparkMax armMotorCtrl;
-
-         @Override
-         public void robotInit() {
-               armMotorCtrl.setInverted(true);
-         }
-
-
-   .. code-block:: C++
-      :lineno-start: 17
-
-      class Robot : public frc::TimedRobot {
-         public:
-            void RobotInit() override {
-               motorRef->SetInverted(false);
-            }
-
-         private:
-            frc::PWMVictorSPX m_armMotor{0};
-            frc::PWMVictorSPX* motorRef;
-      };
-
+   ```Java
+   :lineno-start: 19
+   PWMSparkMax armMotorCtrl;
+   @Override
+   public void robotInit() {
+      armMotorCtrl.setInverted(true);
+   }
+   ```
+
+   ```C++
+   :lineno-start: 17
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        motorRef->SetInverted(false);
+     }
+    private:
+     frc::PWMVictorSPX m_armMotor{0};
+     frc::PWMVictorSPX* motorRef;
+   };
+   ```
 
 When run, you'll see output that looks like this:
 
@@ -202,21 +187,19 @@ When run, you'll see output that looks like this:
    .. tab-item:: Java
       :sync: tabcode-java
 
-      .. code-block:: text
-
-         ********** Robot program starting **********
-         Error at frc.robot.Robot.robotInit(Robot.java:23): Unhandled exception: java.lang.NullPointerException
-                 at frc.robot.Robot.robotInit(Robot.java:23)
-                 at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
-                 at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
-                 at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
-                 at frc.robot.Main.main(Main.java:23)
-
-         Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
-           The above stacktrace can help determine where the error occurred.
-           See https://wpilib.org/stacktrace for more information.
-         Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:395): The startCompetition() method (or methods called by it) should have handled the exception above.
-
+      ```text
+      ********** Robot program starting **********
+      Error at frc.robot.Robot.robotInit(Robot.java:23): Unhandled exception: java.lang.NullPointerException
+              at frc.robot.Robot.robotInit(Robot.java:23)
+              at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
+              at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
+              at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
+              at frc.robot.Main.main(Main.java:23)
+      Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
+        The above stacktrace can help determine where the error occurred.
+        See https://wpilib.org/stacktrace for more information.
+      Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:395): The startCompetition() method (or methods called by it) should have handled the exception above.
+      ```
 
       Reading the stack trace, you can see that the issue happened inside of the ``robotInit()`` function, on line 23, and the exception involved "Null Pointer".
 
@@ -227,11 +210,11 @@ When run, you'll see output that looks like this:
    .. tab-item:: C++
       :sync: tabcode-c++
 
-      .. code-block:: text
-
-         Exception has occurred: W32/0xc0000005
-         Unhandled exception thrown: read access violation.
-         this->motorRef was nullptr.
+      ```text
+      Exception has occurred: W32/0xc0000005
+      Unhandled exception thrown: read access violation.
+      this->motorRef was nullptr.
+      ```
 
       In Simulation, this will show up in a debugger window that points to line 20 in the above buggy code.
 
@@ -244,8 +227,7 @@ When run, you'll see output that looks like this:
 
       The exception states its type was ``nullptr``.
 
-Fixing Null Object Issues
-~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Fixing Null Object Issues
 
 Generally, you will want to ensure each reference has been initialized before using it. In this case, there is a missing line of code to instantiate the ``armMotorCtrl`` before calling the ``setInverted()`` method.
 
@@ -254,37 +236,31 @@ A functional implementation could look like this:
 .. tab-set-code::
 
 
-   .. code-block:: Java
-         :lineno-start: 19
-
-         PWMSparkMax armMotorCtrl;
-
-         @Override
-         public void robotInit() {
-               armMotorCtrl = new PWMSparkMax(0);
-               armMotorCtrl.setInverted(true);
-         }
-
-
-   .. code-block:: C++
-      :lineno-start: 17
-
-      class Robot : public frc::TimedRobot {
-         public:
-            void RobotInit() override {
-               motorRef = &m_armMotor;
-               motorRef->SetInverted(false);
-            }
-
-         private:
-            frc::PWMVictorSPX m_armMotor{0};
-            frc::PWMVictorSPX* motorRef;
-      };
-
-
-
-Divide by Zero
-^^^^^^^^^^^^^^
+   ```Java
+   :lineno-start: 19
+   PWMSparkMax armMotorCtrl;
+   @Override
+   public void robotInit() {
+      armMotorCtrl = new PWMSparkMax(0);
+      armMotorCtrl.setInverted(true);
+   }
+   ```
+
+   ```C++
+   :lineno-start: 17
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        motorRef = &m_armMotor;
+        motorRef->SetInverted(false);
+     }
+    private:
+     frc::PWMVictorSPX m_armMotor{0};
+     frc::PWMVictorSPX* motorRef;
+   };
+   ```
+
+### Divide by Zero
 
 It is not generally possible to divide an integer by zero, and expect reasonable results. Most processors (including the roboRIO) will raise an Unhandled Exception.
 
@@ -293,34 +269,30 @@ For example, consider the following code:
 .. tab-set-code::
 
 
-   .. code-block:: Java
-         :lineno-start: 18
-
-         int armLengthRatio;
-         int elbowToWrist_in = 39;
-         int shoulderToElbow_in = 0; //TODO
-
-         @Override
-         public void robotInit() {
-            armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-         }
-
-
-   .. code-block:: C++
-         :lineno-start: 17
-
-         class Robot : public frc::TimedRobot {
-            public:
-            void RobotInit() override {
-               armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-            }
-
-            private:
-               int armLengthRatio;
-               int elbowToWrist_in = 39;
-               int shoulderToElbow_in = 0; //TODO
-
-         };
+   ```Java
+   :lineno-start: 18
+   int armLengthRatio;
+   int elbowToWrist_in = 39;
+   int shoulderToElbow_in = 0; //TODO
+   @Override
+   public void robotInit() {
+      armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
+   }
+   ```
+
+   ```C++
+   :lineno-start: 17
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
+     }
+    private:
+     int armLengthRatio;
+     int elbowToWrist_in = 39;
+     int shoulderToElbow_in = 0; //TODO
+   };
+   ```
 
 When run, you'll see output that looks like this:
 
@@ -329,21 +301,19 @@ When run, you'll see output that looks like this:
    .. tab-item:: Java
       :sync: tabcode-java
 
-      .. code-block:: text
-
-
-         ********** Robot program starting **********
-         Error at frc.robot.Robot.robotInit(Robot.java:24): Unhandled exception: java.lang.ArithmeticException: / by zero
-                 at frc.robot.Robot.robotInit(Robot.java:24)
-                 at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
-                 at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
-                 at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
-                 at frc.robot.Main.main(Main.java:23)
-
-         Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
-           The above stacktrace can help determine where the error occurred.
-           See https://wpilib.org/stacktrace for more information.
-         Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:395): The startCompetition() method (or methods called by it) should have handled the exception above.
+      ```text
+            ********** Robot program starting **********
+      Error at frc.robot.Robot.robotInit(Robot.java:24): Unhandled exception: java.lang.ArithmeticException: / by zero
+              at frc.robot.Robot.robotInit(Robot.java:24)
+              at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
+              at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
+              at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
+              at frc.robot.Main.main(Main.java:23)
+      Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
+        The above stacktrace can help determine where the error occurred.
+        See https://wpilib.org/stacktrace for more information.
+      Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:395): The startCompetition() method (or methods called by it) should have handled the exception above.
+      ```
 
       Looking at the stack trace, we can see a ``java.lang.ArithmeticException: / by zero`` exception has occurred on line 24. If you look at the two variables which are used on the right-hand side of the ``=`` operator, you might notice one of them has been initialized to zero. Looks like someone forgot to update it! Furthermore, the zero-value variable is used in the denominator of a division operation. Hence, the divide by zero error happens.
 
@@ -352,10 +322,10 @@ When run, you'll see output that looks like this:
    .. tab-item:: C++
       :sync: tabcode-c++
 
-      .. code-block:: text
-
-         Exception has occurred: W32/0xc0000094
-         Unhandled exception at 0x00007FF71B223CD6 in frcUserProgram.exe: 0xC0000094: Integer division by zero.
+      ```text
+      Exception has occurred: W32/0xc0000094
+      Unhandled exception at 0x00007FF71B223CD6 in frcUserProgram.exe: 0xC0000094: Integer division by zero.
+      ```
 
       In Simulation, this will show up in a debugger window that points to line 20 in the above buggy code.
 
@@ -370,8 +340,7 @@ When run, you'll see output that looks like this:
 
 
 
-Fixing Divide By Zero Issues
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Fixing Divide By Zero Issues
 
 Divide By Zero issues can be fixed in a number of ways. It's important to start by thinking about what a zero in the denominator of your calculation *means*. Is it plausible? Why did it happen in the particular case you saw?
 
@@ -381,45 +350,37 @@ A functional implementation could look like this:
 
 .. tab-set-code::
 
-   .. code-block:: Java
-         :lineno-start: 18
-
-         int armLengthRatio;
-         int elbowToWrist_in = 39;
-         int shoulderToElbow_in = 3;
-
-         @Override
-         public void robotInit() {
-
-            armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-
-         }
-
-
-
-   .. code-block:: C++
-         :lineno-start: 17
-
-         class Robot : public frc::TimedRobot {
-            public:
-            void RobotInit() override {
-               armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-            }
-
-            private:
-               int armLengthRatio;
-               int elbowToWrist_in = 39;
-               int shoulderToElbow_in = 3
-
-         };
+   ```Java
+   :lineno-start: 18
+   int armLengthRatio;
+   int elbowToWrist_in = 39;
+   int shoulderToElbow_in = 3;
+   @Override
+   public void robotInit() {
+      armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
+   }
+   ```
+
+   ```C++
+   :lineno-start: 17
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
+     }
+    private:
+     int armLengthRatio;
+     int elbowToWrist_in = 39;
+     int shoulderToElbow_in = 3
+   };
+   ```
 
 Alternatively, if zero *is* a valid value, adding ``if/else`` statements around the calculation can help you define alternate behavior to avoid making the processor perform a division by zero.
 
 Finally, changing variable types to be ``float`` or ``double`` can help you get around the issue - floating-point numbers have special values like ``NaN`` to represent the results of a divide-by-zero operation. However, you may still have to handle this in code which consumes that calculation's value.
 
 
-HAL Resource Already Allocated
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### HAL Resource Already Allocated
 
 A very common FRC-specific error occurs when the code attempts to put two hardware-related entities on the same HAL resource (usually, roboRIO IO pin).
 
@@ -428,35 +389,30 @@ For example, consider the following code:
 .. tab-set-code::
 
 
-   .. code-block:: Java
-         :lineno-start: 19
-
-         PWMSparkMax leftFrontMotor;
-         PWMSparkMax leftRearMotor;
-
-         @Override
-         public void robotInit() {
-            leftFrontMotor = new PWMSparkMax(0);
-            leftRearMotor = new PWMSparkMax(0);
-         }
-
-
-   .. code-block:: C++
-      :lineno-start: 17
-
-      class Robot : public frc::TimedRobot {
-         public:
-            void RobotInit() override {
-               m_frontLeftMotor.Set(0.5);
-               m_rearLeftMotor.Set(0.25);
-            }
-
-         private:
-            frc::PWMVictorSPX m_frontLeftMotor{0};
-            frc::PWMVictorSPX m_rearLeftMotor{0};
-
-         };
-
+   ```Java
+   :lineno-start: 19
+   PWMSparkMax leftFrontMotor;
+   PWMSparkMax leftRearMotor;
+   @Override
+   public void robotInit() {
+      leftFrontMotor = new PWMSparkMax(0);
+      leftRearMotor = new PWMSparkMax(0);
+   }
+   ```
+
+   ```C++
+   :lineno-start: 17
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        m_frontLeftMotor.Set(0.5);
+        m_rearLeftMotor.Set(0.25);
+     }
+    private:
+     frc::PWMVictorSPX m_frontLeftMotor{0};
+     frc::PWMVictorSPX m_rearLeftMotor{0};
+   };
+   ```
 
 When run, you'll see output that looks like this:
 
@@ -465,33 +421,31 @@ When run, you'll see output that looks like this:
    .. tab-item:: Java
       :sync: tabcode-java
 
-      .. code-block:: text
-
-         ********** Robot program starting **********
-         Error at frc.robot.Robot.robotInit(Robot.java:25): Unhandled exception: edu.wpi.first.hal.util.AllocationException: Code: -1029
-         PWM or DIO 0 previously allocated.
-         Location of the previous allocation:
-                 at frc.robot.Robot.robotInit(Robot.java:24)
-                 at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
-                 at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
-                 at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
-                 at frc.robot.Main.main(Main.java:23)
-
-         Location of the current allocation:
-                 at edu.wpi.first.hal.PWMJNI.initializePWMPort(Native Method)
-                 at edu.wpi.first.wpilibj.PWM.<init>(PWM.java:66)
-                 at edu.wpi.first.wpilibj.motorcontrol.PWMMotorController.<init>(PWMMotorController.java:27)
-                 at edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax.<init>(PWMSparkMax.java:35)
-                 at frc.robot.Robot.robotInit(Robot.java:25)
-                 at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
-                 at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
-                 at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
-                 at frc.robot.Main.main(Main.java:23)
-
-         Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
-           The above stacktrace can help determine where the error occurred.
-           See https://wpilib.org/stacktrace for more information.
-         Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:395): The startCompetition() method (or methods called by it) should have handled the exception above.
+      ```text
+      ********** Robot program starting **********
+      Error at frc.robot.Robot.robotInit(Robot.java:25): Unhandled exception: edu.wpi.first.hal.util.AllocationException: Code: -1029
+      PWM or DIO 0 previously allocated.
+      Location of the previous allocation:
+              at frc.robot.Robot.robotInit(Robot.java:24)
+              at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
+              at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
+              at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
+              at frc.robot.Main.main(Main.java:23)
+      Location of the current allocation:
+              at edu.wpi.first.hal.PWMJNI.initializePWMPort(Native Method)
+              at edu.wpi.first.wpilibj.PWM.<init>(PWM.java:66)
+              at edu.wpi.first.wpilibj.motorcontrol.PWMMotorController.<init>(PWMMotorController.java:27)
+              at edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax.<init>(PWMSparkMax.java:35)
+              at frc.robot.Robot.robotInit(Robot.java:25)
+              at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)
+              at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
+              at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
+              at frc.robot.Main.main(Main.java:23)
+      Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
+        The above stacktrace can help determine where the error occurred.
+        See https://wpilib.org/stacktrace for more information.
+      Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:395): The startCompetition() method (or methods called by it) should have handled the exception above.
+      ```
 
       This stack trace shows that a ``edu.wpi.first.hal.util.AllocationException`` has occurred. It also gives the helpful message: ``PWM or DIO 0 previously allocated.``.
 
@@ -504,95 +458,80 @@ When run, you'll see output that looks like this:
 
       In C++, you won't specifically see a stacktrace from this issue. Instead, you'll get messages which look like the following:
 
-      .. code-block:: text
-
-         Error at PWM [C::31]: PWM or DIO 0 previously allocated.
-         Location of the previous allocation:
-                 at frc::PWM::PWM(int, bool) + 0x50 [0xb6f01b68]
-                 at frc::PWMMotorController::PWMMotorController(std::basic_string_view<char, std::char_traits<char> >, int) + 0x70 [0xb6ef7d50]
-                 at frc::PWMVictorSPX::PWMVictorSPX(int) + 0x3c [0xb6e9af1c]
-                 at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0xa8 [0x13718]
-                 at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
-                 at __libc_start_main + 0x114 [0xb57ec580]
-
-         Location of the current allocation:: Channel 0
-                 at  + 0x5fb5c [0xb6e81b5c]
-                 at frc::PWM::PWM(int, bool) + 0x334 [0xb6f01e4c]
-                 at frc::PWMMotorController::PWMMotorController(std::basic_string_view<char, std::char_traits<char> >, int) + 0x70 [0xb6ef7d50]
-                 at frc::PWMVictorSPX::PWMVictorSPX(int) + 0x3c [0xb6e9af1c]
-                 at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0xb4 [0x13724]
-                 at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
-                 at __libc_start_main + 0x114 [0xb57ec580]
-
-         Error at RunRobot: Error: The robot program quit unexpectedly. This is usually due to a code error.
-           The above stacktrace can help determine where the error occurred.
-           See https://wpilib.org/stacktrace for more information.
-
-                 at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0x1c8 [0x13838]
-                 at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
-                 at __libc_start_main + 0x114 [0xb57ec580]
-
-         terminate called after throwing an instance of 'frc::RuntimeError'
-           what():  PWM or DIO 0 previously allocated.
-         Location of the previous allocation:
-                 at frc::PWM::PWM(int, bool) + 0x50 [0xb6f01b68]
-                 at frc::PWMMotorController::PWMMotorController(std::basic_string_view<char, std::char_traits<char> >, int) + 0x70 [0xb6ef7d50]
-                 at frc::PWMVictorSPX::PWMVictorSPX(int) + 0x3c [0xb6e9af1c]
-                 at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0xa8 [0x13718]
-                 at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
-                 at __libc_start_main + 0x114 [0xb57ec580]
-
-         Location of the current allocation:: Channel 0
-
+      ```text
+      Error at PWM [C::31]: PWM or DIO 0 previously allocated.
+      Location of the previous allocation:
+              at frc::PWM::PWM(int, bool) + 0x50 [0xb6f01b68]
+              at frc::PWMMotorController::PWMMotorController(std::basic_string_view<char, std::char_traits<char> >, int) + 0x70 [0xb6ef7d50]
+              at frc::PWMVictorSPX::PWMVictorSPX(int) + 0x3c [0xb6e9af1c]
+              at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0xa8 [0x13718]
+              at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
+              at __libc_start_main + 0x114 [0xb57ec580]
+      Location of the current allocation:: Channel 0
+              at  + 0x5fb5c [0xb6e81b5c]
+              at frc::PWM::PWM(int, bool) + 0x334 [0xb6f01e4c]
+              at frc::PWMMotorController::PWMMotorController(std::basic_string_view<char, std::char_traits<char> >, int) + 0x70 [0xb6ef7d50]
+              at frc::PWMVictorSPX::PWMVictorSPX(int) + 0x3c [0xb6e9af1c]
+              at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0xb4 [0x13724]
+              at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
+              at __libc_start_main + 0x114 [0xb57ec580]
+      Error at RunRobot: Error: The robot program quit unexpectedly. This is usually due to a code error.
+        The above stacktrace can help determine where the error occurred.
+        See https://wpilib.org/stacktrace for more information.
+              at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0x1c8 [0x13838]
+              at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
+              at __libc_start_main + 0x114 [0xb57ec580]
+      terminate called after throwing an instance of 'frc::RuntimeError'
+        what():  PWM or DIO 0 previously allocated.
+      Location of the previous allocation:
+              at frc::PWM::PWM(int, bool) + 0x50 [0xb6f01b68]
+              at frc::PWMMotorController::PWMMotorController(std::basic_string_view<char, std::char_traits<char> >, int) + 0x70 [0xb6ef7d50]
+              at frc::PWMVictorSPX::PWMVictorSPX(int) + 0x3c [0xb6e9af1c]
+              at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0xa8 [0x13718]
+              at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
+              at __libc_start_main + 0x114 [0xb57ec580]
+      Location of the current allocation:: Channel 0
+      ```
 
       The key thing to notice here is the string, ``PWM or DIO 0 previously allocated.``. That string is your primary clue that something in code has incorrectly "doubled up" on pin 0 usage.
 
       The message example above was generated on a roboRIO. If you are running in simulation, it might look different.
 
 
-Fixing HAL Resource Already Allocated Issues
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Fixing HAL Resource Already Allocated Issues
 
 ``HAL: Resource already allocated`` are some of the most straightforward errors to fix. Just spend a bit of time looking at the electrical wiring on the robot, and compare that to what's in code.
 
-In the example, the left motor controllers are plugged into PWM ports ``0`` and ``1``. Therefore, corrected code would look like this:
+In the example, the left motor controllers are plugged into :term:`PWM` ports ``0`` and ``1``. Therefore, corrected code would look like this:
 
 .. tab-set-code::
 
-   .. code-block:: Java
-         :lineno-start: 19
-
-         PWMSparkMax leftFrontMotor;
-         PWMSparkMax leftRearMotor;
-
-         @Override
-         public void robotInit() {
-
-            leftFrontMotor = new PWMSparkMax(0);
-            leftRearMotor = new PWMSparkMax(1);
-
-         }
-
-
-   .. code-block:: C++
-
-      :lineno-start: 17
-
-      class Robot : public frc::TimedRobot {
-         public:
-            void RobotInit() override {
-               m_frontLeftMotor.Set(0.5);
-               m_rearLeftMotor.Set(0.25);
-            }
-
-         private:
-            frc::PWMVictorSPX m_frontLeftMotor{0};
-            frc::PWMVictorSPX m_rearLeftMotor{1};
-
-         };
-
-gradlew is not recognized...
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+   ```Java
+   :lineno-start: 19
+   PWMSparkMax leftFrontMotor;
+   PWMSparkMax leftRearMotor;
+   @Override
+   public void robotInit() {
+      leftFrontMotor = new PWMSparkMax(0);
+      leftRearMotor = new PWMSparkMax(1);
+   }
+   ```
+
+   ```C++
+   :lineno-start: 17
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        m_frontLeftMotor.Set(0.5);
+        m_rearLeftMotor.Set(0.25);
+     }
+     private:
+      frc::PWMVictorSPX m_frontLeftMotor{0};
+      frc::PWMVictorSPX m_rearLeftMotor{1};
+   };
+   ```
+
+### gradlew is not recognized...
 
 ``gradlew is not recognized as an internal or external command`` is a common error that can occur when the project or directory that you are currently in does not contain a ``gradlew`` file. This usually occurs when you open the wrong directory.
 
@@ -610,8 +549,7 @@ If you do not see any one of the above files in your project directory, then you
 - A corrupt or bad project.
 - You are in the wrong directory.
 
-Fixing gradlew is not recognized...
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Fixing gradlew is not recognized...
 
 ``gradlew is not recognized...`` is a fairly easy problem to fix. First identify the problem source:
 
diff --git a/source/docs/software/basic-programming/robot-preferences.rst b/source/docs/software/basic-programming/robot-preferences.rst
index 0ff6d3988c..14bc537ad5 100644
--- a/source/docs/software/basic-programming/robot-preferences.rst
+++ b/source/docs/software/basic-programming/robot-preferences.rst
@@ -1,63 +1,78 @@
-Setting Robot Preferences
-=========================
+# Setting Robot Preferences
 
-The Robot Preferences (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Preferences.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_preferences.html>`__) class is used to store values in the flash memory on the roboRIO. The values might be for remembering preferences on the robot such as calibration settings for potentiometers, PID values, setpoints, etc. that you would like to change without having to rebuild the program. The values can be viewed on SmartDashboard or Shuffleboard and read and written by the robot program.
+The Robot Preferences ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Preferences.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_preferences.html)) class is used to store values in the flash memory on the roboRIO. The values might be for remembering preferences on the robot such as calibration settings for potentiometers, PID values, setpoints, etc. that you would like to change without having to rebuild the program. The values can be viewed on SmartDashboard or Shuffleboard and read and written by the robot program.
 
-This example shows how to utilize Preferences to change the setpoint of a PID controller and the P constant. The code examples are adapted from the Arm Simulation example (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp>`__). You can run the Arm Simulation example in the Robot Simulator to see how to use the preference class and interact with it using the dashboards without needing a robot.
+This example shows how to utilize Preferences to change the setpoint of a PID controller and the P constant. The code examples are adapted from the Arm Simulation example ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java), [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp)). You can run the Arm Simulation example in the Robot Simulator to see how to use the preference class and interact with it using the dashboards without needing a robot.
 
 
-Initializing Preferences
-------------------------
+## Initializing Preferences
 
 .. tab-set::
 
    .. tab-item:: Java
       :sync: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Constants.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Constants.java
          :language: java
          :lines: 15-20
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
          :language: java
          :lines: 28-30, 73-74, 80-83
 
    .. tab-item:: C++
       :sync: C++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.h
-         :language: cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.h
+         :language: c++
          :lines: 30-34
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
-         :language: cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
+         :language: c++
          :lines: 12, 18-22
 
+   .. tab-item:: Python
+      :sync: Python
+
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/ArmSimulation/constants.py
+         :language: python
+         :lines: 18-23
+
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/ArmSimulation/subsytems/arm.py
+         :language: python
+         :lines: 20-23,37-41
+
 Preferences are stored using a name, the key. It's helpful to store the key in a constant, like ``kArmPositionKey`` and ``kArmPKey`` in the code above to avoid typing it multiple times and avoid typos. We also declare variables, ``kArmKp`` and ``armPositionDeg`` to hold the data retrieved from preferences.
 
 In ``robotInit``, each key is checked to see if it already exists in the Preferences database. The ``containsKey`` method takes one parameter, the key to check if data for that key already exists in the preferences database. If it doesn't exist, a default value is written. The ``setDouble`` method takes two parameters, the key to write and the data to write. There are similar methods for other data types like booleans, ints, and strings.
 
 If using the Command Framework, this type of code could be placed in the constructor of a Subsystem or Command.
 
-Reading Preferences
--------------------
+## Reading Preferences
 
 .. tab-set::
 
    .. tab-item:: Java
       :sync: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
          :language: java
          :lines: 105-112
 
    .. tab-item:: C++
       :sync: C++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
-         :language: cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
+         :language: c++
          :lines: 44-52
 
+   .. tab-item:: Python
+      :sync: Python
+
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/ArmSimulation/subsytems/arm.py
+         :language: python
+         :lines: 43-50
+
 Reading a preference is easy. The ``getDouble`` method takes two parameters, the key to read, and a default value to use in case the preference doesn't exist. There are similar methods for other data types like booleans, ints, and strings.
 
 Depending on the data that is stored in preferences, you can use it when you read it, such as the proportional constant above. Or you can store it in a variable and use it later, such as the setpoint, which is used in ``telopPeriodic`` below.
@@ -67,55 +82,59 @@ Depending on the data that is stored in preferences, you can use it when you rea
    .. tab-item:: Java
       :sync: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
          :language: java
          :lines: 29-38
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
          :language: java
          :lines: 114-120
 
    .. tab-item:: C++
       :sync: C++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
-         :language: cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+         :language: c++
          :lines: 15-24
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
-         :language: cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
+         :language: c++
          :lines: 54-60
 
-Using Preferences in SmartDashboard
------------------------------------
+   .. tab-item:: Python
+      :sync: Python
+
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/ArmSimulation/robot.py
+         :language: python
+         :lines: 22-28
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/ArmSimulation/subsytems/arm.py
+         :language: python
+         :lines: 52-57
+
+## Using Preferences in SmartDashboard
 
-Displaying Preferences in SmartDashboard
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Displaying Preferences in SmartDashboard
 
 .. image:: images/robot-preferences/preferences-widget-smartdashboard.png
   :alt: Adding preferences from the Smartdashboard menu
 
 In the SmartDashboard, the Preferences display can be added to the display by selecting :guilabel:`View` then :guilabel:`Add...` then :guilabel:`Robot Preferences`. This reveals the contents of the preferences file stored in the roboRIO flash memory.
 
-Editing Preferences in SmartDashboard
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Editing Preferences in SmartDashboard
 
 .. image:: images/robot-preferences/view-edit-preferences-values-smartdashboard.png
   :alt: Editing the robot preferences via the SmartDashboard widget.
 
 The values are shown here with the default values from the code. If the values need to be adjusted they can be edited here and saved.
 
-Using Preferences in Shuffleboard
----------------------------------
+## Using Preferences in Shuffleboard
 
-Displaying Preferences in Shuffleboard
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Displaying Preferences in Shuffleboard
 
 .. image:: images/robot-preferences/preferences-widget-shuffleboard.png
   :alt: Adding preferences from the sources window in Shuffleboard
 
 In Shuffleboard, the Preferences display can be added to the display by dragging the preferences field from the sources window. This reveals the contents of the preferences file stored in the roboRIO flash memory.
 
-Editing Preferences in Shuffleboard
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Editing Preferences in Shuffleboard
 
 .. image:: images/robot-preferences/view-edit-preferences-values-shuffleboard.png
   :alt: Editing the robot preferences via the Shuffleboard widget.
diff --git a/source/docs/software/basic-programming/using-test-mode.rst b/source/docs/software/basic-programming/using-test-mode.rst
index d6f89b33b2..ae7ec8f168 100644
--- a/source/docs/software/basic-programming/using-test-mode.rst
+++ b/source/docs/software/basic-programming/using-test-mode.rst
@@ -1,26 +1,22 @@
-Using Test Mode
-===============
+# Using Test Mode
 
 Test mode is designed to enable programmers to have a place to put code to verify that all systems on the robot are functioning. In each of the robot program templates there is a place to add test code to the robot.
 
-Enabling Test Mode
-------------------
+## Enabling Test Mode
 
 .. image:: /docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/enabling-test-mode/setting-test-mode-driver-station.png
    :alt: Selecting the "Test" button on the Driver Station and then "Enable".
 
 Test mode on the robot can be enabled from the Driver Station just like autonomous or teleop. To enable test mode in the Driver Station, select the "Test" button and enable the robot. The test mode code will then run.
 
-LiveWindow in Test Mode
------------------------
-
-With LiveWindow, all actuator outputs can be controlled on the Dashboard and all sensor values can be seen. PID Controllers can also be tuned. The sensors and actuators are added automatically, no code is necessary. See :doc:`/docs/software/dashboards/smartdashboard/test-mode-and-live-window/index` for more details.
-
-Adding Test mode code to your robot code
-----------------------------------------
+## Adding Test mode code to your robot code
 
 When in test mode, the ``testInit`` method is run once, and the ``testPeriodic`` method is run once per tick, in addition to ``robotPeriodic``, similar to teleop and autonomous control modes.
 
 Adding test mode can be as painless as calling your already written Teleop methods from Test. Or you can write special code to try out a new feature that is only run in Test mode, before integrating it into your teleop or autonomous code. You could even write code to move all motors and check all sensors to help the pit crew!
 
-.. warning:: If you write your own test code, it may interfere with the LiveWindow code that can control actuators and is enabled automatically. You may need to call ``LiveWindow.setEnabled(false)`` in your testInit method to avoid this.
+## LiveWindow in Test Mode
+
+.. important:: Since 2024, LiveWindow in Test Mode is disabled by default! See :ref:`docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode:Enabling LiveWindow in Test Mode` to enable it.
+
+With LiveWindow, all actuator outputs can be controlled on the Dashboard and all sensor values can be seen. PID Controllers can also be tuned. The sensors and actuators are added automatically, no code is necessary. See :doc:`/docs/software/dashboards/smartdashboard/test-mode-and-live-window/index` for more details.
diff --git a/source/docs/software/can-devices/can-addressing.rst b/source/docs/software/can-devices/can-addressing.rst
index e070f660ab..1818f4c789 100644
--- a/source/docs/software/can-devices/can-addressing.rst
+++ b/source/docs/software/can-devices/can-addressing.rst
@@ -1,20 +1,17 @@
 .. include:: <isonum.txt>
 
-FRC CAN Device Specifications
-=============================
+# FRC CAN Device Specifications
 
 This document seeks to describe the basic functions of the current FRC\ |reg|
-CAN system and the requirements for any new CAN devices seeking to work
+:term:`CAN` system and the requirements for any new CAN devices seeking to work
 with the system.
 
-Addressing
-----------
+## Addressing
 
 FRC CAN nodes assign arbitration IDs based on a pre-defined scheme that
 breaks the ID into 5 components:
 
-Device Type
-~~~~~~~~~~~
+#### Device Type
 
 This is a 5-bit value describing the type of device being addressed. A
 table of currently assigned device types can be found below. If you wish
@@ -40,8 +37,7 @@ Reserved                  12-30
 Firmware Update           31
 ========================= =====
 
-Manufacturer
-~~~~~~~~~~~~
+#### Manufacturer
 
 This is an 8-bit value indicating the manufacturer of the CAN device.
 Currently assigned values can be found in the table below. If you wish
@@ -71,8 +67,7 @@ Vivid Hosting         16
 Reserved              17-255
 ===================== ==========
 
-API/Message Identifier
-~~~~~~~~~~~~~~~~~~~~~~
+#### API/Message Identifier
 
 The API or Message Identifier is a 10-bit value that identifies a
 particular command or message type. These identifiers are unique for
@@ -84,8 +79,7 @@ for a CTR Power Distribution Module).
 The Message identifier is further broken down into 2 sub-fields: the
 6-bit API Class and the 4-bit API Index.
 
-API Class
-~~~~~~~~~
+#### API Class
 
 The API Class is a 6-bit identifier for an API grouping. Similar
 messages are grouped into a single API Class. An example of the API
@@ -105,8 +99,7 @@ Configuration             7
 Ack                       8
 ========================= =
 
-API Index
-~~~~~~~~~
+#### API Index
 
 The API Index is a 4-bit identifier for a particular message within an
 API Class. An example of the API Index values for the Jaguar Motor
@@ -128,8 +121,7 @@ Trusted Set Setpoint No Ack 10
 Set Setpoint No Ack         11
 =========================== ==
 
-Device Number
-~~~~~~~~~~~~~
+#### Device Number
 
 Device Number is a 6-bit quantity indicating the number of the device of
 a particular type. Devices should default to device ID 0 to match other
@@ -139,16 +131,14 @@ device specific broadcast messages.
 .. image:: images/can-addressing/can-id-example.png
    :alt: CAN addressing bit mapping.
 
-Protected Frames
-----------------
+## Protected Frames
 
 FRC CAN Nodes which implement actuator control capability (motor
 controllers, relays, pneumatics controllers, etc.) must implement a way
 to verify that the robot is enabled and that commands originate with the
 main robot controller (i.e. the roboRIO).
 
-Broadcast Messages
-------------------
+## Broadcast Messages
 
 Broadcast messages are messages sent to all nodes by setting the device
 type and manufacturer fields to 0. The API Class for broadcast messages
@@ -174,8 +164,7 @@ System Resume     10
 Devices should disable immediately when receiving the Disable message
 (arbID 0).  Implementation of other broadcast messages is optional.
 
-Requirements for FRC CAN Nodes
-------------------------------
+## Requirements for FRC CAN Nodes
 For CAN Nodes to be accepted for use in the FRC System, they must:
 
 -  Communicate using Arbitration IDs which match the prescribed FRC
@@ -190,8 +179,7 @@ For CAN Nodes to be accepted for use in the FRC System, they must:
 -  If controlling actuators, utilize a scheme to assure that the robot is issuing commands, is enabled, and is still present.
 -  Provide software library support for LabVIEW, C++, and Java or arrange with *FIRST*\ |reg| or FIRST's Control System Partners to provide such interfaces.
 
-Universal Heartbeat
--------------------
+## Universal Heartbeat
 
 The roboRIO provides a universal CAN heartbeat that any device on the bus can listen and react to. This heartbeat is sent every 20 ms. The heartbeat has a full CAN ID of ``0x01011840`` (which is the NI Manufacturer ID, RobotController type, Device ID 0 and API ID ``0x061``). It is an 8 byte CAN packet with the following bitfield layout.
 
@@ -229,25 +217,25 @@ The roboRIO provides a universal CAN heartbeat that any device on the bus can li
 | Time of day (hours)   | 1    | 5            |
 +-----------------------+------+--------------+
 
-.. code-block:: c++
-
-   struct [[gnu::packed]] RobotState {
-     uint64_t matchTimeSeconds : 8;
-     uint64_t matchNumber : 10;
-     uint64_t replayNumber : 6;
-     uint64_t redAlliance : 1;
-     uint64_t enabled : 1;
-     uint64_t autonomous : 1;
-     uint64_t testMode : 1;
-     uint64_t systemWatchdog : 1;
-     uint64_t tournamentType : 3;
-     uint64_t timeOfDay_yr : 6;
-     uint64_t timeOfDay_month : 4;
-     uint64_t timeOfDay_day : 5;
-     uint64_t timeOfDay_sec : 6;
-     uint64_t timeOfDay_min : 6;
-     uint64_t timeOfDay_hr : 5;
-   };
+```c++
+struct [[gnu::packed]] RobotState {
+  uint64_t matchTimeSeconds : 8;
+  uint64_t matchNumber : 10;
+  uint64_t replayNumber : 6;
+  uint64_t redAlliance : 1;
+  uint64_t enabled : 1;
+  uint64_t autonomous : 1;
+  uint64_t testMode : 1;
+  uint64_t systemWatchdog : 1;
+  uint64_t tournamentType : 3;
+  uint64_t timeOfDay_yr : 6;
+  uint64_t timeOfDay_month : 4;
+  uint64_t timeOfDay_day : 5;
+  uint64_t timeOfDay_sec : 6;
+  uint64_t timeOfDay_min : 6;
+  uint64_t timeOfDay_hr : 5;
+};
+```
 
 If the ``System watchdog`` flag is set, motor controllers are enabled. If 100 ms has passed since this packet was received, the robot program can be considered hung, and devices should act as if the robot has been disabled.
 
diff --git a/source/docs/software/can-devices/images/can-addressing/can-id-example.png b/source/docs/software/can-devices/images/can-addressing/can-id-example.png
index 88ab7e8606..f9e1e516e8 100644
Binary files a/source/docs/software/can-devices/images/can-addressing/can-id-example.png and b/source/docs/software/can-devices/images/can-addressing/can-id-example.png differ
diff --git a/source/docs/software/can-devices/index.rst b/source/docs/software/can-devices/index.rst
index bbe1124a8b..9cd0fdf8c9 100644
--- a/source/docs/software/can-devices/index.rst
+++ b/source/docs/software/can-devices/index.rst
@@ -1,5 +1,4 @@
-CAN Devices
-===========
+# CAN Devices
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/can-devices/pneumatic-hub.rst b/source/docs/software/can-devices/pneumatic-hub.rst
index ec3d02e0c6..4a094aa5eb 100644
--- a/source/docs/software/can-devices/pneumatic-hub.rst
+++ b/source/docs/software/can-devices/pneumatic-hub.rst
@@ -1,13 +1,12 @@
-Pneumatic Hub
-=============
+# Pneumatic Hub
 
 .. image:: /docs/controls-overviews/images/control-system-hardware/pneumatic-hub.png
     :alt: The Pneumatic Hub (PH)
     :width: 400
 
-The Pneumatic Hub (PH) is a CAN-based device that provides complete control over the compressor and up to 16 solenoids per module. The PH is integrated into WPILib through a series of classes that make it simple to use.
+The Pneumatic Hub (:term:`PH`) is a :term:`CAN`-based device that provides complete control over the compressor and up to 16 solenoids per module. The PH is integrated into WPILib through a series of classes that make it simple to use.
 
-The closed loop control of the Compressor and Pressure switch is handled by the :code:`Compressor` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Compressor.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_compressor.html>`__), and the Solenoids are handled by the :code:`Solenoid` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Solenoid.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_solenoid.html>`__) and :code:`DoubleSolenoid` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/DoubleSolenoid.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_double_solenoid.html>`__) classes.
+The closed loop control of the Compressor and Pressure switch is handled by the :code:`Compressor` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Compressor.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_compressor.html), :external:py:class:[Python](wpilib.Compressor>`), and the Solenoids are handled by the :code:`Solenoid` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Solenoid.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_solenoid.html), :external:py:class:[Python](wpilib.Solenoid>`) and :code:`DoubleSolenoid` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/DoubleSolenoid.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_double_solenoid.html), :external:py:class:`Python <wpilib.DoubleSolenoid>`) classes.
 
 An additional PH module can be used where the module's corresponding solenoids are differentiated by the module number in the constructors of the Solenoid and Compressor classes.
 
diff --git a/source/docs/software/can-devices/pneumatics-control-module.rst b/source/docs/software/can-devices/pneumatics-control-module.rst
index 3cfdd0ede3..2f62b5c989 100644
--- a/source/docs/software/can-devices/pneumatics-control-module.rst
+++ b/source/docs/software/can-devices/pneumatics-control-module.rst
@@ -1,13 +1,12 @@
-Pneumatics Control Module
-=========================
+# Pneumatics Control Module
 
 .. image:: /docs/controls-overviews/images/control-system-hardware/pneumatics-control-module.png
     :alt: The Pneumatics Control Module (PCM)
     :width: 400
 
-The Pneumatics Control Module (PCM) is a CAN-based device that provides complete control over the compressor and up to 8 solenoids per module. The PCM is integrated into WPILib through a series of classes that make it simple to use.
+The Pneumatics Control Module (:term:`PCM`) is a :term:`CAN`-based device that provides complete control over the compressor and up to 8 solenoids per module. The PCM is integrated into WPILib through a series of classes that make it simple to use.
 
-The closed loop control of the Compressor and Pressure switch is handled by the :code:`Compressor` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Compressor.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_compressor.html>`__), and the Solenoids are handled by the :code:`Solenoid` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Solenoid.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_solenoid.html>`__) and :code:`DoubleSolenoid` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/DoubleSolenoid.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_double_solenoid.html>`__) classes.
+The closed loop control of the Compressor and Pressure switch is handled by the :code:`Compressor` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Compressor.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_compressor.html), :external:py:class:[Python](wpilib.Compressor>`), and the Solenoids are handled by the :code:`Solenoid` ([Java])https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Solenoid.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_solenoid.html), :external:py:class:[Python](wpilib.Solenoid>`) and :code:`DoubleSolenoid` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/DoubleSolenoid.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_double_solenoid.html), :external:py:class:`Python <wpilib.DoubleSolenoid>`) classes.
 
 An additional PCM module can be used where the module's corresponding solenoids are differentiated by the module number in the constructors of the Solenoid and Compressor classes.
 
diff --git a/source/docs/software/can-devices/power-distribution-module.rst b/source/docs/software/can-devices/power-distribution-module.rst
index 56964a3a70..66f6265ac0 100644
--- a/source/docs/software/can-devices/power-distribution-module.rst
+++ b/source/docs/software/can-devices/power-distribution-module.rst
@@ -1,124 +1,156 @@
-Power Distribution Module
-=========================
+# Power Distribution Module
 
-The CTRE Power Distribution Panel (PDP) and Rev Power Distribution Hub (PDH) can use their CAN connectivity to communicate a wealth of status information regarding the robot's power use to the roboRIO, for use in user code.  This has the capability to report current temperature, the bus voltage, the total robot current draw, the total robot energy use, and the individual current draw of each device power channel.  This data can be used for a number of advanced control techniques, such as motor  :term:`torque` limiting and brownout avoidance.
+The CTRE Power Distribution Panel (:term:`PDP`) and Rev Power Distribution Hub (:term:`PDH`) can use their :term:`CAN` connectivity to communicate a wealth of status information regarding the robot's power use to the roboRIO, for use in user code.  This has the capability to report current temperature, the bus voltage, the total robot current draw, the total robot energy use, and the individual current draw of each device power channel.  This data can be used for a number of advanced control techniques, such as motor  :term:`torque` limiting and brownout avoidance.
 
-Creating a Power Distribution Object
-------------------------------------
+## Creating a Power Distribution Object
 
-To use the either Power Distribution module, create an instance of the :code:`PowerDistribution` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/PowerDistribution.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_power_distribution.html>`__). With no arguments, the Power Distribution object will be detected, and must use CAN ID of 0 for CTRE or 1 for REV. If the CAN ID is non-default, additional constructors are available to specify the CAN ID and type.
+To use the either Power Distribution module, create an instance of the :code:`PowerDistribution` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/PowerDistribution.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_power_distribution.html), :external:py:class:`Python <wpilib.PowerDistribution>`). With no arguments, the Power Distribution object will be detected, and must use CAN ID of 0 for CTRE or 1 for REV. If the CAN ID is non-default, additional constructors are available to specify the CAN ID and type.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        PowerDistribution examplePD = new PowerDistribution();
-        PowerDistribution examplePD = new PowerDistribution(0, ModuleType.kCTRE);
-        PowerDistribution examplePD = new PowerDistribution(1, ModuleType.kRev);
-
-    .. code-block:: c++
-
-        PowerDistribution examplePD{};
-        PowerDistribution examplePD{0, frc::PowerDistribution::ModuleType::kCTRE};
-        PowerDistribution examplePD{1, frc::PowerDistribution::ModuleType::kRev};
+    ```java
+    PowerDistribution examplePD = new PowerDistribution();
+    PowerDistribution examplePD = new PowerDistribution(0, ModuleType.kCTRE);
+    PowerDistribution examplePD = new PowerDistribution(1, ModuleType.kRev);
+    ```
+
+    ```c++
+    PowerDistribution examplePD{};
+    PowerDistribution examplePD{0, frc::PowerDistribution::ModuleType::kCTRE};
+    PowerDistribution examplePD{1, frc::PowerDistribution::ModuleType::kRev};
+    ```
+
+    ```python
+    from wpilib import PowerDistribution
+    examplePD = PowerDistribution()
+    examplePD = PowerDistribution(0, PowerDistribution.ModuleType.kCTRE)
+    examplePD = PowerDistribution(1, PowerDistribution.ModuleType.kRev)
+    ```
 
 Note: it is not necessary to create a PowerDistribution object unless you need to read values from it. The board will work and supply power on all the channels even if the object is never created.
 
 .. warning:: To enable voltage and current logging in the Driver Station, the CAN ID for the CTRE Power Distribution Panel *must* be 0, and for the REV Power Distribution Hub it *must* be 1.
 
-Reading the Bus Voltage
------------------------
+## Reading the Bus Voltage
 
 .. tab-set-code::
 
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
          :language: java
          :lines: 32-35
          :linenos:
          :lineno-start: 32
 
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+         :language: c++
          :lines: 28-31
          :linenos:
          :lineno-start: 28
 
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/CANPDP/robot.py
+         :language: python
+         :lines: 34-37
+         :linenos:
+         :lineno-start: 34
+
+
 Monitoring the bus voltage can be useful for (among other things) detecting when the robot is near a brownout, so that action can be taken to avoid brownout in a controlled manner. See the :doc:`roboRIO Brownouts document</docs/software/roborio-info/roborio-brownouts>` for more information.
 
-Reading the Temperature
------------------------
+## Reading the Temperature
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
       :language: java
       :lines: 37-39
       :linenos:
       :lineno-start: 37
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
-      :language: cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+      :language: c++
       :lines: 33-35
       :linenos:
       :lineno-start: 33
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/CANPDP/robot.py
+      :language: python
+      :lines: 39-41
+      :linenos:
+      :lineno-start: 39
+
 Monitoring the temperature can be useful for detecting if the robot has been drawing too much power and needs to be shut down for a while, or if there is a short or other wiring problem.
 
-Reading the Total Current, Power, and Energy
---------------------------------------------
+## Reading the Total Current, Power, and Energy
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
       :language: java
       :lines: 41-53
       :linenos:
       :lineno-start: 41
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
-      :language: cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+      :language: c++
       :lines: 37-49
       :linenos:
       :lineno-start: 37
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/CANPDP/robot.py
+         :language: python
+         :lines: 43-55
+         :linenos:
+         :lineno-start: 43
+
 Monitoring the total current, power and energy can be useful for controlling how much power is being drawn from the battery, both for preventing brownouts and ensuring that mechanisms have sufficient power available to perform the actions required. Power is the bus voltage multiplied by the current with the units Watts. Energy is the power summed over time with units Joules.
 
-Reading Individual Channel Currents
------------------------------------
+## Reading Individual Channel Currents
 
 The PDP/PDH also allows users to monitor the current drawn by the individual device power channels.  You can read the current on any of the 16 PDP channels (0-15) or 24 PDH channels (0-23).
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
       :language: java
       :lines: 26-30
       :linenos:
       :lineno-start: 26
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
-      :language: cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+      :language: c++
       :lines: 22-26
       :linenos:
       :lineno-start: 22
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/CANPDP/robot.py
+      :language: python
+      :lines: 28-32
+      :linenos:
+      :lineno-start: 28
+
 Monitoring individual device current draws can be useful for detecting shorts or stalled motors.
 
-Using the Switchable Channel (PDH)
-----------------------------------
+## Using the Switchable Channel (PDH)
 
 The REV PDH has one channel that can be switched on or off to control custom circuits.
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    examplePD.setSwitchableChannel(true);
+    examplePD.setSwitchableChannel(false);
+    ```
 
-        examplePD.setSwitchableChannel(true);
-        examplePD.setSwitchableChannel(false);
+    ```c++
+    examplePD.SetSwitchableChannel(true);
+    examplePD.SetSwitchableChannel(false);
+    ```
 
-    .. code-block:: c++
+    ```python
+    examplePD.setSwitchableChannel(True)
+    examplePD.setSwitchableChannel(False)
+    ```
 
-        examplePD.SetSwitchableChannel(true);
-        examplePD.SetSwitchableChannel(false);
diff --git a/source/docs/software/can-devices/third-party-devices.rst b/source/docs/software/can-devices/third-party-devices.rst
index 6d3543c73a..e738cc88c8 100644
--- a/source/docs/software/can-devices/third-party-devices.rst
+++ b/source/docs/software/can-devices/third-party-devices.rst
@@ -1,9 +1,8 @@
 .. include:: <isonum.txt>
 
-Third-Party CAN Devices
-=======================
+# Third-Party CAN Devices
 
-A number of FRC\ |reg| vendors offer their own CAN peripherals.  As CAN devices
+A number of FRC\ |reg| vendors offer their own :term:`CAN` peripherals.  As CAN devices
 offer expansive feature-sets, vendor CAN devices require similarly
 expansive code libraries to operate.  As a result, these libraries are
 not maintained as an official part of WPILib, but are instead maintained
@@ -12,113 +11,112 @@ libraries, see :ref:`3rd Party Libraries <docs/software/vscode-overview/3rd-part
 
 A list of common third-party CAN devices from various vendors, along with links to corresponding external documentation, is provided below:
 
-CTR Electronics
---------------------------
+## CTR Electronics
 
 CTR Electronics (CTRE) offers several CAN peripherals with external libraries. General resources for all CTRE devices include:
 
-  `Phoenix Device Software Documentation <https://docs.ctr-electronics.com/>`__
+  [Phoenix Device Software Documentation](https://docs.ctr-electronics.com/)
 
-CTRE Motor Controllers
-^^^^^^^^^^^^^^^^^^^^^^
+### CTRE Motor Controllers
 
 - **Talon FX (with Falcon 500 Motor)**
 
-    - API Documentation (v5: `Java <https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/motorcontrol/can/WPI_TalonFX.html>`__, `C++ <https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_w_p_i___talon_f_x.html>`__ | Pro: `Java <https://api.ctr-electronics.com/phoenixpro/release/java/com/ctre/phoenixpro/hardware/TalonFX.html>`__, `C++ <https://api.ctr-electronics.com/phoenixpro/release/cpp/classctre_1_1phoenixpro_1_1hardware_1_1_talon_f_x.html>`__)
-    - `Hardware User's Manual <https://store.ctr-electronics.com/content/user-manual/Falcon%20500%20User%20Guide.pdf>`__
-    - Software Documentation (`v5 <https://v5.docs.ctr-electronics.com/en/stable/ch13_MC.html>`__, `Pro <https://pro.docs.ctr-electronics.com/en/stable/docs/api-reference/examples/quickstart.html>`__)
+    - API Documentation (v5: [Java](https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/motorcontrol/can/WPI_TalonFX.html), [C++](https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_w_p_i___talon_f_x.html) | Pro: [Java](https://api.ctr-electronics.com/phoenixpro/release/java/com/ctre/phoenixpro/hardware/TalonFX.html), [C++](https://api.ctr-electronics.com/phoenixpro/release/cpp/classctre_1_1phoenixpro_1_1hardware_1_1_talon_f_x.html))
+    - [Hardware User's Manual](https://store.ctr-electronics.com/content/user-manual/Falcon%20500%20User%20Guide.pdf)
+    - Software Documentation ([v5](https://v5.docs.ctr-electronics.com/en/stable/ch13_MC.html), [Pro](https://pro.docs.ctr-electronics.com/en/stable/docs/api-reference/examples/quickstart.html))
 
 - **Talon SRX**
 
-    - API Documentation (`Java <https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.html>`__, `C++ <https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_w_p_i___talon_s_r_x.html>`__)
-    - `Hardware User's Manual <https://store.ctr-electronics.com/content/user-manual/Talon%20SRX%20User's%20Guide.pdf>`__
-    - `Software Documentation <https://v5.docs.ctr-electronics.com/en/stable/ch13_MC.html>`__
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.html), [C++](https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_w_p_i___talon_s_r_x.html))
+    - [Hardware User's Manual](https://store.ctr-electronics.com/content/user-manual/Talon%20SRX%20User's%20Guide.pdf)
+    - [Software Documentation](https://v5.docs.ctr-electronics.com/en/stable/ch13_MC.html)
 
 - **Victor SPX**
 
-    - API Documentation (`Java <https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/motorcontrol/can/WPI_VictorSPX.html>`__, `C++ <https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_w_p_i___victor_s_p_x.html>`__)
-    - `Hardware User's Manual <https://store.ctr-electronics.com/content/user-manual/Victor%20SPX%20User's%20Guide.pdf>`__
-    - `Software Documentation <https://v5.docs.ctr-electronics.com/en/stable/ch13_MC.html>`__
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/motorcontrol/can/WPI_VictorSPX.html), [C++](https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_w_p_i___victor_s_p_x.html))
+    - [Hardware User's Manual](https://store.ctr-electronics.com/content/user-manual/Victor%20SPX%20User's%20Guide.pdf)
+    - [Software Documentation](https://v5.docs.ctr-electronics.com/en/stable/ch13_MC.html)
 
-CTRE Sensors
-^^^^^^^^^^^^
+### CTRE Sensors
 
 - **CANcoder**
 
-    - API Documentation (v5: `Java <https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/sensors/WPI_CANCoder.html>`__, `C++ <https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1sensors_1_1_w_p_i___c_a_n_coder.html>`__ | Pro: `Java <https://api.ctr-electronics.com/phoenixpro/release/java/com/ctre/phoenixpro/hardware/CANcoder.html>`__, `C++ <https://api.ctr-electronics.com/phoenixpro/release/cpp/classctre_1_1phoenixpro_1_1hardware_1_1_c_a_ncoder.html>`__)
-    - `Hardware User's Manual <https://store.ctr-electronics.com/content/user-manual/CANCoder%20User's%20Guide.pdf>`__
-    - Software Documentation (`v5 <https://v5.docs.ctr-electronics.com/en/stable/ch12a_BringUpCANCoder.html>`__, `Pro <https://pro.docs.ctr-electronics.com/en/stable/docs/api-reference/api-usage/index.html>`__)
+    - API Documentation (v5: [Java](https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/sensors/WPI_CANCoder.html), [C++](https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1sensors_1_1_w_p_i___c_a_n_coder.html) | Pro: [Java](https://api.ctr-electronics.com/phoenixpro/release/java/com/ctre/phoenixpro/hardware/CANcoder.html), [C++](https://api.ctr-electronics.com/phoenixpro/release/cpp/classctre_1_1phoenixpro_1_1hardware_1_1_c_a_ncoder.html))
+    - [Hardware User's Manual](https://store.ctr-electronics.com/content/user-manual/CANCoder%20User's%20Guide.pdf)
+    - Software Documentation ([v5](https://v5.docs.ctr-electronics.com/en/stable/ch12a_BringUpCANCoder.html), [Pro](https://pro.docs.ctr-electronics.com/en/stable/docs/api-reference/api-usage/index.html))
 
 - **Pigeon 2.0**
 
-    - API Documentation (v5: `Java <https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/sensors/WPI_Pigeon2.html>`__, `C++ <https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1sensors_1_1_w_p_i___pigeon2.html>`__ | Pro: `Java <https://api.ctr-electronics.com/phoenixpro/release/java/com/ctre/phoenixpro/hardware/Pigeon2.html>`__, `C++ <https://api.ctr-electronics.com/phoenixpro/release/cpp/classctre_1_1phoenixpro_1_1hardware_1_1_pigeon2.html>`__)
-    - `Hardware User's Manual <https://store.ctr-electronics.com/content/user-manual/Pigeon2%20User's%20Guide.pdf>`__
-    - Software Documentation (`v5 <https://v5.docs.ctr-electronics.com/en/stable/ch11a_BringUpPigeon2.html>`__, `Pro <https://pro.docs.ctr-electronics.com/en/stable/docs/api-reference/api-usage/index.html>`__)
+    - API Documentation (v5: [Java](https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/sensors/WPI_Pigeon2.html), [C++](https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1sensors_1_1_w_p_i___pigeon2.html) | Pro: [Java](https://api.ctr-electronics.com/phoenixpro/release/java/com/ctre/phoenixpro/hardware/Pigeon2.html), [C++](https://api.ctr-electronics.com/phoenixpro/release/cpp/classctre_1_1phoenixpro_1_1hardware_1_1_pigeon2.html))
+    - [Hardware User's Manual](https://store.ctr-electronics.com/content/user-manual/Pigeon2%20User's%20Guide.pdf)
+    - Software Documentation ([v5](https://v5.docs.ctr-electronics.com/en/stable/ch11a_BringUpPigeon2.html), [Pro](https://pro.docs.ctr-electronics.com/en/stable/docs/api-reference/api-usage/index.html))
 
 - **Pigeon IMU**
 
-    - API Documentation (`Java <https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/sensors/WPI_PigeonIMU.html>`__, `C++ <https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1sensors_1_1_w_p_i___pigeon_i_m_u.html>`__)
-    - `Hardware User's Manual <https://store.ctr-electronics.com/content/user-manual/Pigeon%20IMU%20User's%20Guide.pdf>`__
-    - `Software Documentation <https://v5.docs.ctr-electronics.com/en/stable/ch11_BringUpPigeon.html>`__
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/sensors/WPI_PigeonIMU.html), [C++](https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1sensors_1_1_w_p_i___pigeon_i_m_u.html))
+    - [Hardware User's Manual](https://store.ctr-electronics.com/content/user-manual/Pigeon%20IMU%20User's%20Guide.pdf)
+    - [Software Documentation](https://v5.docs.ctr-electronics.com/en/stable/ch11_BringUpPigeon.html)
 
 - **CANifier**
 
-    - API Documentation (`Java <https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/CANifier.html>`__, `C++ <https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1_c_a_nifier.html>`__)
-    - `Hardware User's Manual <https://store.ctr-electronics.com/content/user-manual/CANifier%20User%27s%20Guide.pdf>`__
-    - `Software Documentation <https://v5.docs.ctr-electronics.com/en/stable/ch12_BringUpCANifier.html>`__
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/CANifier.html), [C++](https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1_c_a_nifier.html))
+    - [Hardware User's Manual](https://store.ctr-electronics.com/content/user-manual/CANifier%20User%27s%20Guide.pdf)
+    - [Software Documentation](https://v5.docs.ctr-electronics.com/en/stable/ch12_BringUpCANifier.html)
 
-CTRE Other CAN Devices
-^^^^^^^^^^^^^^^^^^^^^^
+### CTRE Other CAN Devices
 
 - **CANdle LED Controller**
 
-    - API Documentation (`Java <https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/led/CANdle.html>`__, `C++ <https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1led_1_1_c_a_ndle.html>`__)
-    - `Hardware User's Manual <https://store.ctr-electronics.com/content/user-manual/CANdle%20User's%20Guide.pdf>`__
-    - `Software Documentation <https://v5.docs.ctr-electronics.com/en/stable/ch12b_BringUpCANdle.html>`__
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/release/java/com/ctre/phoenix/led/CANdle.html), [C++](https://api.ctr-electronics.com/phoenix/release/cpp/classctre_1_1phoenix_1_1led_1_1_c_a_ndle.html))
+    - [Hardware User's Manual](https://store.ctr-electronics.com/content/user-manual/CANdle%20User's%20Guide.pdf)
+    - [Software Documentation](https://v5.docs.ctr-electronics.com/en/stable/ch12b_BringUpCANdle.html)
 
-REV Robotics
-------------
+## REV Robotics
 
-REV Robotics currently offers the SPARK MAX motor controller, which has a similar feature-set to the Talon SRX.
+REV Robotics currently offers the SPARK MAX and SPARK Flex motor controllers which can be used for brushed and REV brushless (NEO, NEO 550, and NEO Vortex) motors.
 
-REV Motor Controllers
-^^^^^^^^^^^^^^^^^^^^^
+### REV Motor Controllers
 
 - **SPARK MAX**
 
-    - API Documentation (`Java <https://codedocs.revrobotics.com/java/com/revrobotics/package-summary.html>`__, `C++ <https://codedocs.revrobotics.com/cpp/namespacerev.html>`__)
-    - `Technical Manual <https://docs.revrobotics.com/sparkmax/>`__
+    - API Documentation ([Java](https://codedocs.revrobotics.com/java/com/revrobotics/cansparkmax), [C++](https://codedocs.revrobotics.com/cpp/classrev_1_1_c_a_n_spark_max))
+    - [Technical Manual](https://docs.revrobotics.com/brushless/spark-max/overview)
 
-Playing With Fusion
--------------------
+- **SPARK Flex**
+
+    - API Documentation ([Java](https://codedocs.revrobotics.com/java/com/revrobotics/cansparkflex), [C++](https://codedocs.revrobotics.com/cpp/classrev_1_1_c_a_n_spark_flex))
+    - [Technical Manual](https://docs.revrobotics.com/brushless/spark-flex/overview)
+
+## Playing With Fusion
 
 Playing With Fusion (PWF) offers the Venom integrated motor/controller as well as a Time-of-Flight distance sensor:
 
-PWF Motor Controllers
-^^^^^^^^^^^^^^^^^^^^^
+### PWF Motor Controllers
 
 - **Venom**
 
-    - API Documentation (`Java <https://www.playingwithfusion.com/frc/2020/javadoc/com/playingwithfusion/package-summary.html>`__, `C++ <https://www.playingwithfusion.com/frc/2020/cppdoc/html/annotated.html>`__)
-    - `Technical Manual <https://www.playingwithfusion.com/include/getfile.php?fileid=7086>`__
+    - API Documentation ([Java](https://www.playingwithfusion.com/frc/2020/javadoc/com/playingwithfusion/package-summary.html), [C++](https://www.playingwithfusion.com/frc/2020/cppdoc/html/annotated.html))
+    - [Technical Manual](https://www.playingwithfusion.com/include/getfile.php?fileid=7086)
 
-PWF Sensors
-^^^^^^^^^^^
+### PWF Sensors
 
 - **Time of Flight Sensor**
 
-    - API Documentation (`Java <https://www.playingwithfusion.com/frc/2020/javadoc/com/playingwithfusion/package-summary.html>`__, `C++ <https://www.playingwithfusion.com/frc/2020/cppdoc/html/annotated.html>`__)
-    - `Technical Manual <https://www.playingwithfusion.com/include/getfile.php?fileid=7091>`__
+    - API Documentation ([Java](https://www.playingwithfusion.com/frc/2020/javadoc/com/playingwithfusion/package-summary.html), [C++](https://www.playingwithfusion.com/frc/2020/cppdoc/html/annotated.html))
+    - [Technical Manual](https://www.playingwithfusion.com/include/getfile.php?fileid=7091)
 
-Redux Robotics
---------------
+## Redux Robotics
 
-Redux Robotics currently offers the Canandcoder CAN + PWM magnetic encoder.
+Redux Robotics currently offers the Canandcoder :term:`CAN` + :term:`PWM` magnetic encoder and the Canandcolor :term:`CAN`-enabled color sensor.
 
-Redux Sensors
-^^^^^^^^^^^^^
+### Redux Sensors
 
 - **Canandcoder**
 
-    - API Documentation (`Java <https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandcoder/CANandcoder.html>`__, `C++ <https://apidocs.reduxrobotics.com/current/cpp/classredux_1_1sensors_1_1canandcoder_1_1CANandcoder.html>`__)
-    - `Technical Manual <https://docs.reduxrobotics.com/canandcoder/index.html>`__
+    - API Documentation ([Java](https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandcoder/Canandcoder.html), [C++](https://apidocs.reduxrobotics.com/current/cpp/classredux_1_1sensors_1_1canandcoder_1_1Canandcoder.html))
+    - [Technical Manual](https://docs.reduxrobotics.com/canandcoder/index.html)
+
+- **Canandcolor**
+
+    - API Documentation ([Java](https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandcolor/Canandcolor.html), [C++](https://apidocs.reduxrobotics.com/current/cpp/classredux_1_1sensors_1_1canandcolor_1_1Canandcolor.html))
+    - [Technical Manual](https://docs.reduxrobotics.com/canandcolor/index.html)
diff --git a/source/docs/software/can-devices/using-can-devices.rst b/source/docs/software/can-devices/using-can-devices.rst
index abb5ac9f19..1d2686f458 100644
--- a/source/docs/software/can-devices/using-can-devices.rst
+++ b/source/docs/software/can-devices/using-can-devices.rst
@@ -1,11 +1,10 @@
-Using CAN Devices
-=================
+# Using CAN Devices
 
-CAN has many advantages over other methods of connection between the robot controller and peripheral devices.
+:term:`CAN` has many advantages over other methods of connection between the robot controller and peripheral devices.
 
 - CAN connections are daisy-chained from device to device, which often results in much shorter wire runs than having to wire each device to the RIO itself.
 
-- Much more data can be sent over a CAN connection than over a PWM connection - thus, CAN motor controllers are capable of a much more expansive feature-set than are PWM motor controllers.
+- Much more data can be sent over a CAN connection than over a :term:`PWM` connection - thus, CAN motor controllers are capable of a much more expansive feature-set than are PWM motor controllers.
 
 - CAN is bi-directional, so CAN motor controllers can send data back to the RIO, again facilitating a more expansive feature-set than can be offered by PWM Controllers.
 
diff --git a/source/docs/software/commandbased/binding-commands-to-triggers.rst b/source/docs/software/commandbased/binding-commands-to-triggers.rst
index ddfd0f08f0..cd7a140c13 100644
--- a/source/docs/software/commandbased/binding-commands-to-triggers.rst
+++ b/source/docs/software/commandbased/binding-commands-to-triggers.rst
@@ -1,74 +1,66 @@
-Binding Commands to Triggers
-============================
+# Binding Commands to Triggers
 
 Apart from autonomous commands, which are scheduled at the start of the autonomous period, and default commands, which are automatically scheduled whenever their subsystem is not currently in-use, the most common way to run a command is by binding it to a triggering event, such as a button being pressed by a human operator. The command-based paradigm makes this extremely easy to do.
 
 As mentioned earlier, command-based is a :term:`declarative programming` paradigm. Accordingly, binding buttons to commands is done declaratively; the association of a button and a command is "declared" once, during robot initialization. The library then does all the hard work of checking the button state and scheduling (or canceling) the command as needed, behind-the-scenes. Users only need to worry about designing their desired UI setup - not about implementing it!
 
-Command binding is done through the ``Trigger`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/Trigger.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_trigger.html>`__).
+Command binding is done through the ``Trigger`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/button/Trigger.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_trigger.html)).
 
-Getting a Trigger Instance
---------------------------
+## Getting a Trigger Instance
 
 To bind commands to conditions, we need a ``Trigger`` object. There are three ways to get a Trigger object:
 
-HID Factories
-^^^^^^^^^^^^^
+### HID Factories
 
-The command-based HID classes contain factory methods returning a ``Trigger`` for a given button. ``CommandGenericHID`` has an index-based ``button(int)`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.html#button(int)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_generic_h_i_d.html#a661f49794a913615c94fba927e1072a8>`__), and its subclasses ``CommandXboxController`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_xbox_controller.html>`__), ``CommandPS4Controller`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_p_s4_controller.html>`__), and ``CommandJoystick`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_joystick.html>`__) have named factory methods for each button.
+The command-based HID classes contain factory methods returning a ``Trigger`` for a given button. ``CommandGenericHID`` has an index-based ``button(int)`` factory ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.html#button(int)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_generic_h_i_d.html#a661f49794a913615c94fba927e1072a8)), and its subclasses ``CommandXboxController`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_xbox_controller.html)), ``CommandPS4Controller`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_p_s4_controller.html)), and ``CommandJoystick`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_joystick.html)) have named factory methods for each button.
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  CommandXboxController exampleCommandController = new CommandXboxController(1); // Creates a CommandXboxController on port 1.
+  Trigger xButton = exampleCommandController.x(); // Creates a new Trigger object for the `X` button on exampleCommandController
+  ```
 
-    CommandXboxController exampleCommandController = new CommandXboxController(1); // Creates a CommandXboxController on port 1.
-    Trigger xButton = exampleCommandController.x(); // Creates a new Trigger object for the `X` button on exampleCommandController
+  ```c++
+  frc2::CommandXboxController exampleCommandController{1} // Creates a CommandXboxController on port 1
+  frc2::Trigger xButton = exampleCommandController.X() // Creates a new Trigger object for the `X` button on exampleCommandController
+  ```
 
-  .. code-block:: c++
+### JoystickButton
 
-    frc2::CommandXboxController exampleCommandController{1} // Creates a CommandXboxController on port 1
-    frc2::Trigger xButton = exampleCommandController.X() // Creates a new Trigger object for the `X` button on exampleCommandController
-
-JoystickButton
-^^^^^^^^^^^^^^
-
-Alternatively, the :ref:`regular HID classes <docs/software/basic-programming/joystick:Joysticks>` can be used and passed to create an instance of ``JoystickButton`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_joystick_button.html>`__), a constructor-only subclass of ``Trigger``:
+Alternatively, the :ref:`regular HID classes <docs/software/basic-programming/joystick:Joysticks>` can be used and passed to create an instance of ``JoystickButton`` [Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_joystick_button.html)), a constructor-only subclass of ``Trigger``:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    XboxController exampleController = new XboxController(2); // Creates an XboxController on port 2.
-    Trigger yButton = new JoystickButton(exampleController, XboxController.Button.kY.value); // Creates a new JoystickButton object for the `Y` button on exampleController
+  ```java
+  XboxController exampleController = new XboxController(2); // Creates an XboxController on port 2.
+  Trigger yButton = new JoystickButton(exampleController, XboxController.Button.kY.value); // Creates a new JoystickButton object for the `Y` button on exampleController
+  ```
 
-  .. code-block:: c++
+  ```c++
+  frc::XboxController exampleController{2} // Creates an XboxController on port 2
+  frc2::JoystickButton yButton(&exampleStick, frc::XboxController::Button::kY); // Creates a new JoystickButton object for the `Y` button on exampleController
+  ```
 
-    frc::XboxController exampleController{2} // Creates an XboxController on port 2
-    frc2::JoystickButton yButton(&exampleStick, frc::XboxController::Button::kY); // Creates a new JoystickButton object for the `Y` button on exampleController
-
-Arbitrary Triggers
-^^^^^^^^^^^^^^^^^^
+### Arbitrary Triggers
 
 While binding to HID buttons is by far the most common use case, users may want to bind commands to arbitrary triggering events. This can be done inline by passing a lambda to the constructor of ``Trigger``:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    DigitalInput limitSwitch = new DigitalInput(3); // Limit switch on DIO 3
-
-    Trigger exampleTrigger = new Trigger(limitSwitch::get);
+  ```java
+  DigitalInput limitSwitch = new DigitalInput(3); // Limit switch on DIO 3
+  Trigger exampleTrigger = new Trigger(limitSwitch::get);
+  ```
 
-  .. code-block:: c++
+  ```c++
+  frc::DigitalInput limitSwitch{3}; // Limit switch on DIO 3
+  frc2::Trigger exampleTrigger([&limitSwitch] { return limitSwitch.Get(); });
+  ```
 
-    frc::DigitalInput limitSwitch{3}; // Limit switch on DIO 3
+## Trigger Bindings
 
-    frc2::Trigger exampleTrigger([&limitSwitch] { return limitSwitch.Get(); });
-
-Trigger Bindings
-----------------
-
-.. note:: The C++ command-based library offers two overloads of each button binding method - one that takes an `rvalue reference <http://thbecker.net/articles/rvalue_references/section_01.html>`__ (``CommandPtr&&``), and one that takes a raw pointer (``Command*``).  The rvalue overload moves ownership to the scheduler, while the raw pointer overload leaves the user responsible for the lifespan of the command object.  It is recommended that users preferentially use the rvalue reference overload unless there is a specific need to retain a handle to the command in the calling code.
+.. note:: The C++ command-based library offers two overloads of each button binding method - one that takes an [rvalue reference](http://thbecker.net/articles/rvalue_references/section_01.html) (``CommandPtr&&``), and one that takes a raw pointer (``Command*``).  The rvalue overload moves ownership to the scheduler, while the raw pointer overload leaves the user responsible for the lifespan of the command object.  It is recommended that users preferentially use the rvalue reference overload unless there is a specific need to retain a handle to the command in the calling code.
 
 There are a number of bindings available for the ``Trigger`` class. All of these bindings will automatically schedule a command when a certain trigger activation event occurs - however, each binding has different specific behavior.
 
@@ -76,134 +68,127 @@ There are a number of bindings available for the ``Trigger`` class. All of these
 
 .. note:: The ``Button`` subclass is deprecated, and usage of its binding methods should be replaced according to the respective deprecation messages in the API docs.
 
-onTrue
-^^^^^^
+### onTrue
 
 This binding schedules a command when a trigger changes from ``false`` to ``true`` (or, accordingly, when a button changes is initially pressed). The command will be scheduled on the iteration when the state changes, and will not be scheduled again unless the trigger becomes ``false`` and then ``true`` again (or the button is released and then re-pressed).
 
 .. tab-set-code::
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
       :language: java
-      :lines: 52-53
+      :lines: 63-64
       :linenos:
-      :lineno-start: 52
+      :lineno-start: 63
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
       :language: c++
-      :lines: 24-25
+      :lines: 28-29
       :linenos:
-      :lineno-start: 24
+      :lineno-start: 28
 
 The ``onFalse`` binding is identical, only that it schedules on ``false`` instead of on ``true``.
 
-whileTrue
-^^^^^^^^^
+### whileTrue
 
 This binding schedules a command when a trigger changes from ``false`` to ``true`` (or, accordingly, when a button is initially pressed) and cancels it when the trigger becomes ``false`` again (or the button is released). The command will *not* be re-scheduled if it finishes while the trigger is still ``true``. For the command to restart if it finishes while the trigger is ``true``, wrap the command in a ``RepeatCommand``, or use a ``RunCommand`` instead of an ``InstantCommand``.
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
     :language: java
-    :lines: 114-116
+    :lines: 49-51
     :linenos:
-    :lineno-start: 114
+    :lineno-start: 49
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
     :language: c++
-    :lines: 75-78
+    :lines: 27-29
     :linenos:
-    :lineno-start: 75
+    :lineno-start: 27
 
 The ``whileFalse`` binding is identical, only that it schedules on ``false`` and cancels on ``true``.
 
-toggleOnTrue
-^^^^^^^^^^^^
+### toggleOnTrue
 
-This binding toggles a command, scheduling it when a trigger changes from ``false`` to ``true`` (or a button is initially pressed), and canceling it under the same condition if the command is currently running. Note that while this functionality is supported, toggles are not a highly-recommended option for user control, as they require the driver to keep track of the robot state.  The preferred method is to use two buttons; one to turn on and another to turn off.  Using a `StartEndCommand <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/StartEndCommand.html>`__ or a `ConditionalCommand <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.html>`__ is a good way to specify the commands that you want to be want to be toggled between.
+This binding toggles a command, scheduling it when a trigger changes from ``false`` to ``true`` (or a button is initially pressed), and canceling it under the same condition if the command is currently running. Note that while this functionality is supported, toggles are not a highly-recommended option for user control, as they require the driver to keep track of the robot state.  The preferred method is to use two buttons; one to turn on and another to turn off.  Using a [StartEndCommand](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/StartEndCommand.html) or a [ConditionalCommand](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.html) is a good way to specify the commands that you want to be want to be toggled between.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    myButton.toggleOnTrue(Commands.startEnd(mySubsystem::onMethod,
-        mySubsystem::offMethod,
-        mySubsystem));
-
-  .. code-block:: c++
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
+      :language: java
+      :lines: 76-77
+      :linenos:
+      :lineno-start: 76
 
-    myButton.ToggleOnTrue(frc2::cmd::StartEnd([&] { mySubsystem.OnMethod(); },
-        [&] { mySubsystem.OffMethod(); },
-        {&mySubsystem}));
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
+      :language: c++
+      :lines: 41-43
+      :linenos:
+      :lineno-start: 41
 
 The ``toggleOnFalse`` binding is identical, only that it toggles on ``false`` instead of on ``true``.
 
-Chaining Calls
---------------
+## Chaining Calls
 
 It is useful to note that the command binding methods all return the trigger that they were called on, and thus can be chained to bind multiple commands to different states of the same trigger. For example:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    exampleButton
-        // Binds a FooCommand to be scheduled when the button is pressed
-        .onTrue(new FooCommand())
-        // Binds a BarCommand to be scheduled when that same button is released
-        .onFalse(new BarCommand());
-
-  .. code-block:: c++
+  ```java
+  exampleButton
+      // Binds a FooCommand to be scheduled when the button is pressed
+      .onTrue(new FooCommand())
+      // Binds a BarCommand to be scheduled when that same button is released
+      .onFalse(new BarCommand());
+  ```
 
-    exampleButton
-        // Binds a FooCommand to be scheduled when the button is pressed
-        .OnTrue(FooCommand().ToPtr())
-        // Binds a BarCommand to be scheduled when that same button is released
-        .OnFalse(BarCommand().ToPtr());
+  ```c++
+  exampleButton
+      // Binds a FooCommand to be scheduled when the button is pressed
+      .OnTrue(FooCommand().ToPtr())
+      // Binds a BarCommand to be scheduled when that same button is released
+      .OnFalse(BarCommand().ToPtr());
+  ```
 
-Composing Triggers
-------------------
+## Composing Triggers
 
 The ``Trigger`` class can be composed to create composite triggers through the ``and()``, ``or()``, and ``negate()`` methods (or, in C++, the ``&&``, ``||``, and ``!`` operators). For example:
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Binds an ExampleCommand to be scheduled when both the 'X' and 'Y' buttons of the driver gamepad are pressed
+  exampleCommandController.x()
+      .and(exampleCommandController.y())
+      .onTrue(new ExampleCommand());
+  ```
 
-    // Binds an ExampleCommand to be scheduled when both the 'X' and 'Y' buttons of the driver gamepad are pressed
-    exampleCommandController.x()
-        .and(exampleCommandController.y())
-        .onTrue(new ExampleCommand());
+  ```c++
+  // Binds an ExampleCommand to be scheduled when both the 'X' and 'Y' buttons of the driver gamepad are pressed
+  (exampleCommandController.X()
+      && exampleCommandController.Y())
+      .OnTrue(ExampleCommand().ToPtr());
+  ```
 
-  .. code-block:: c++
-
-    // Binds an ExampleCommand to be scheduled when both the 'X' and 'Y' buttons of the driver gamepad are pressed
-    (exampleCommandController.X()
-        && exampleCommandController.Y())
-        .OnTrue(ExampleCommand().ToPtr());
-
-Debouncing Triggers
--------------------
+## Debouncing Triggers
 
 To avoid rapid repeated activation, triggers (especially those originating from digital inputs) can be debounced with the :ref:`WPILib Debouncer class <docs/software/advanced-controls/filters/debouncer:Debouncer>` using the `debounce` method:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // debounces exampleButton with a 0.1s debounce time, rising edges only
-    exampleButton.debounce(0.1).onTrue(new ExampleCommand());
-
-    // debounces exampleButton with a 0.1s debounce time, both rising and falling edges
-    exampleButton.debounce(0.1, Debouncer.DebounceType.kBoth).onTrue(new ExampleCommand());
-
-  .. code-block:: c++
+  ```java
+  // debounces exampleButton with a 0.1s debounce time, rising edges only
+  exampleButton.debounce(0.1).onTrue(new ExampleCommand());
+  // debounces exampleButton with a 0.1s debounce time, both rising and falling edges
+  exampleButton.debounce(0.1, Debouncer.DebounceType.kBoth).onTrue(new ExampleCommand());
+  ```
 
-    // debounces exampleButton with a 100ms debounce time, rising edges only
-    exampleButton.Debounce(100_ms).OnTrue(ExampleCommand().ToPtr());
+  ```c++
+  // debounces exampleButton with a 100ms debounce time, rising edges only
+  exampleButton.Debounce(100_ms).OnTrue(ExampleCommand().ToPtr());
+  // debounces exampleButton with a 100ms debounce time, both rising and falling edges
+  exampleButton.Debounce(100_ms, Debouncer::DebounceType::Both).OnTrue(ExampleCommand().ToPtr());
+  ```
 
-    // debounces exampleButton with a 100ms debounce time, both rising and falling edges
-    exampleButton.Debounce(100_ms, Debouncer::DebounceType::Both).OnTrue(ExampleCommand().ToPtr());
diff --git a/source/docs/software/commandbased/command-compositions.rst b/source/docs/software/commandbased/command-compositions.rst
index af51271fd0..c222c62710 100644
--- a/source/docs/software/commandbased/command-compositions.rst
+++ b/source/docs/software/commandbased/command-compositions.rst
@@ -1,5 +1,4 @@
-Command Compositions
-====================
+# Command Compositions
 
 Individual commands are capable of accomplishing a large variety of robot tasks, but the simple three-state format can quickly become cumbersome when more advanced functionality requiring extended sequences of robot tasks or coordination of multiple robot subsystems is required. In order to accomplish this, users are encouraged to use the powerful command composition functionality included in the command-based library.
 
@@ -9,265 +8,329 @@ Most importantly, however, command compositions are themselves commands - they e
 
 .. tab-set-code::
 
-  .. code-block:: java
-
+   ```java
    // Will run fooCommand, and then a race between barCommand and bazCommand
    button.onTrue(fooCommand.andThen(barCommand.raceWith(bazCommand)));
+   ```
 
-  .. code-block:: c++
-
+   ```c++
    // Will run fooCommand, and then a race between barCommand and bazCommand
    button.OnTrue(std::move(fooCommand).AndThen(std::move(barCommand).RaceWith(std::move(bazCommand))));
+   ```
+
+   ```python
+   # Will run fooCommand, and then a race between barCommand and bazCommand
+   button.onTrue(fooCommand.andThen(barCommand.raceWith(bazCommand)))
+   ```
 
 As a rule, command compositions require all subsystems their components require, may run when disabled if all their component set ``runsWhenDisabled`` as ``true``, and are ``kCancelIncoming`` if all their components are ``kCancelIncoming`` as well.
 
-Command instances that have been passed to a command composition cannot be independently scheduled or passed to a second command composition. Attempting to do so will throw an exception and crash the user program. This is because composition members are run through their encapsulating command composition, and errors could occur if those same command instances were independently scheduled at the same time as the group - the command would be being run from multiple places at once, and thus could end up with inconsistent internal state, causing unexpected and hard-to-diagnose behavior. The C++ command-based library uses ``CommandPtr``, a class with move-only semantics, so this type of mistake is easier to avoid.
+Command instances that have been passed to a command composition cannot be independently scheduled or passed to a second command composition. Attempting to do so will throw an exception and crash the user program. This is because composition members are run through their encapsulating command composition, and errors could occur if those same command instances were independently scheduled at the same time as the composition - the command would be being run from multiple places at once, and thus could end up with inconsistent internal state, causing unexpected and hard-to-diagnose behavior. The C++ command-based library uses ``CommandPtr``, a class with move-only semantics, so this type of mistake is easier to avoid.
 
-Composition Types
------------------
+## Composition Types
 
 The command-based library includes various composition types. All of them can be constructed using factories that accept the member commands, and some can also be constructed using decorators: methods that can be called on a command object, which is transformed into a new object that is returned.
 
 .. important:: After calling a decorator or being passed to a composition, the command object cannot be reused! Use only the command object returned from the decorator.
 
-Repeating
-^^^^^^^^^
+### Repeating
 
-The ``repeatedly()`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#repeatedly()>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#acc156a5299699110729918c3aa2b2694>`__), backed by the ``RepeatCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/RepeatCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_repeat_command.html>`__) restarts the command each time it ends, so that it runs until interrupted.
+The ``repeatedly()`` decorator ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#repeatedly()), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#acc156a5299699110729918c3aa2b2694), :external:py:meth:[Python](commands2.Command.repeatedly>`), backed by the ``RepeatCommand`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/RepeatCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_repeat_command.html), :external:py:class:`Python <commands2.RepeatCommand>`) restarts the command each time it ends, so that it runs until interrupted.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Will run forever unless externally interrupted, restarting every time command.isFinished() returns true
-    Command repeats = command.repeatedly();
+   ```java
+   // Will run forever unless externally interrupted, restarting every time command.isFinished() returns true
+   Command repeats = command.repeatedly();
+   ```
 
-  .. code-block:: c++
+   ```c++
+   // Will run forever unless externally interrupted, restarting every time command.IsFinished() returns true
+   frc2::CommandPtr repeats = std::move(command).Repeatedly();
+   ```
 
-    // Will run forever unless externally interrupted, restarting every time command.IsFinished() returns true
-    frc2::CommandPtr repeats = std::move(command).Repeatedly();
+   ```python
+   # Will run forever unless externally interrupted, restarting every time command.IsFinished() returns true
+   repeats = commands2.cmd.repeatedly()
+   ```
 
-Sequence
-^^^^^^^^
+### Sequence
 
-The ``Sequence`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#sequence(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#a2818c000b0b989bc66032847ecb3fed2>`__), backed by the ``SequentialCommandGroup`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_sequential_command_group.html>`__), runs a list of commands in sequence: the first command will be executed, then the second, then the third, and so on until the list finishes. The sequential group finishes after the last command in the sequence finishes. It is therefore usually important to ensure that each command in the sequence does actually finish (if a given command does not finish, the next command will never start!).
+The ``Sequence`` factory ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Commands.html#sequence(edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/namespacefrc2_1_1cmd.html#ac588bdc52a86a4683b89c28dcadea458), :external:py:func:[Python](commands2.cmd.sequence>`), backed by the ``SequentialCommandGroup`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_sequential_command_group.html), :external:py:class:`Python <commands2.SequentialCommandGroup>`), runs a list of commands in sequence: the first command will be executed, then the second, then the third, and so on until the list finishes. The sequential group finishes after the last command in the sequence finishes. It is therefore usually important to ensure that each command in the sequence does actually finish (if a given command does not finish, the next command will never start!).
 
-The ``andThen()`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#andThen(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#a4ea952f52baf9fb157bb42801be602c0>`__) and ``beforeStarting()`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#beforeStarting(edu.wpi.first.wpilibj2.command.Command)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#a61e9a735d7b48dafd4b7499af8ff0c23>`__) decorators can be used to construct a sequence composition with infix syntax.
+The ``andThen()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#andThen(edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a4ea952f52baf9fb157bb42801be602c0), :external:py:meth:[Python](commands2.Command.andThen>`) and ``beforeStarting()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#beforeStarting(edu.wpi.first.wpilibj2.command.Command)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a61e9a735d7b48dafd4b7499af8ff0c23), :external:py:meth:`Python <commands2.Command.beforeStarting>`) decorators can be used to construct a sequence composition with infix syntax.
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   fooCommand.andThen(barCommand)
+   ```
 
-    fooCommand.andThen(barCommand)
+   ```c++
+   std::move(fooCommand).AndThen(std::move(barCommand))
+   ```
 
-   .. code-block:: c++
+   ```python
+   fooCommand.andThen(barCommand)
+   ```
 
-    std::move(fooCommand).AndThen(std::move(barCommand))
+### Repeating Sequence
 
-Repeating Sequence
-^^^^^^^^^^^^^^^^^^
+As it's a fairly common combination, the ``RepeatingSequence`` factory ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Commands.html#repeatingSequence(edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/namespacefrc2_1_1cmd.html#ac6b82e1b867c16264aa4e4bd79724d8c), :external:py:func:`Python <commands2.cmd.repeatingSequence>`) creates a `Repeating`_ `Sequence`_ that runs until interrupted, restarting from the first command each time the last command finishes.
 
-As it's a fairly common combination, the ``RepeatingSequence`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#repeatingSequence(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#ae363301748047f753dcbe3eca0a10ced>`__) creates a `Repeating`_ `Sequence`_ that runs until interrupted, restarting from the first command each time the last command finishes.
-
-Parallel
-^^^^^^^^
+### Parallel
 
 There are three types of parallel compositions, differing based on when the composition finishes:
 
-- The ``Parallel`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#parallel(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#a0ea0faa5d66fbe942917844936687172>`__), backed by the ``ParallelCommandGroup`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_parallel_command_group.html>`__), constructs a parallel composition that finishes when all members finish. The ``alongWith`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#alongWith(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#a6b9700cd25277a3ac558d63301985f40>`__) does the same in infix notation.
-- The ``Race`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#race(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#a3455ac77f921f355edae8baeb911ef40>`__), backed by the ``ParallelRaceGroup`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_parallel_race_group.html>`__), constructs a parallel composition that finishes as soon as any member finishes; all other members are interrupted at that point.  The ``raceWith`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#raceWith(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#a4d6c1761cef10bb79a727e43e89643d0>`__) does the same in infix notation.
-- The ``Deadline`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#deadline(edu.wpi.first.wpilibj2.command.Command,edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#aad22f6f92f4dbbe7b5736e0e39e00184>`__), ``ParallelDeadlineGroup`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_parallel_deadline_group.html>`__) finishes when a specific command (the "deadline") ends; all other members still running at that point are interrupted.  The ``deadlineWith`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#afafe81bf1624eb0ef78b30232087b4bf>`__) does the same in infix notation; the comand the decorator was called on is the deadline.
+- The ``Parallel`` factory ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Commands.html#parallel(edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/namespacefrc2_1_1cmd.html#ac98ed0faaf370bde01be52bd631dc4e8), :external:py:func:[Python](commands2.cmd.parallel>`), backed by the ``ParallelCommandGroup`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_parallel_command_group.html), :external:py:class:[Python](commands2.ParallelCommandGroup>`), constructs a parallel composition that finishes when all members finish. The ``alongWith`` decorator ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#alongWith(edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a6b9700cd25277a3ac558d63301985f40), :external:py:meth:`Python <commands2.Command.alongWith>`) does the same in infix notation.
+- The ``Race`` factory ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Commands.html#race(edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/namespacefrc2_1_1cmd.html#a5253e241cf1e19eddfb79e2311068ac5), :external:py:func:[Python](commands2.cmd.race>`), backed by the ``ParallelRaceGroup`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_parallel_race_group.html), :external:py:class:[Python](commands2.ParallelRaceGroup>`), constructs a parallel composition that finishes as soon as any member finishes; all other members are interrupted at that point.  The ``raceWith`` decorator ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#raceWith(edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a4d6c1761cef10bb79a727e43e89643d0), :external:py:meth:`Python <commands2.Command.raceWith>`) does the same in infix notation.
+- The ``Deadline`` factory ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Commands.html#deadline(edu.wpi.first.wpilibj2.command.Command,edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/namespacefrc2_1_1cmd.html#a91073d40910a70f1e2d02c7ce320196a), :external:py:func:[Python](commands2.cmd.deadline>`), ``ParallelDeadlineGroup`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_parallel_deadline_group.html), :external:py:class:[Python](commands2.ParallelDeadlineGroup>`) finishes when a specific command (the "deadline") ends; all other members still running at that point are interrupted.  The ``deadlineWith`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#afafe81bf1624eb0ef78b30232087b4bf), :external:py:meth:`Python <commands2.Command.deadlineWith>`) does the same in infix notation; the command the decorator was called on is the deadline.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-   // Will be a parallel command group that ends after three seconds with all three commands running their full duration.
+   ```java
+   // Will be a parallel command composition that ends after three seconds with all three commands running their full duration.
    button.onTrue(Commands.parallel(twoSecCommand, oneSecCommand, threeSecCommand));
-
-   // Will be a parallel race group that ends after one second with the two and three second commands getting interrupted.
+   // Will be a parallel race composition that ends after one second with the two and three second commands getting interrupted.
    button.onTrue(Commands.race(twoSecCommand, oneSecCommand, threeSecCommand));
-
-   // Will be a parallel deadline group that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
+   // Will be a parallel deadline composition that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
    button.onTrue(Commands.deadline(twoSecCommand, oneSecCommand, threeSecCommand));
+   ```
 
-  .. code-block:: c++
-
-   // Will be a parallel command group that ends after three seconds with all three commands running their full duration.
+   ```c++
+   // Will be a parallel command composition that ends after three seconds with all three commands running their full duration.
    button.OnTrue(frc2::cmd::Parallel(std::move(twoSecCommand), std::move(oneSecCommand), std::move(threeSecCommand)));
-
-   // Will be a parallel race group that ends after one second with the two and three second commands getting interrupted.
+   // Will be a parallel race composition that ends after one second with the two and three second commands getting interrupted.
    button.OnTrue(frc2::cmd::Race(std::move(twoSecCommand), std::move(oneSecCommand), std::move(threeSecCommand)));
-
-   // Will be a parallel deadline group that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
+   // Will be a parallel deadline composition that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
    button.OnTrue(frc2::cmd::Deadline(std::move(twoSecCommand), std::move(oneSecCommand), std::move(threeSecCommand)));
+   ```
 
-Adding Command End Conditions
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+   ```python
+   # Will be a parallel command composition that ends after three seconds with all three commands running their full duration.
+   button.onTrue(commands2.cmd.parallel(twoSecCommand, oneSecCommand, threeSecCommand))
+   # Will be a parallel race composition that ends after one second with the two and three second commands getting interrupted.
+   button.onTrue(commands2.cmd.race(twoSecCommand, oneSecCommand, threeSecCommand))
+   # Will be a parallel deadline composition that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
+   button.onTrue(commands2.cmd.deadline(twoSecCommand, oneSecCommand, threeSecCommand))
+   ```
 
-The ``until()`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#until(java.util.function.BooleanSupplier)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#a4ffddf195a71e71d80e62df95fffdfcf>`__) decorator composes the command with an additional end condition. Note that the command the decorator was called on will see this end condition as an interruption.
+### Adding Command End Conditions
 
-.. tab-set-code::
+The ``until()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#until(java.util.function.BooleanSupplier)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a4ffddf195a71e71d80e62df95fffdfcf), :external:py:meth:`Python <commands2.Command.until>`) decorator composes the command with an additional end condition. Note that the command the decorator was called on will see this end condition as an interruption.
 
-  .. code-block:: java
+.. tab-set-code::
 
-    // Will be interrupted if m_limitSwitch.get() returns true
-    button.onTrue(command.until(m_limitSwitch::get));
+   ```java
+   // Will be interrupted if m_limitSwitch.get() returns true
+   button.onTrue(command.until(m_limitSwitch::get));
+   ```
 
-  .. code-block:: c++
+   ```c++
+   // Will be interrupted if m_limitSwitch.get() returns true
+   button.OnTrue(command.Until([&m_limitSwitch] { return m_limitSwitch.Get(); }));
+   ```
 
-    // Will be interrupted if m_limitSwitch.get() returns true
-    button.OnTrue(command.Until([&m_limitSwitch] { return m_limitSwitch.Get(); }));
+   ```python
+   # Will be interrupted if limitSwitch.get() returns true
+   button.onTrue(commands2.cmd.until(limitSwitch.get))
+   ```
 
-The ``withTimeout()`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#withTimeout(double)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#ac6b2e1e4f55ed905ec7d189b9288e3d0>`__) is a specialization of ``until`` that uses a timeout as the additional end condition.
+The ``withTimeout()`` decorator ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#withTimeout(double)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#ac6b2e1e4f55ed905ec7d189b9288e3d0), :external:py:meth:`Python <commands2.Command.withTimeout>`) is a specialization of ``until`` that uses a timeout as the additional end condition.
 
 .. tab-set-code::
 
-  .. code-block:: java
+   ```java
+   // Will time out 5 seconds after being scheduled, and be interrupted
+   button.onTrue(command.withTimeout(5));
+   ```
 
-    // Will time out 5 seconds after being scheduled, and be interrupted
-    button.onTrue(command.withTimeout(5));
+   ```c++
+   // Will time out 5 seconds after being scheduled, and be interrupted
+   button.OnTrue(command.WithTimeout(5.0_s));
+   ```
 
-  .. code-block:: c++
+   ```python
+   # Will time out 5 seconds after being scheduled, and be interrupted
+   button.onTrue(commands2.cmd.withTimeout(5.0))
+   ```
 
-    // Will time out 5 seconds after being scheduled, and be interrupted
-    button.OnTrue(command.WithTimeout(5.0_s));
+### Adding End Behavior
 
-Adding End Behavior
-^^^^^^^^^^^^^^^^^^^
+The ``finallyDo()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#finallyDo(edu.wpi.first.util.function.BooleanConsumer)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#abd0ae6c855d7cf1f1a33cda5575a7b8f), :external:py:meth:`Python <commands2.Command.finallyDo>`) decorator composes the command with an a lambda that will be called after the command's ``end()`` method, with the same boolean parameter indicating whether the command finished or was interrupted.
 
-The ``finallyDo()`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#finallyDo(edu.wpi.first.util.function.BooleanConsumer)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#abd0ae6c855d7cf1f1a33cda5575a7b8f>`__) decorator composes the command with an a lambda that will be called after the command's ``end()`` method, with the same boolean parameter indicating whether the command finished or was interrupted.
+The ``handleInterrupt()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#handleInterrupt(java.lang.Runnable)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a2a5580e71dfe356d2b261efe213f7c67), :external:py:meth:`Python <commands2.Command.handleInterrupt>`) decorator composes the command with an a lambda that will be called only when the command is interrupted.
 
-The ``handleInterrupt()`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#handleInterrupt(java.lang.Runnable)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#a2a5580e71dfe356d2b261efe213f7c67>`__) decorator composes the command with an a lambda that will be called only when the command is interrupted.
-
-Selecting Compositions
-^^^^^^^^^^^^^^^^^^^^^^
+### Selecting Compositions
 
 Sometimes it's desired to run a command out of a few options based on sensor feedback or other data known only at runtime. This can be useful for determining an auto routine, or running a different command based on whether a game piece is present or not, and so on.
 
-The ``Select`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#select(java.util.Map,java.util.function.Supplier)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#a56f9a9c571bd9da0a0b4612706d8db1c>`__), backed by the ``SelectCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/SelectCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_select_command.html>`__), executes one command from a map, based on a selector function called when scheduled.
+The ``Select`` factory ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Commands.html#select(java.util.Map,java.util.function.Supplier)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/namespacefrc2_1_1cmd.html#ae9a028777063223108f78c7a0c4e8746), :external:py:func:[Python](commands2.cmd.select>`), backed by the ``SelectCommand`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/SelectCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_select_command.html), :external:py:class:`Python <commands2.SelectCommand>`), executes one command from a map, based on a selector function called when scheduled.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
-
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
-       :language: java
-       :lines: 20-45
-       :linenos:
-       :lineno-start: 20
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
+         :language: java
+         :lines: 20-45
+         :linenos:
+         :lineno-start: 20
 
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
+         :language: c++
+         :lines: 26-43
+         :linenos:
+         :lineno-start: 26
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
-       :language: c++
-       :lines: 24-43
-       :linenos:
-       :lineno-start: 24
-
-The ``Either`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#either(edu.wpi.first.wpilibj2.command.Command,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#a389d1d0055c3be03a852bfc88aaa2ee5>`__), backed by the ``ConditionalCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_conditional_command.html>`__), is a specialization accepting two commands and a boolean selector function.
+The ``Either`` factory ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Commands.html#either(edu.wpi.first.wpilibj2.command.Command,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/namespacefrc2_1_1cmd.html#a389d1d0055c3be03a852bfc88aaa2ee5), :external:py:func:[Python](commands2.cmd.either>`), backed by the ``ConditionalCommand`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_conditional_command.html), :external:py:class:`Python <commands2.ConditionalCommand>`), is a specialization accepting two commands and a boolean selector function.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Runs either commandOnTrue or commandOnFalse depending on the value of m_limitSwitch.get()
-    new ConditionalCommand(commandOnTrue, commandOnFalse, m_limitSwitch::get)
+   ```java
+   // Runs either commandOnTrue or commandOnFalse depending on the value of m_limitSwitch.get()
+   new ConditionalCommand(commandOnTrue, commandOnFalse, m_limitSwitch::get)
+   ```
 
-  .. code-block:: c++
+   ```c++
+   // Runs either commandOnTrue or commandOnFalse depending on the value of m_limitSwitch.get()
+   frc2::ConditionalCommand(commandOnTrue, commandOnFalse, [&m_limitSwitch] { return m_limitSwitch.Get(); })
+   ```
 
-    // Runs either commandOnTrue or commandOnFalse depending on the value of m_limitSwitch.get()
-    frc2::ConditionalCommand(commandOnTrue, commandOnFalse, [&m_limitSwitch] { return m_limitSwitch.Get(); })
+   ```python
+   # Runs either commandOnTrue or commandOnFalse depending on the value of limitSwitch.get()
+   ConditionalCommand(commandOnTrue, commandOnFalse, limitSwitch.get)
+   ```
 
-The ``unless()`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#unless(java.util.function.BooleanSupplier)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#a2be7f65d40f68581104ab1f6a1ba5e93>`__) composes a command with a condition that will prevent it from running.
+The ``unless()`` decorator ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#unless(java.util.function.BooleanSupplier)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a2be7f65d40f68581104ab1f6a1ba5e93), :external:py:meth:`Python <commands2.Command.unless>`) composes a command with a condition that will prevent it from running.
 
 .. tab-set-code::
 
-  .. code-block:: java
+   ```java
+   // Command will only run if the intake is deployed. If the intake gets deployed while the command is running, the command will not stop running
+   button.onTrue(command.unless(() -> !intake.isDeployed()));
+   ```
 
-    // Command will only run if the intake is deployed. If the intake gets deployed while the command is running, the command will not stop running
-    button.onTrue(command.unless(() -> !intake.isDeployed()));
+   ```c++
+   // Command will only run if the intake is deployed. If the intake gets deployed while the command is running, the command will not stop running
+   button.OnTrue(command.Unless([&intake] { return !intake.IsDeployed(); }));
+   ```
 
-  .. code-block:: c++
+   ```python
+   # Command will only run if the intake is deployed. If the intake gets deployed while the command is running, the command will not stop running
+   button.onTrue(command.unless(lambda: not intake.isDeployed()))
+   ```
 
-    // Command will only run if the intake is deployed. If the intake gets deployed while the command is running, the command will not stop running
-    button.OnTrue(command.Unless([&intake] { return !intake.IsDeployed(); }));
+``ProxyCommand`` described below also has a constructor overload ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/ProxyCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_proxy_command.html), :external:py:class:`Python <commands2.ProxyCommand>`) that calls a command-returning lambda at schedule-time and runs the returned command by proxy.
 
-``ProxyCommand`` described below also has a constructor overload (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ProxyCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_proxy_command.html>`__) that calls a command-returning lambda at schedule-time and runs the returned command by proxy.
+### Scheduling Other Commands
 
-Scheduling Other Commands
-^^^^^^^^^^^^^^^^^^^^^^^^^
+By default, composition members are run through the command composition, and are never themselves seen by the scheduler. Accordingly, their requirements are added to the composition's requirements. While this is usually fine, sometimes it is undesirable for the entire command composition to gain the requirements of a single command. A good solution is to "fork off" from the command composition and schedule that command separately. However, this requires synchronization between the composition and the individually-scheduled command.
 
-By default, composition members are run through the command composition, and are never themselves seen by the scheduler. Accordingly, their requirements are added to the group's requirements. While this is usually fine, sometimes it is undesirable for the entire command group to gain the requirements of a single command. A good solution is to "fork off" from the command group and schedule that command separately. However, this requires synchronization between the composition and the individually-scheduled command.
+``ProxyCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/ProxyCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_proxy_command.html), :external:py:class:[Python](commands2.ProxyCommand>`), also creatable using the ``.asProxy()`` decorator ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#asProxy()), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#aa45784053431393e3277e5bc5ae7f751), :external:py:meth:`Python <commands2.Command.asProxy>`), schedules a command "by proxy": the command is scheduled when the proxy is scheduled, and the proxy finishes when the command finishes. In the case of "forking off" from a command composition, this allows the composition to track the command's progress without it being in the composition.
 
-``ProxyCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ProxyCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_proxy_command.html>`__), also creatable using the ``.asProxy()`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#asProxy()>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_ptr.html#aa45784053431393e3277e5bc5ae7f751>`__), schedules a command "by proxy": the command is scheduled when the proxy is scheduled, and the proxy finishes when the command finishes. In the case of "forking off" from a command composition, this allows the group to track the command's progress without it being in the composition.
 
-.. tab-set-code::
-
-  .. code-block:: java
+Command compositions inherit the union of their compoments' requirements and requirements are immutable. Therefore, a ``SequentialCommandGroup`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_sequential_command_group.html), :external:py:class:`Python <commands2.SequentialCommandGroup>`) that intakes a game piece, indexes it, aims a shooter, and shoots it would reserve all three subsystems (the intake, indexer, and shooter), precluding any of those subsystems from performing other operations in their "downtime". If this is not desired, the subsystems that should only be reserved for the composition while they are actively being used by it should have their commands proxied.
 
-    // The sequence continues only after the proxied command ends
-    Commands.waitSeconds(5.0).asProxy()
-        .andThen(Commands.print("This will only be printed after the 5-second delay elapses!"))
+.. warning:: Do not use ``ProxyCommand`` unless you are sure of what you are doing and there is no other way to accomplish your need! Proxying is only intended for use as an escape hatch from command composition requirement unions.
 
-  .. code-block:: c++
+.. note:: Because proxied commands still require their subsystem, despite not leaking that requirement to the composition, all of the commands that require a given subsystem must be proxied if one of them is. Otherwise, when the proxied command is scheduled its requirement will conflict with that of the composition, canceling the composition.
 
-    // The sequence continues only after the proxied command ends
-    frc2::cmd::Wait(5.0_s).AsProxy()
-        .AndThen(frc2::cmd::Print("This will only be printed after the 5-second delay elapses!"))
+.. tab-set-code::
 
-For cases that don't need to track the proxied command, ``ScheduleCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_schedule_command.html>`__) schedules a specified command and ends instantly.
+   ```java
+   // composition requirements are indexer and shooter, intake still reserved during its command but not afterwards
+   Commands.sequence(
+      intake.intakeGamePiece().asProxy(), // we want to let the intake intake another game piece while we are processing this one
+      indexer.processGamePiece(),
+      shooter.aimAndShoot()
+   );
+   ```
+
+   ```c++
+   // composition requirements are indexer and shooter, intake still reserved during its command but not afterwards
+   frc2::cmd::Sequence(
+      intake.IntakeGamePiece().AsProxy(), // we want to let the intake intake another game piece while we are processing this one
+      indexer.ProcessGamePiece(),
+      shooter.AimAndShoot()
+   );
+   ```
+
+   ```python
+   # composition requirements are indexer and shooter, intake still reserved during its command but not afterwards
+   commands2.cmd.sequence(
+      intake.intakeGamePiece().asProxy(), # we want to let the intake intake another game piece while we are processing this one
+      indexer.processGamePiece(),
+      shooter.aimAndShoot()
+   )
+   ```
+
+For cases that don't need to track the proxied command, ``ScheduleCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_schedule_command.html), :external:py:class:`Python <commands2.ScheduleCommand>`) schedules a specified command and ends instantly.
 
 .. tab-set-code::
 
-  .. code-block:: java
+   ```java
+   // ScheduleCommand ends immediately, so the sequence continues
+   new ScheduleCommand(Commands.waitSeconds(5.0))
+      .andThen(Commands.print("This will be printed immediately!"))
+   ```
 
-    // ScheduleCommand ends immediately, so the sequence continues
-    new ScheduleCommand(Commands.waitSeconds(5.0))
-        .andThen(Commands.print("This will be printed immediately!"))
+   ```c++
+   // ScheduleCommand ends immediately, so the sequence continues
+   frc2::ScheduleCommand(frc2::cmd::Wait(5.0_s))
+      .AndThen(frc2::cmd::Print("This will be printed immediately!"))
+   ```
 
-  .. code-block:: c++
+   ```python
+   # ScheduleCommand ends immediately, so the sequence continues
+   ScheduleCommand(commands2.cmd.waitSeconds(5.0))
+      .andThen(commands2.cmd.print("This will be printed immediately!"))
+   ```
 
-    // ScheduleCommand ends immediately, so the sequence continues
-    frc2::ScheduleCommand(frc2::cmd::Wait(5.0_s))
-        .AndThen(frc2::cmd::Print("This will be printed immediately!"))
+## Subclassing Compositions
 
-Subclassing Compositions
-------------------------
-
-Command compositions can also be written as a constructor-only subclass of the most exterior composition type, passing the composition members to the superclass constructor. Consider the following from the Hatch Bot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__):
+Command compositions can also be written as a constructor-only subclass of the most exterior composition type, passing the composition members to the superclass constructor. Consider the following from the Hatch Bot example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional)):
 
 .. tab-set::
 
-  .. tab-item:: Java
-    :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Header)
-    :sync: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
-
-     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
-       :language: c++
-       :lines: 5-
-       :linenos:
-       :lineno-start: 5
+   .. tab-item:: Java
+      :sync: Java
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
+         :language: java
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
+
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.h
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
+
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
+
+   .. tab-item:: Python
+      :sync: Python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotTraditional/commands/complexauto.py
+         :language: python
+         :lines: 7-
+         :linenos:
+         :lineno-start: 5
 
 The advantages and disadvantages of this subclassing approach in comparison to others are discussed in :ref:`docs/software/commandbased/organizing-command-based:Subclassing Command Groups`.
diff --git a/source/docs/software/commandbased/command-scheduler.rst b/source/docs/software/commandbased/command-scheduler.rst
index ef3114a58e..fadf53458d 100644
--- a/source/docs/software/commandbased/command-scheduler.rst
+++ b/source/docs/software/commandbased/command-scheduler.rst
@@ -1,12 +1,10 @@
-The Command Scheduler
-=====================
+# The Command Scheduler
 
-The ``CommandScheduler`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_scheduler.html>`__) is the class responsible for actually running commands.  Each iteration (ordinarily once per 20ms), the scheduler polls all registered buttons, schedules commands for execution accordingly, runs the command bodies of all scheduled commands, and ends those commands that have finished or are interrupted.
+The ``CommandScheduler`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_scheduler.html)) is the class responsible for actually running commands.  Each iteration (ordinarily once per 20ms), the scheduler polls all registered buttons, schedules commands for execution accordingly, runs the command bodies of all scheduled commands, and ends those commands that have finished or are interrupted.
 
 The ``CommandScheduler`` also runs the ``periodic()`` method of each registered ``Subsystem``.
 
-Using the Command Scheduler
----------------------------
+## Using the Command Scheduler
 
 The ``CommandScheduler`` is a *singleton*, meaning that it is a globally-accessible class with only one instance.  Accordingly, in order to access the scheduler, users must call the ``CommandScheduler.getInstance()`` command.
 
@@ -14,81 +12,77 @@ For the most part, users do not have to call scheduler methods directly - almost
 
 However, there is one exception: users *must* call ``CommandScheduler.getInstance().run()`` from the ``robotPeriodic()`` method of their ``Robot`` class.  If this is not done, the scheduler will never run, and the command framework will not work.  The provided command-based project template has this call already included.
 
-The ``schedule()`` Method
--------------------------
+## The ``schedule()`` Method
 
-To schedule a command, users call the ``schedule()`` method (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#schedule(boolean,edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_scheduler.html#a26c120054ec626806d740f2c42d9dc4f>`__).  This method takes a command, and attempts to add it to list of currently-running commands, pending whether it is already running or whether its requirements are available.  If it is added, its ``initialize()`` method is called.
+To schedule a command, users call the ``schedule()`` method ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#schedule(edu.wpi.first.wpilibj2.command.Command...)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_scheduler.html#a9f3f7bb5c1a3cf57592fe5cfadb6a57d)).  This method takes a command, and attempts to add it to list of currently-running commands, pending whether it is already running or whether its requirements are available.  If it is added, its ``initialize()`` method is called.
 
 This method walks through the following steps:
 
 #. Verifies that the command isn't in a composition.
-#. No-op if scheduler is disabled, command is already scheduled, or robot is disabled and command doesn't <commands:runsWhenDisabled>.
+#. :term:`No-op` if scheduler is disabled, command is already scheduled, or robot is disabled and command doesn't :ref:`docs/software/commandbased/commands:runsWhenDisabled`.
 #. If requirements are in use:
+
    * If all conflicting commands are interruptible, cancel them.
    * If not, don't schedule the new command.
 #. Call ``initialize()``.
 
 .. tab-set::
 
-  .. tab-item:: Java
-    :sync: tabcode-java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
-      :language: java
-      :lines: 202-245
-      :linenos:
-      :lineno-start: 202
+   .. tab-item:: Java
+      :sync: tabcode-java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
-      :language: java
-      :lines: 181-191
-      :linenos:
-      :lineno-start: 181
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+         :language: java
+         :lines: 202-245
+         :linenos:
+         :lineno-start: 202
 
-  .. tab-item:: C++ (Source)
-     :sync: tabcode-cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+         :language: java
+         :lines: 181-191
+         :linenos:
+         :lineno-start: 181
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
-      :language: c++
-      :lines: 114-159
-      :linenos:
-      :lineno-start: 114
+   .. tab-item:: C++ (Source)
+      :sync: tabcode-c++
 
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+         :language: c++
+         :lines: 114-159
+         :linenos:
+         :lineno-start: 114
 
-The Scheduler Run Sequence
---------------------------
+## The Scheduler Run Sequence
 
 .. note:: The ``initialize()`` method of each ``Command`` is called when the command is scheduled, which is not necessarily when the scheduler runs (unless that command is bound to a button).
 
-What does a single iteration of the scheduler's ``run()`` method (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#run()>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_scheduler.html#aa5000fa52e320da7ba72c196f34aa0f5>`__) actually do?  The following section walks through the logic of a scheduler iteration. For the full implementation, see the source code (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java#L275-L356>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp#L177-L253>`__).
+What does a single iteration of the scheduler's ``run()`` method ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#run()), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_scheduler.html#aa5000fa52e320da7ba72c196f34aa0f5)) actually do?  The following section walks through the logic of a scheduler iteration. For the full implementation, see the source code ([Java](https://github.com/wpilibsuite/allwpilib/blob/v2024.3.2/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java#L252-L331), [C++](https://github.com/wpilibsuite/allwpilib/blob/v2024.3.2/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp#L173-L253)).
 
-Step 1: Run Subsystem Periodic Methods
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Step 1: Run Subsystem Periodic Methods
 
 First, the scheduler runs the ``periodic()`` method of each registered ``Subsystem``. In simulation, each subsystem's ``simulationPeriodic()`` method is called as well.
 
 .. tab-set::
 
-  .. tab-item:: Java
-    :sync: tabcode-java
+   .. tab-item:: Java
+      :sync: tabcode-java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
-      :language: java
-      :lines: 278-285
-      :linenos:
-      :lineno-start: 278
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+         :language: java
+         :lines: 278-285
+         :linenos:
+         :lineno-start: 278
 
-  .. tab-item:: C++ (Source)
-      :sync: tabcode-cpp
+   .. tab-item:: C++ (Source)
+      :sync: tabcode-c++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
-      :language: c++
-      :lines: 183-190
-      :linenos:
-      :lineno-start: 183
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+         :language: c++
+         :lines: 183-190
+         :linenos:
+         :lineno-start: 183
 
-Step 2: Poll Command Scheduling Triggers
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Step 2: Poll Command Scheduling Triggers
 
 .. note:: For more information on how trigger bindings work, see :doc:`binding-commands-to-triggers`
 
@@ -96,26 +90,25 @@ Secondly, the scheduler polls the state of all registered triggers to see if any
 
 .. tab-set::
 
-  .. tab-item:: Java
-    :sync: tabcode-java
+   .. tab-item:: Java
+      :sync: tabcode-java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
-      :language: java
-      :lines: 290-292
-      :linenos:
-      :lineno-start: 290
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+         :language: java
+         :lines: 290-292
+         :linenos:
+         :lineno-start: 290
 
-  .. tab-item:: C++ (Source)
-      :sync: tabcode-cpp
+   .. tab-item:: C++ (Source)
+      :sync: tabcode-c++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
-      :language: c++
-      :lines: 195-197
-      :linenos:
-      :lineno-start: 195
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+         :language: c++
+         :lines: 195-197
+         :linenos:
+         :lineno-start: 195
 
-Step 3: Run/Finish Scheduled Commands
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Step 3: Run/Finish Scheduled Commands
 
 Thirdly, the scheduler calls the ``execute()`` method of each currently-scheduled command, and then checks whether the command has finished by calling the ``isFinished()`` method.  If the command has finished, the ``end()`` method is also called, and the command is de-scheduled and its required subsystems are freed.
 
@@ -123,89 +116,86 @@ Note that this sequence of calls is done in order for each command - thus, one c
 
 .. tab-set::
 
-  .. tab-item:: Java
-    :sync: tabcode-java
+   .. tab-item:: Java
+      :sync: tabcode-java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
-      :language: java
-      :lines: 295-325
-      :linenos:
-      :lineno-start: 295
-      :emphasize-lines: 16,21-22
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+         :language: java
+         :lines: 295-325
+         :linenos:
+         :lineno-start: 295
+         :emphasize-lines: 16,21-22
 
-  .. tab-item:: C++ (Source)
-      :sync: tabcode-cpp
+   .. tab-item:: C++ (Source)
+      :sync: tabcode-c++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
-      :language: c++
-      :lines: 201-226
-      :linenos:
-      :lineno-start: 201
-      :emphasize-lines: 7,13-14
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+         :language: c++
+         :lines: 201-226
+         :linenos:
+         :lineno-start: 201
+         :emphasize-lines: 7,13-14
 
-Step 4: Schedule Default Commands
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Step 4: Schedule Default Commands
 
 Finally, any registered ``Subsystem`` has its default command scheduled (if it has one).  Note that the ``initialize()`` method of the default command will be called at this time.
 
 .. tab-set::
 
-  .. tab-item:: Java
-    :sync: tabcode-java
+   .. tab-item:: Java
+      :sync: tabcode-java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
-      :language: java
-      :lines: 340-346
-      :linenos:
-      :lineno-start: 340
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+         :language: java
+         :lines: 340-346
+         :linenos:
+         :lineno-start: 340
 
-  .. tab-item:: C++ (Source)
-    :sync: tabcode-cpp
+   .. tab-item:: C++ (Source)
+      :sync: tabcode-c++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
-      :language: c++
-      :lines: 240-246
-      :linenos:
-      :lineno-start: 240
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+         :language: c++
+         :lines: 240-246
+         :linenos:
+         :lineno-start: 240
 
-Disabling the Scheduler
------------------------
+## Disabling the Scheduler
 
 The scheduler can be disabled by calling ``CommandScheduler.getInstance().disable()``.  When disabled, the scheduler's ``schedule()`` and ``run()`` commands will not do anything.
 
 The scheduler may be re-enabled by calling ``CommandScheduler.getInstance().enable()``.
 
-Command Event Methods
----------------------
+## Command Event Methods
 
 Occasionally, it is desirable to have the scheduler execute a custom action whenever a certain command event (initialization, execution, or ending) occurs.  This can be done with the following methods:
 
-- ``onCommandInitialize`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#onCommandInitialize(java.util.function.Consumer)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_scheduler.html#a5f983f0e45b0500c96eebe52780324d4>`__) runs a specified action whenever a command is initialized.
+- ``onCommandInitialize`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#onCommandInitialize(java.util.function.Consumer)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_scheduler.html#a5f983f0e45b0500c96eebe52780324d4)) runs a specified action whenever a command is initialized.
 
-- ``onCommandExecute`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#onCommandExecute(java.util.function.Consumer)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_scheduler.html#a58c538f4b8dd95e266e4a99167aa7f99>`__) runs a specified action whenever a command is executed.
+- ``onCommandExecute`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#onCommandExecute(java.util.function.Consumer)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_scheduler.html#a58c538f4b8dd95e266e4a99167aa7f99)) runs a specified action whenever a command is executed.
 
-- ``onCommandFinish`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#onCommandFinish(java.util.function.Consumer)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_scheduler.html#a068e61446afe2341cc0651f0dfd2a55f>`__) runs a specified action whenever a command finishes normally (i.e. the ``isFinished()`` method returned true).
+- ``onCommandFinish`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#onCommandFinish(java.util.function.Consumer)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_scheduler.html#a068e61446afe2341cc0651f0dfd2a55f)) runs a specified action whenever a command finishes normally (i.e. the ``isFinished()`` method returned true).
 
-- ``onCommandInterrupt`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#onCommandInterrupt(java.util.function.Consumer)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_scheduler.html#ab5ba99a542aa778a76726d7c68461bf0>`__) runs a specified action whenever a command is interrupted (i.e. by being explicitly canceled or by another command that shares one of its requirements).
+- ``onCommandInterrupt`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html#onCommandInterrupt(java.util.function.Consumer)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_scheduler.html#ab5ba99a542aa778a76726d7c68461bf0)) runs a specified action whenever a command is interrupted (i.e. by being explicitly canceled or by another command that shares one of its requirements).
 
-A typical use-case for these methods is adding markers in an event log whenever a command scheduling event takes place, as demonstrated in the following code from the HatchbotInlined example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotInlined>`__):
+A typical use-case for these methods is adding markers in an event log whenever a command scheduling event takes place, as demonstrated in the following code from the HatchbotInlined example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotInlined)):
 
 .. tab-set::
 
-  .. tab-item:: Java
-    :sync: tabcode-java
+   .. tab-item:: Java
+      :sync: tabcode-java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
-      :language: java
-      :lines: 73-88
-      :linenos:
-      :lineno-start: 73
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
+         :language: java
+         :lines: 73-88
+         :linenos:
+         :lineno-start: 73
 
-  .. tab-item:: C++ (Source)
-    :sync: tabcode-cpp
+   .. tab-item:: C++ (Source)
+      :sync: tabcode-c++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 23-47
-      :linenos:
-      :lineno-start: 23
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+         :language: c++
+         :lines: 23-47
+         :linenos:
+         :lineno-start: 23
diff --git a/source/docs/software/commandbased/commands.rst b/source/docs/software/commandbased/commands.rst
index ffc843ddd6..75e5892127 100644
--- a/source/docs/software/commandbased/commands.rst
+++ b/source/docs/software/commandbased/commands.rst
@@ -1,334 +1,387 @@
-Commands
-========
+# Commands
 
-**Commands** represent actions the robot can take. Commands run when scheduled, until they are interrupted or their end condition is met.  Commands are represented in the command-based library by the ``Command`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html>`__).
+**Commands** represent actions the robot can take. Commands run when scheduled, until they are interrupted or their end condition is met.  Commands are represented in the command-based library by the ``Command`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html)) or the ``Command`` class in ``commands2`` library (:external:py:class:`Python <commands2.Command>`).
 
-The Structure of a Command
---------------------------
+## The Structure of a Command
 
 Commands specify what the command will do in each of its possible states. This is done by overriding the ``initialize()``, ``execute()``, and ``end()`` methods. Additionally, a command must be able to tell the scheduler when (if ever) it has finished execution - this is done by overriding the ``isFinished()`` method. All of these methods are defaulted to reduce clutter in user code: ``initialize()``, ``execute()``, and ``end()`` are defaulted to simply do nothing, while ``isFinished()`` is defaulted to return false (resulting in a command that never finishes naturally, and will run until interrupted).
 
-Initialization
-^^^^^^^^^^^^^^
+### Initialization
 
-The ``initialize()`` method (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#initialize()>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html#ad3f1971a1b44ecdd4683d766f831bccd>`__) marks the command start, and is called exactly once per time a command is scheduled. The ``initialize()`` method should be used to place the command in a known starting state for execution. Command objects may be reused and scheduled multiple times, so any state or resources needed for the command's functionality should be initialized or opened in ``initialize`` (which will be called at the start of each use) rather than the constructor (which is invoked only once on object allocation). It is also useful for performing tasks that only need to be performed once per time scheduled, such as setting motors to run at a constant speed or setting the state of a solenoid actuator.
+The ``initialize()`` method ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#initialize()), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#ad3f1971a1b44ecdd4683d766f831bccd), :external:py:meth:`Python <commands2.Command.initialize>`) marks the command start, and is called exactly once per time a command is scheduled. The ``initialize()`` method should be used to place the command in a known starting state for execution. Command objects may be reused and scheduled multiple times, so any state or resources needed for the command's functionality should be initialized or opened in ``initialize`` (which will be called at the start of each use) rather than the constructor (which is invoked only once on object allocation). It is also useful for performing tasks that only need to be performed once per time scheduled, such as setting motors to run at a constant speed or setting the state of a solenoid actuator.
 
-Execution
-^^^^^^^^^
+### Execution
 
-The ``execute()`` method (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#execute()>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html#a7d7ea1271f7dcc65c0ba3221d179b510>`__) is called repeatedly while the command is scheduled; this is when the scheduler’s ``run()`` method is called (this is generally done in the main robot periodic method, which runs every 20ms by default). The execute block should be used for any task that needs to be done continually while the command is scheduled, such as updating motor outputs to match joystick inputs, or using the output of a control loop.
+The ``execute()`` method ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#execute()), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#a7d7ea1271f7dcc65c0ba3221d179b510), :external:py:meth:`Python <commands2.Command.execute>`) is called repeatedly while the command is scheduled; this is when the scheduler’s ``run()`` method is called (this is generally done in the main robot periodic method, which runs every 20ms by default). The execute block should be used for any task that needs to be done continually while the command is scheduled, such as updating motor outputs to match joystick inputs, or using the output of a control loop.
 
-Ending
-^^^^^^
+### Ending
 
-The ``end(bool interrupted)`` method (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#end(boolean)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html#a134eda3756f00c667bb5415b23ee920c>`__) is called once when the command ends, whether it finishes normally (i.e. ``isFinished()`` returned true) or it was interrupted (either by another command or by being explicitly canceled). The method argument specifies the manner in which the command ended; users can use this to differentiate the behavior of their command end accordingly. The end block should be used to "wrap up" command state in a neat way, such as setting motors back to zero or reverting a solenoid actuator to a "default" state. Any state or resources initialized in ``initialize()`` should be closed in ``end()``.
+The ``end(bool interrupted)`` method ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#end(boolean)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#a134eda3756f00c667bb5415b23ee920c), :external:py:meth:`Python <commands2.Command.end>`) is called once when the command ends, whether it finishes normally (i.e. ``isFinished()`` returned true) or it was interrupted (either by another command or by being explicitly canceled). The method argument specifies the manner in which the command ended; users can use this to differentiate the behavior of their command end accordingly. The end block should be used to "wrap up" command state in a neat way, such as setting motors back to zero or reverting a solenoid actuator to a "default" state. Any state or resources initialized in ``initialize()`` should be closed in ``end()``.
 
-Specifying end conditions
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Specifying end conditions
 
-The ``isFinished()`` method (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#end(boolean)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html#af5e8c12152d195a4f3c06789366aac88>`__) is called repeatedly while the command is scheduled, whenever the scheduler’s ``run()`` method is called. As soon as it returns true, the command’s ``end()`` method is called and it ends. The ``isFinished()`` method is called after the ``execute()`` method, so the command will execute once on the same iteration that it ends.
+The ``isFinished()`` method ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#end(boolean)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#af5e8c12152d195a4f3c06789366aac88), :external:py:meth:`Python <commands2.Command.isFinished>`) is called repeatedly while the command is scheduled, whenever the scheduler’s ``run()`` method is called. As soon as it returns true, the command’s ``end()`` method is called and it ends. The ``isFinished()`` method is called after the ``execute()`` method, so the command will execute once on the same iteration that it ends.
 
-Command Properties
-------------------
+## Command Properties
 
 In addition to the four lifecycle methods described above, each ``Command`` also has three properties, defined by getter methods that should always return the same value with no side affects.
 
-getRequirements
-^^^^^^^^^^^^^^^
+### getRequirements
 
 Each command should declare any subsystems it controls as requirements. This backs the scheduler's resource management mechanism, ensuring that no more than one command requires a given subsystem at the same time. This prevents situations such as two different pieces of code attempting to set the same motor controller to different output values.
 
-Declaring requirements is done by overriding the ``getRequirements()`` method in the relevant command class, by calling ``addRequirements()``, or by using the ``requirements`` vararg (Java) / ``Requirements`` struct (C++) parameter at the end of the parameter list of most command constructors and factories in the library:
+Declaring requirements is done by overriding the ``getRequirements()`` method in the relevant command class, by calling ``addRequirements()``, or by using the ``requirements`` vararg (Java) / ``Requirements`` struct (C++) parameter / ``requirements`` argument (Python) at the end of the parameter list of most command constructors and factories in the library:
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  Commands.run(intake::activate, intake);
+  ```
 
-    Commands.run(intake::activate, intake);
+  ```c++
+  frc2::cmd::Run([&intake] { intake.Activate(); }, {&intake});
+  ```
 
-  .. code-block:: c++
-
-    frc2::cmd::Run([&intake] { intake.Activate(); }, {&intake});
+  ```python
+  commands2.cmd.run(intake.activate, intake)
+  ```
 
 As a rule, command compositions require all subsystems their components require.
 
-runsWhenDisabled
-^^^^^^^^^^^^^^^^
+### runsWhenDisabled
 
-The ``runsWhenDisabled()`` method (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#runsWhenDisabled()>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html#a5113cbf3655ce8679dd48bf22700b2f4>`__) returns a ``boolean``/``bool`` specifying whether the command may run when the robot is disabled. With the default of returning ``false``, the command will be canceled when the robot is disabled and attempts to schedule it will do nothing. Returning ``true`` will allow the command to run and be scheduled when the robot is disabled.
+The ``runsWhenDisabled()`` method ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#runsWhenDisabled()), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#a5113cbf3655ce8679dd48bf22700b2f4), :external:py:meth:`Python <commands2.Command.runsWhenDisabled>`) returns a ``boolean``/``bool`` specifying whether the command may run when the robot is disabled. With the default of returning ``false``, the command will be canceled when the robot is disabled and attempts to schedule it will do nothing. Returning ``true`` will allow the command to run and be scheduled when the robot is disabled.
 
-.. important::  When the robot is disabled, PWM outputs are disabled and CAN motor controllers may not apply voltage, regardless of ``runsWhenDisabled``!
+.. important::  When the robot is disabled, :term:`PWM` outputs are disabled and CAN motor controllers may not apply voltage, regardless of ``runsWhenDisabled``!
 
-This property can be set either by overriding the ``runsWhenDisabled()`` method in the relevant command class, or by using the ``ignoringDisable`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#ignoringDisable(boolean)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html#acc67b15e71a66aafb7523ccdd0a7a834>`__):
+This property can be set either by overriding the ``runsWhenDisabled()`` method in the relevant command class, or by using the ``ignoringDisable`` decorator ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#ignoringDisable(boolean)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#acc67b15e71a66aafb7523ccdd0a7a834), :external:py:meth:`Python <commands2.Command.ignoringDisable>`):
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    Command mayRunDuringDisabled = Commands.run(() -> updateTelemetry()).ignoringDisable(true);
+  ```java
+  Command mayRunDuringDisabled = Commands.run(() -> updateTelemetry()).ignoringDisable(true);
+  ```
 
-  .. code-block:: c++
+  ```c++
+  frc2::CommandPtr mayRunDuringDisabled = frc2::cmd::Run([] { UpdateTelemetry(); }).IgnoringDisable(true);
+  ```
 
-    frc2::CommandPtr mayRunDuringDisabled = frc2::cmd::Run([] { UpdateTelemetry(); }).IgnoringDisable(true);
+  ```python
+  may_run_during_disabled = commands2.cmd.run(lambda: update_telemetry()).ignoring_disable(True)
+  ```
 
 As a rule, command compositions may run when disabled if all their component commands set ``runsWhenDisabled`` as ``true``.
 
-getInterruptionBehavior
-^^^^^^^^^^^^^^^^^^^^^^^
+### getInterruptionBehavior
 
-The ``getInterruptionBehavior()`` method (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#getInterruptionBehavior()>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html#ab1e027e86fc5c9132914ca566a9845a8>`__) defines what happens if another command sharing a requirement is scheduled while this one is running. In the default behavior, ``kCancelSelf``, the current command will be canceled and the incoming command will be scheduled successfully. If ``kCancelIncoming`` is returned, the incoming command's scheduling will be aborted and this command will continue running. Note that ``getInterruptionBehavior`` only affects resolution of requirement conflicts: all commands can be canceled, regardless of ``getInterruptionBehavior``.
+The ``getInterruptionBehavior()`` method ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#getInterruptionBehavior()), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#ab1e027e86fc5c9132914ca566a9845a8), :external:py:meth:`Python <commands2.Command.getInterruptionBehavior>`) defines what happens if another command sharing a requirement is scheduled while this one is running. In the default behavior, ``kCancelSelf``, the current command will be canceled and the incoming command will be scheduled successfully. If ``kCancelIncoming`` is returned, the incoming command's scheduling will be aborted and this command will continue running. Note that ``getInterruptionBehavior`` only affects resolution of requirement conflicts: all commands can be canceled, regardless of ``getInterruptionBehavior``.
 
 .. note:: This was previously controlled by the ``interruptible`` parameter passed when scheduling a command, and is now a property of the command object.
 
-This property can be set either by overriding the ``getInterruptionBehavior`` method in the relevant command class, or by using the `withInterruptBehavior()` decorator (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html#a6583f966509478a29e7764a72c4bf177>`__):
+This property can be set either by overriding the ``getInterruptionBehavior`` method in the relevant command class, or by using the `withInterruptBehavior()` decorator ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#a6583f966509478a29e7764a72c4bf177), :external:py:meth:`Python <commands2.Command.withInterruptBehavior>`)
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  Command noninteruptible = Commands.run(intake::activate, intake).withInterruptBehavior(Command.InterruptBehavior.kCancelIncoming);
+  ```
 
-    Command noninteruptible = Commands.run(intake::activate, intake).withInterruptBehavior(Command.InterruptBehavior.kCancelIncoming);
+  ```c++
+  frc2::CommandPtr noninterruptible = frc2::cmd::Run([&intake] { intake.Activate(); }, {&intake}).WithInterruptBehavior(Command::InterruptBehavior::kCancelIncoming);
+  ```
 
-  .. code-block:: c++
-
-    frc2::CommandPtr noninterruptible = frc2::cmd::Run([&intake] { intake.Activate(); }, {&intake}).WithInterruptBehavior(Command::InterruptBehavior::kCancelIncoming);
+  ```python
+  non_interruptible = commands2.cmd.run(intake.activate, intake).with_interrupt_behavior(Command.InterruptBehavior.kCancelIncoming)
+  ```
 
 As a rule, command compositions are ``kCancelIncoming`` if all their components are ``kCancelIncoming`` as well.
 
-Included Command Types
-----------------------
+## Included Command Types
 
-The command-based library includes many pre-written command types. Through the use of :ref:`lambdas <docs/software/commandbased/index:Lambda Expressions (Java)>`, these commands can cover almost all use cases and teams should rarely need to write custom command classes. Many of these commands are provided via static factory functions in the ``Commands`` utility class (Java) or in the ``frc2::cmd`` namespace defined in the ``Commands.h`` header (C++). Classes inheriting from ``Subsystem`` also have instance methods that implicitly require ``this``.
+The command-based library includes many pre-written command types. Through the use of :ref:`lambdas <docs/software/commandbased/index:Lambda Expressions (Java)>`, these commands can cover almost all use cases and teams should rarely need to write custom command classes. Many of these commands are provided via static factory functions in the ``Commands`` utility class (Java), in the ``frc2::cmd`` namespace defined in the ``Commands.h`` header (C++), or in the ``commands2.cmd`` namespace (Python). In Java and C++, classes inheriting from ``Subsystem`` also have instance methods that implicitly require ``this``.
 
-Running Actions
-^^^^^^^^^^^^^^^
+### Running Actions
 
 The most basic commands are actions the robot takes: setting voltage to a motor, changing a solenoid's direction, etc. For these commands, which typically consist of a method call or two, the command-based library offers several factories to be construct commands inline with one or more lambdas to be executed.
 
-The ``runOnce`` factory, backed by the ``InstantCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/InstantCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_instant_command.html>`__) class, creates a command that calls a lambda once, and then finishes.
+The ``runOnce`` factory, backed by the ``InstantCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/InstantCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_instant_command.html), :external:py:class:`Python <commands2.InstantCommand>`) class, creates a command that calls a lambda once, and then finishes.
 
 .. tab-set::
 
   .. tab-item:: Java
       :sync: tabcode-java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
         :language: java
         :lines: 25-35
         :linenos:
         :lineno-start: 25
 
   .. tab-item:: C++ (Header)
-      :sync: tabcode-cpp
+      :sync: tabcode-c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
         :language: c++
         :lines: 20-28
         :linenos:
         :lineno-start: 20
 
   .. tab-item:: C++ (Source)
-      :sync: tabcode-cpp-source
+      :sync: tabcode-c++-source
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
         :language: c++
         :lines: 15-25
         :linenos:
         :lineno-start: 15
 
-The ``run`` factory, backed by the ``RunCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/RunCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_run_command.html>`__) class, creates a command that calls a lambda repeatedly, until interrupted.
-
-.. tab-set-code::
-
-  .. code-block:: java
-
-    // A split-stick arcade command, with forward/backward controlled by the left
-    // hand, and turning controlled by the right.
-    new RunCommand(() -> m_robotDrive.arcadeDrive(
-        -driverController.getLeftY(),
-        driverController.getRightX()),
-        m_robotDrive)
-
-  .. code-block:: c++
+  .. tab-item:: Python
+      :sync: tabcode-python
 
-    // A split-stick arcade command, with forward/backward controlled by the left
-    // hand, and turning controlled by the right.
-    frc2::RunCommand(
-      [this] {
-        m_drive.ArcadeDrive(
-            -m_driverController.GetLeftY(),
-            m_driverController.GetRightX());
-      },
-      {&m_drive}))
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotInlined/subsystems/hatchsubsystem.py
+        :language: python
+        :lines: 24-34
+        :linenos:
+        :lineno-start: 24
 
-The ``startEnd`` factory, backed by the ``StartEndCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/StartEndCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_start_end_command.html>`__) class, calls one lambda when scheduled, and then a second lambda when interrupted.
+The ``run`` factory, backed by the ``RunCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/RunCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_run_command.html), :external:py:class:`Python <commands2.RunCommand>`) class, creates a command that calls a lambda repeatedly, until interrupted.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    Commands.startEnd(
-        // Start a flywheel spinning at 50% power
-        () -> m_shooter.shooterSpeed(0.5),
-        // Stop the flywheel at the end of the command
-        () -> m_shooter.shooterSpeed(0.0),
-        // Requires the shooter subsystem
-        m_shooter
-    )
+  ```java
+  // A split-stick arcade command, with forward/backward controlled by the left
+  // hand, and turning controlled by the right.
+  new RunCommand(() -> m_robotDrive.arcadeDrive(
+      -driverController.getLeftY(),
+      driverController.getRightX()),
+      m_robotDrive)
+  ```
+
+  ```c++
+  // A split-stick arcade command, with forward/backward controlled by the left
+  // hand, and turning controlled by the right.
+  frc2::RunCommand(
+    [this] {
+      m_drive.ArcadeDrive(
+          -m_driverController.GetLeftY(),
+          m_driverController.GetRightX());
+    },
+    {&m_drive}))
+  ```
+
+  ```python
+  # A split-stick arcade command, with forward/backward controlled by the left
+  # hand, and turning controlled by the right.
+  commands2.cmd.run(lambda: robot_drive.arcade_drive(
+      -driver_controller.get_left_y(),
+      driver_controller.get_right_x()),
+      robot_drive)
+      ```
+
+The ``startEnd`` factory, backed by the ``StartEndCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/StartEndCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_start_end_command.html), :external:py:class:`Python <commands2.StartEndCommand>`) class, calls one lambda when scheduled, and then a second lambda when interrupted.
 
-  .. code-block:: c++
+.. tab-set-code::
 
-    frc2::cmd::StartEnd(
+  ```java
+  Commands.startEnd(
       // Start a flywheel spinning at 50% power
-      [this] { m_shooter.shooterSpeed(0.5); },
+      () -> m_shooter.shooterSpeed(0.5),
       // Stop the flywheel at the end of the command
-      [this] { m_shooter.shooterSpeed(0.0); },
+      () -> m_shooter.shooterSpeed(0.0),
       // Requires the shooter subsystem
-      {&m_shooter}
-    )
-
-``FunctionalCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_functional_command.html>`__) accepts four lambdas that constitute the four command lifecycle methods: a ``Runnable``/``std::function<void()>`` for each of ``initialize()`` and ``execute()``, a ``BooleanConsumer``/``std::function<void(bool)>`` for ``end()``, and a ``BooleanSupplier``/``std::function<bool()>`` for ``isFinished()``.
+      m_shooter
+  )
+  ```
+
+  ```c++
+  frc2::cmd::StartEnd(
+    // Start a flywheel spinning at 50% power
+    [this] { m_shooter.shooterSpeed(0.5); },
+    // Stop the flywheel at the end of the command
+    [this] { m_shooter.shooterSpeed(0.0); },
+    // Requires the shooter subsystem
+    {&m_shooter}
+  )
+  ```
+
+  ```python
+  commands2.cmd.start_end(
+     # Start a flywheel spinning at 50% power
+     lambda: shooter.shooter_speed(0.5),
+     # Stop the flywheel at the end of the command
+     lambda: shooter.shooter_speed(0.0),
+     # Requires the shooter subsystem
+     shooter)
+  ```
+
+``FunctionalCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_functional_command.html), :external:py:class:`Python <commands2.FunctionalCommand>`) accepts four lambdas that constitute the four command lifecycle methods: a ``Runnable``/``std::function<void()>/Callable`` for each of ``initialize()`` and ``execute()``, a ``BooleanConsumer``/``std::function<void(bool)>/Callable[bool,[]]`` for ``end()``, and a ``BooleanSupplier``/``std::function<bool()>/Callable[[],bool]`` for ``isFinished()``.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    new FunctionalCommand(
-        // Reset encoders on command start
-        m_robotDrive::resetEncoders,
-        // Start driving forward at the start of the command
-        () -> m_robotDrive.arcadeDrive(kAutoDriveSpeed, 0),
-        // Stop driving at the end of the command
-        interrupted -> m_robotDrive.arcadeDrive(0, 0),
-        // End the command when the robot's driven distance exceeds the desired value
-        () -> m_robotDrive.getAverageEncoderDistance() >= kAutoDriveDistanceInches,
-        // Require the drive subsystem
-        m_robotDrive
-    )
-
-  .. code-block:: c++
-
-    frc2::FunctionalCommand(
+  ```java
+  new FunctionalCommand(
       // Reset encoders on command start
-      [this] { m_drive.ResetEncoders(); },
+      m_robotDrive::resetEncoders,
       // Start driving forward at the start of the command
-      [this] { m_drive.ArcadeDrive(ac::kAutoDriveSpeed, 0); },
+      () -> m_robotDrive.arcadeDrive(kAutoDriveSpeed, 0),
       // Stop driving at the end of the command
-      [this] (bool interrupted) { m_drive.ArcadeDrive(0, 0); },
+      interrupted -> m_robotDrive.arcadeDrive(0, 0),
       // End the command when the robot's driven distance exceeds the desired value
-      [this] { return m_drive.GetAverageEncoderDistance() >= kAutoDriveDistanceInches; },
-      // Requires the drive subsystem
-      {&m_drive}
-    )
-
-To print a string and ending immediately, the library offers the ``Commands.print(String)``/``frc2::cmd::Print(std::string_view)`` factory, backed by the ``PrintCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/PrintCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_print_command.html>`__) subclass of ``InstantCommand``.
-
-Waiting
-^^^^^^^
+      () -> m_robotDrive.getAverageEncoderDistance() >= kAutoDriveDistanceInches,
+      // Require the drive subsystem
+      m_robotDrive
+  )
+  ```
+
+  ```c++
+  frc2::FunctionalCommand(
+    // Reset encoders on command start
+    [this] { m_drive.ResetEncoders(); },
+    // Start driving forward at the start of the command
+    [this] { m_drive.ArcadeDrive(ac::kAutoDriveSpeed, 0); },
+    // Stop driving at the end of the command
+    [this] (bool interrupted) { m_drive.ArcadeDrive(0, 0); },
+    // End the command when the robot's driven distance exceeds the desired value
+    [this] { return m_drive.GetAverageEncoderDistance() >= kAutoDriveDistanceInches; },
+    // Requires the drive subsystem
+    {&m_drive}
+  )
+    .. code-block:: python
+    commands2.cmd.functional_command(
+      # Reset encoders on command start
+      lambda: robot_drive.reset_encoders(),
+      # Start driving forward at the start of the command
+      lambda: robot_drive.arcade_drive(ac.kAutoDriveSpeed, 0),
+      # Stop driving at the end of the command
+      lambda interrupted: robot_drive.arcade_drive(0, 0),
+      # End the command when the robot's driven distance exceeds the desired value
+      lambda: robot_drive.get_average_encoder_distance() >= ac.kAutoDriveDistanceInches,
+      # Require the drive subsystem
+      robot_drive)
+  ```
+
+To print a string and ending immediately, the library offers the ``Commands.print(String)``/``frc2::cmd::Print(std::string_view)``/``commands2.cmd.print(String)`` factory, backed by the ``PrintCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/PrintCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_print_command.html), :external:py:class:`Python <commands2.PrintCommand>`) subclass of ``InstantCommand``.
+
+### Waiting
 
 Waiting for a certain condition to happen or adding a delay can be useful to synchronize between different commands in a command composition or between other robot actions.
 
-To wait and end after a specified period of time elapses, the library offers the ``Commands.waitSeconds(double)``/``frc2::cmd::Wait(units::second_t)`` factory, backed by the ``WaitCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/WaitCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_wait_command.html>`__) class.
+To wait and end after a specified period of time elapses, the library offers the ``Commands.waitSeconds(double)``/``frc2::cmd::Wait(units::second_t)``/``commands2.cmd.wait(float)`` factory, backed by the ``WaitCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/WaitCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_wait_command.html), :external:py:class:`Python <commands2.WaitCommand>`) class.
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  // Ends 5 seconds after being scheduled
+  new WaitCommand(5.0)
+  ```
 
-    // Ends 5 seconds after being scheduled
-    new WaitCommand(5.0)
+  ```c++
+  // Ends 5 seconds after being scheduled
+  frc2::WaitCommand(5.0_s)
+  ```
 
-  .. code-block:: c++
+  ```python
+  # Ends 5 seconds after being scheduled
+  commands2.cmd.wait(5.0)
+  ```
 
-    // Ends 5 seconds after being scheduled
-    frc2::WaitCommand(5.0_s)
-
-To wait until a certain condition becomes ``true``, the library offers the ``Commands.waitUntil(BooleanSupplier)``/``frc2::cmd::WaitUntil(std::function<bool()>)`` factory, backed by the ``WaitUntilCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_wait_until_command.html>`__).
+To wait until a certain condition becomes ``true``, the library offers the ``Commands.waitUntil(BooleanSupplier)``/``frc2::cmd::WaitUntil(std::function<bool()>)`` factory, backed by the ``WaitUntilCommand`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_wait_until_command.html), :external:py:class:`Python <commands2.WaitUntilCommand>`).
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // Ends after m_limitSwitch.get() returns true
-    new WaitUntilCommand(m_limitSwitch::get)
+  ```java
+  // Ends after m_limitSwitch.get() returns true
+  new WaitUntilCommand(m_limitSwitch::get)
+  ```
 
-  .. code-block:: c++
+  ```c++
+  // Ends after m_limitSwitch.Get() returns true
+  frc2::WaitUntilCommand([&m_limitSwitch] { return m_limitSwitch.Get(); })
+  ```
 
-    // Ends after m_limitSwitch.Get() returns true
-    frc2::WaitUntilCommand([&m_limitSwitch] { return m_limitSwitch.Get(); })
+  ```python
+  # Ends after limit_switch.get() returns True
+  commands2.cmd.wait_until(limit_switch.get)
+  ```
 
-Control Algorithm Commands
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Control Algorithm Commands
 
 There are commands for various control setups:
 
-- ``PIDCommand`` uses a PID controller. For more info, see :ref:`docs/software/commandbased/pid-subsystems-commands:PIDCommand`.
-
-- ``TrapezoidProfileCommand`` tracks a trapezoid motion profile. For more info, see :ref:`docs/software/commandbased/profile-subsystems-commands:TrapezoidProfileCommand`.
+- ``TrapezoidProfile`` tracks a trapezoid motion profile. For more info, see :doc:`/docs/software/commandbased/profile-subsystems-commands`.
 
 - ``ProfiledPIDCommand`` combines PID control with trapezoid motion profiles. For more info, see :ref:`docs/software/commandbased/profilepid-subsystems-commands:ProfiledPIDCommand`.
 
-- ``MecanumControllerCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_mecanum_controller_command.html>`__) is useful for controlling mecanum drivetrains. See API docs and the **MecanumControllerCommand** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand>`__) example project for more info.
+- ``MecanumControllerCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_mecanum_controller_command.html)) is useful for controlling mecanum drivetrains. See API docs and the **MecanumControllerCommand** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand)) example project for more info.
 
-- ``SwerveControllerCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_swerve_controller_command.html>`__) is useful for controlling swerve drivetrains. See API docs and the **SwerveControllerCommand** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand>`__) example project for more info.
+- ``SwerveControllerCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_swerve_controller_command.html)) is useful for controlling swerve drivetrains. See API docs and the **SwerveControllerCommand** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand)) example project for more info.
 
-- ``RamseteCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/RamseteCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_ramsete_command.html>`__) is useful for path following with differential drivetrains ("tank drive"). See API docs and the :ref:`Trajectory Tutorial<docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory:Creating the RamseteCommand>` for more info.
+- ``RamseteCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/RamseteCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_ramsete_command.html)) is useful for path following with differential drivetrains ("tank drive"). See API docs and the :ref:`Trajectory Tutorial<docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory:Creating the RamseteCommand>` for more info.
 
-Custom Command Classes
-----------------------
+## Custom Command Classes
 
 Users may also write custom command classes. As this is significantly more verbose, it's recommended to use the more concise factories mentioned above.
 
-.. note:: In the C++ API, a :term:`CRTP` is used to allow certain Command methods to work with the object ownership model.  Users should always extend the ``CommandHelper`` `class <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_helper.html>`__ when defining their own command classes, as is shown below.
+.. note:: In the C++ API, a :term:`CRTP` is used to allow certain Command methods to work with the object ownership model.  Users should always extend the ``CommandHelper`` [class](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_helper.html) when defining their own command classes, as is shown below.
 
-To write a custom command class, subclass the abstract ``Command`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Command.html>`__) or ``CommandHelper`` (`C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command.html>`__), as seen in the command-based template (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h>`__):
+To write a custom command class, subclass the abstract ``Command`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html)) or ``CommandHelper`` ([C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html)), as seen in the command-based template ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java), [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h)):
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
       :language: java
       :lines: 7-24
       :linenos:
       :lineno-start: 7
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
       :language: c++
       :lines: 5-31
       :linenos:
       :lineno-start: 5
 
-Simple Command Example
-----------------------
+## Simple Command Example
 
-What might a functional command look like in practice? As before, below is a simple command from the HatchBot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__) that uses the ``HatchSubsystem``:
+What might a functional command look like in practice? As before, below is a simple command from the HatchBot example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional)) that uses the ``HatchSubsystem``:
 
 .. tab-set::
 
   .. tab-item:: Java
      :sync: tabcode-java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
         :language: java
         :lines: 5-
         :linenos:
         :lineno-start: 5
 
   .. tab-item:: C++ (Header)
-     :sync: tabcode-cpp
+     :sync: tabcode-c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
         :language: c++
         :lines: 5-
         :linenos:
         :lineno-start: 5
 
   .. tab-item:: C++ (Source)
-     :sync: tabcode-cpp-source
+     :sync: tabcode-c++-source
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
         :language: c++
         :lines: 5-
         :linenos:
         :lineno-start: 5
 
+  .. tab-item:: Python
+     :sync: tabcode-python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotTraditional/commands/grabhatch.py
+        :language: python
+        :lines: 7-
+        :linenos:
+        :lineno-start: 7
+
 Notice that the hatch subsystem used by the command is passed into the command through the command’s constructor. This is a pattern called :term:`dependency injection`, and allows users to avoid declaring their subsystems as global variables. This is widely accepted as a best-practice - the reasoning behind this is discussed in a :doc:`later section <structuring-command-based-project>`.
 
 Notice also that the above command calls the subsystem method once from initialize, and then immediately ends (as ``isFinished()`` simply returns true). This is typical for commands that toggle the states of subsystems, and as such it would be more succinct to write this command using the factories described above.
@@ -340,58 +393,79 @@ What about a more complicated case? Below is a drive command, from the same exam
   .. tab-item:: Java
      :sync: tabcode-java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
         :language: java
         :lines: 5-
         :linenos:
         :lineno-start: 5
 
   .. tab-item:: C++ (Header)
-     :sync: tabcode-cpp
+     :sync: tabcode-c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
         :language: c++
         :lines: 5-
         :linenos:
         :lineno-start: 5
 
   .. tab-item:: C++ (Source)
-     :sync: tabcode-cpp-source
+     :sync: tabcode-c++-source
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
         :language: c++
         :lines: 5-
         :linenos:
         :lineno-start: 5
 
+  .. tab-item:: Python
+     :sync: tabcode-python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotTraditional/commands/defaultdrive.py
+        :language: python
+        :lines: 7-
+        :linenos:
+        :lineno-start: 7
+
 And then usage:
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
     :language: java
     :lines: 59-67
     :linenos:
     :lineno-start: 59
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
     :language: c++
     :lines: 57-60
     :linenos:
     :lineno-start: 57
 
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotTraditional/robotcontainer.py
+    :language: python
+    :lines: 65-72
+    :linenos:
+    :lineno-start: 65
+
 Notice that this command does not override ``isFinished()``, and thus will never end; this is the norm for commands that are intended to be used as default commands. Once more, this command is rather simple and calls the subsystem method only from one place, and as such, could be more concisely written using factories:
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
       :language: java
       :lines: 51-60
       :linenos:
       :lineno-start: 51
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
       :language: c++
       :lines: 52-58
       :linenos:
       :lineno-start: 52
+
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotInlined/robotcontainer.py
+      :language: python
+      :lines: 53-65
+      :linenos:
+      :lineno-start: 53
diff --git a/source/docs/software/commandbased/cpp-command-discussion.rst b/source/docs/software/commandbased/cpp-command-discussion.rst
index a8a22ae285..c547bfa807 100644
--- a/source/docs/software/commandbased/cpp-command-discussion.rst
+++ b/source/docs/software/commandbased/cpp-command-discussion.rst
@@ -1,28 +1,25 @@
-A Technical Discussion on C++ Commands
-======================================
+# A Technical Discussion on C++ Commands
 .. note:: This article assumes that you have a fair understanding of advanced C++ concepts, including templates, smart pointers, inheritance, rvalue references, copy semantics, move semantics, and CRTP.  You do not need to understand the information within this article to use the command-based framework in your robot code.
 
 This article will help you understand the reasoning behind some of the decisions made in the 2020 command-based framework (such as the use of ``std::unique_ptr``, CRTP in the form of ``CommandHelper<Base, Derived>``, etc.).  You do not need to understand the information within this article to use the command-based framework in your robot code.
 
 .. note:: The model was further changed in 2023, as described :ref:`below <docs/software/commandbased/cpp-command-discussion:2023 Updates>`.
 
-Ownership Model
----------------
+## Ownership Model
 The old command-based framework employed the use of raw pointers, meaning that users had to use ``new`` (resulting in manual heap allocations) in their robot code. Since there was no clear indication on who owned the commands (the scheduler, the command groups, or the user themselves), it was not apparent who was supposed to take care of freeing the memory.
 
 Several examples in the old command-based framework involved code like this:
 
-.. code-block:: c++
-
-   #include "PlaceSoda.h"
-   #include "Elevator.h"
-   #include "Wrist.h"
-
-   PlaceSoda::PlaceSoda() {
-     AddSequential(new SetElevatorSetpoint(Elevator::TABLE_HEIGHT));
-     AddSequential(new SetWristSetpoint(Wrist::PICKUP));
-     AddSequential(new OpenClaw());
-   }
+```c++
+#include "PlaceSoda.h"
+#include "Elevator.h"
+#include "Wrist.h"
+PlaceSoda::PlaceSoda() {
+  AddSequential(new SetElevatorSetpoint(Elevator::TABLE_HEIGHT));
+  AddSequential(new SetWristSetpoint(Wrist::PICKUP));
+  AddSequential(new OpenClaw());
+}
+```
 
 In the command-group above, the component commands of the command group were being heap allocated and passed into ``AddSequential`` all in the same line. This meant that user had no reference to that object in memory and therefore had no means of freeing the allocated memory once the command group ended. The command group itself never freed the memory and neither did the command scheduler. This led to memory leaks in robot programs (i.e. memory was allocated on the heap but never freed).
 
@@ -30,137 +27,123 @@ This glaring problem was one of the reasons for the rewrite of the framework. A
 
 Default commands are owned by the command scheduler whereas component commands of command compositions are owned by the command composition. Other commands are owned by whatever the user decides they should be owned by (e.g. a subsystem instance or a ``RobotContainer`` instance). This means that the ownership of the memory allocated by any commands or command compositions is clearly defined.
 
-``std::unique_ptr`` vs. ``std::shared_ptr``
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### ``std::unique_ptr`` vs. ``std::shared_ptr``
 Using ``std::unique_ptr`` allows us to clearly determine who owns the object. Because an ``std::unique_ptr`` cannot be copied, there will never be more than one instance of a ``std::unique_ptr`` that points to the same block of memory on the heap. For example, a constructor for ``SequentialCommandGroup`` takes in a ``std::vector<std::unique_ptr<Command>>&&``. This means that it requires an rvalue reference to a vector of ``std::unique_ptr<Command>``. Let's go through some example code step-by-step to understand this better:
 
-.. code-block:: c++
-
-   // Let's create a vector to store our commands that we want to run sequentially.
-   std::vector<std::unique_ptr<Command>> commands;
-
-   // Add an instant command that prints to the console.
-   commands.emplace_back(std::make_unique<InstantCommand>([]{ std::cout << "Hello"; }, requirements));
-
-   // Add some other command: this can be something that a user has created.
-   commands.emplace_back(std::make_unique<MyCommand>(args, needed, for, this, command));
-
-   // Now the vector "owns" all of these commands. In its current state, when the vector is destroyed (i.e.
-   // it goes out of scope), it will destroy all of the commands we just added.
-
-   // Let's create a SequentialCommandGroup that will run these two commands sequentially.
-   auto group = SequentialCommandGroup(std::move(commands));
-
-   // Note that we MOVED the vector of commands into the sequential command group, meaning that the
-   // command group now has ownership of our commands. When we call std::move on the vector, all of its
-   // contents (i.e. the unique_ptr instances) are moved into the command group.
-
-   // Even if the vector were to be destroyed while the command group was running, everything would be OK
-   // since the vector does not own our commands anymore.
+```c++
+// Let's create a vector to store our commands that we want to run sequentially.
+std::vector<std::unique_ptr<Command>> commands;
+// Add an instant command that prints to the console.
+commands.emplace_back(std::make_unique<InstantCommand>([]{ std::cout << "Hello"; }, requirements));
+// Add some other command: this can be something that a user has created.
+commands.emplace_back(std::make_unique<MyCommand>(args, needed, for, this, command));
+// Now the vector "owns" all of these commands. In its current state, when the vector is destroyed (i.e.
+// it goes out of scope), it will destroy all of the commands we just added.
+// Let's create a SequentialCommandGroup that will run these two commands sequentially.
+auto group = SequentialCommandGroup(std::move(commands));
+// Note that we MOVED the vector of commands into the sequential command group, meaning that the
+// command group now has ownership of our commands. When we call std::move on the vector, all of its
+// contents (i.e. the unique_ptr instances) are moved into the command group.
+// Even if the vector were to be destroyed while the command group was running, everything would be OK
+// since the vector does not own our commands anymore.
+```
 
 With ``std::shared_ptr``, there is no clear ownership model because there can be multiple instances of a ``std::shared_ptr`` that point to the same block of memory. If commands were in ``std::shared_ptr`` instances, a command group or the command scheduler cannot take ownership and free the memory once the command has finished executing because the user might still unknowingly still have a ``std::shared_ptr`` instance pointing to that block of memory somewhere in scope.
 
-Use of CRTP
------------
+## Use of CRTP
 You may have noticed that in order to create a new command, you must extend ``CommandHelper``, providing the base class (usually ``frc2::Command``) and the class that you just created. Let's take a look at the reasoning behind this:
 
-Command Decorators
-^^^^^^^^^^^^^^^^^^
+### Command Decorators
 The new command-based framework includes a feature known as "command decorators", which allows the user to something like this:
 
-.. code-block:: c++
-
-   auto task = MyCommand().AndThen([] { std::cout << "This printed after my command ended."; },
-     requirements);
+```c++
+auto task = MyCommand().AndThen([] { std::cout << "This printed after my command ended."; },
+  requirements);
+```
 
 When ``task`` is scheduled, it will first execute ``MyCommand()`` and once that command has finished executing, it will print the message to the console. The way this is achieved internally is by using a sequential command group.
 
 Recall from the previous section that in order to construct a sequential command group, we need a vector of unique pointers to each command. Creating the unique pointer for the print function is pretty trivial:
 
-.. code-block:: c++
-
-   temp.emplace_back(
-      std::make_unique<InstantCommand>(std::move(toRun), requirements));
+```c++
+temp.emplace_back(
+   std::make_unique<InstantCommand>(std::move(toRun), requirements));
+```
 
 Here ``temp`` is storing the vector of commands that we need to pass into the ``SequentialCommandGroup`` constructor. But before we add that ``InstantCommand``, we need to add ``MyCommand()`` to the ``SequentialCommandGroup``. How do we do that?
 
-.. code-block:: c++
-
-   temp.emplace_back(std::make_unique<MyCommand>(std::move(*this));
+```c++
+temp.emplace_back(std::make_unique<MyCommand>(std::move(*this));
+```
 
 You might think it would be this straightforward, but that is not the case. Because this decorator code is in the ``Command`` class, ``*this`` refers to the ``Command`` in the subclass that you are calling the decorator from and has the type of ``Command``. Effectively, you will be trying to move a ``Command`` instead of ``MyCommand``. We could cast the ``this`` pointer to a ``MyCommand*`` and then dereference it but we have no information about the subclass to cast to at compile-time.
 
-Solutions to the Problem
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Solutions to the Problem
 
 Our initial solution to this was to create a virtual method in ``Command`` called ``TransferOwnership()`` that every subclass of ``Command`` had to override. Such an override would have looked like this:
 
-.. code-block:: c++
-
-   std::unique_ptr<Command> TransferOwnership() && override {
-     return std::make_unique<MyCommand>(std::move(*this));
-   }
+```c++
+std::unique_ptr<Command> TransferOwnership() && override {
+  return std::make_unique<MyCommand>(std::move(*this));
+}
+```
 
 Because the code would be in the derived subclass, ``*this`` would actually point to the desired subclass instance and the user has the type info of the derived class to make the unique pointer.
 
 After a few days of deliberation, a CRTP method was proposed. Here, an intermediary derived class of ``Command`` called ``CommandHelper`` would exist. ``CommandHelper`` would have two template arguments, the original base class and the desired derived subclass. Let's take a look at a basic implementation of ``CommandHelper`` to understand this:
 
-.. code-block:: c++
-
-   // In the real implementation, we use SFINAE to check that Base is actually a
-   // Command or a subclass of Command.
-   template<typename Base, typename Derived>
-   class CommandHelper : public Base {
-     // Here, we are just inheriting all of the superclass (base class) constructors.
-     using Base::Base;
-
-     // Here, we will override the TransferOwnership() method mentioned above.
-     std::unique_ptr<Command> TransferOwnership() && override {
-       // Previously, we mentioned that we had no information about the derived class
-       // to cast to at compile-time, but because of CRTP we do! It's one of our template
-       // arguments!
-       return std::make_unique<Derived>(std::move(*static_cast<Derived*>(this)));
-     }
-   };
+```c++
+// In the real implementation, we use SFINAE to check that Base is actually a
+// Command or a subclass of Command.
+template<typename Base, typename Derived>
+class CommandHelper : public Base {
+  // Here, we are just inheriting all of the superclass (base class) constructors.
+  using Base::Base;
+  // Here, we will override the TransferOwnership() method mentioned above.
+  std::unique_ptr<Command> TransferOwnership() && override {
+    // Previously, we mentioned that we had no information about the derived class
+    // to cast to at compile-time, but because of CRTP we do! It's one of our template
+    // arguments!
+    return std::make_unique<Derived>(std::move(*static_cast<Derived*>(this)));
+  }
+};
+```
 
 Thus, making your custom commands extend ``CommandHelper`` instead of ``Command`` will automatically implement this boilerplate for you and this is the reasoning behind asking teams to use what may seem to be a rather obscure way of doing things.
 
 Going back to our ``AndThen()`` example, we can now do the following:
 
-.. code-block:: c++
-
-   // Because of how inheritance works, we will call the TransferOwnership()
-   // of the subclass. We are moving *this because TransferOwnership() can only
-   // be called on rvalue references.
-   temp.emplace_back(std::move(*this).TransferOwnership());
+```c++
+// Because of how inheritance works, we will call the TransferOwnership()
+// of the subclass. We are moving *this because TransferOwnership() can only
+// be called on rvalue references.
+temp.emplace_back(std::move(*this).TransferOwnership());
+```
 
-Lack of Advanced Decorators
----------------------------
+## Lack of Advanced Decorators
 Most of the C++ decorators take in ``std::function<void()>`` instead of actual commands themselves. The idea of taking in actual commands in decorators such as ``AndThen()``, ``BeforeStarting()``, etc. was considered but then abandoned due to a variety of reasons.
 
-Templating Decorators
-^^^^^^^^^^^^^^^^^^^^^
+### Templating Decorators
 Because we need to know the types of the commands that we are adding to a command group at compile-time, we will need to use templates (variadic for multiple commands). However, this might not seem like a big deal. The constructors for command groups do this anyway:
 
-.. code-block:: c++
-
-   template <class... Types,
-            typename = std::enable_if_t<std::conjunction_v<
-                std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
-   explicit SequentialCommandGroup(Types&&... commands) {
-     AddCommands(std::forward<Types>(commands)...);
-   }
-
-   template <class... Types,
-            typename = std::enable_if_t<std::conjunction_v<
-                std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
-   void AddCommands(Types&&... commands) {
-     std::vector<std::unique_ptr<Command>> foo;
-     ((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
-          std::forward<Types>(commands))),
-      ...);
-     AddCommands(std::move(foo));
-   }
+```c++
+template <class... Types,
+         typename = std::enable_if_t<std::conjunction_v<
+             std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+explicit SequentialCommandGroup(Types&&... commands) {
+  AddCommands(std::forward<Types>(commands)...);
+}
+template <class... Types,
+         typename = std::enable_if_t<std::conjunction_v<
+             std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+void AddCommands(Types&&... commands) {
+  std::vector<std::unique_ptr<Command>> foo;
+  ((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
+       std::forward<Types>(commands))),
+   ...);
+  AddCommands(std::move(foo));
+}
+```
 
 .. note:: This is a secondary constructor for ``SequentialCommandGroup`` in addition to the vector constructor that we described above.
 
@@ -168,20 +151,17 @@ However, when we make a templated function, its definition must be declared inli
 
 We use a forward declaration at the top of ``Command.h``:
 
-.. code-block:: c++
-
-   class SequentialCommandGroup;
-
-   class Command { ... };
+```c++
+class SequentialCommandGroup;
+class Command { ... };
+```
 
 And then we include ``SequentialCommandGroup.h`` in ``Command.cpp``. If these decorator functions were templated however, we cannot write definitions in the ``.cpp`` files, resulting in a circular dependency.
 
-Java vs C++ Syntax
-^^^^^^^^^^^^^^^^^^
+### Java vs C++ Syntax
 These decorators usually save more verbosity in Java (because Java requires raw ``new`` calls) than in C++, so in general, it does not make much of a syntanctic difference in C++ if you create the command group manually in user code.
 
-2023 Updates
-------------
+## 2023 Updates
 
 After a few years in the new command-based framework, the recommended way to create commands increasingly shifted towards inline commands, decorators, and factory methods. With this paradigm shift, it became evident that the C++ commands model introduced in 2020 and described above has some pain points when used according to the new recommendations.
 
@@ -189,8 +169,7 @@ A significant root cause of most pain points was commands being passed by value
 
 Additionally, various decorators weren't supported in C++ due to reasons described :ref:`above <docs/software/commandbased/cpp-command-discussion:Templating Decorators>`. As long as decorators were rarely used and were mainly to reduce verbosity (where Java was more verbose than C++), this was less of a problem. Once heavy usage of decorators was recommended, this became more of an issue.
 
-``CommandPtr``
-^^^^^^^^^^^^^^
+### ``CommandPtr``
 
 Let's recall the mention of ``std::unique_ptr`` far above: a value type with only move semantics. This is the ownership model we want!
 
@@ -210,9 +189,9 @@ There are multiple ways to get a ``CommandPtr`` instance:
 
 - A ``ToPtr()`` method has been added to the CRTP, akin to ``TransferOwnership``. This is useful especially for user-defined command classes, as well as other command classes that don't have factories.
 
-For instance, consider the following from the `HatchbotInlined example project <https://github.com/wpilibsuite/allwpilib/blob/v2023.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/>`:
+For instance, consider the following from the [HatchbotInlined example project](https://github.com/wpilibsuite/allwpilib/blob/v2023.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/):
 
-.. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
+.. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
    :language: c++
    :lines: 33-73
    :linenos:
diff --git a/source/docs/software/commandbased/index.rst b/source/docs/software/commandbased/index.rst
index acf476bdbe..7769449950 100644
--- a/source/docs/software/commandbased/index.rst
+++ b/source/docs/software/commandbased/index.rst
@@ -1,5 +1,4 @@
-Command-Based Programming
-=========================
+# Command-Based Programming
 
 This sequence of articles serves as an introduction to and reference for the WPILib command-based framework.
 
@@ -21,24 +20,20 @@ For a collection of example projects using the command-based framework, see :ref
    profile-subsystems-commands
    profilepid-subsystems-commands
 
-Passing Functions As Parameters
--------------------------------
+## Passing Functions As Parameters
 
 In order to provide a concise inline syntax, the command-based library often accepts functions as parameters of constructors, factories, and decorators. Fortunately, both Java and C++ offer users the ability to :ref:`pass functions as objects <docs/software/basic-programming/functions-as-data:Treating Functions as Data>`:
 
-Method References (Java)
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Method References (Java)
 
-In Java, a reference to a function that can be passed as a parameter is called a method reference. The general syntax for a method reference is ``object::method``. Note that no method parameters are included, since the method *itself* is passed. The method is not being called - it is being passed to another piece of code (in this case, a command) so that *that* code can call it when needed. For further information on method references, see :ref:`docs/software/basic-programming/functions-as-data:Method References`.
+In Java, a reference to a function that can be passed as a parameter is called a method reference. The general syntax for a method reference is ``object::method`` or ``Class::staticMethod``. Note that no method parameters are included, since the method *itself* is passed. The method is not being called - it is being passed to another piece of code (in this case, a command) so that *that* code can call it when needed. For further information on method references, see :ref:`docs/software/basic-programming/functions-as-data:Method References`.
 
-Lambda Expressions (Java)
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Lambda Expressions (Java)
 
 While method references work well for passing a function that has already been written, often it is inconvenient/wasteful to write a function solely for the purpose of sending as a method reference, if that function will never be used elsewhere. To avoid this, Java also supports a feature called "lambda expressions." A lambda expression is an inline method definition - it allows a function to be defined *inside of a parameter list*. For specifics on how to write Java lambda expressions, see :ref:`docs/software/basic-programming/functions-as-data:Lambda Expressions in Java`.
 
-Lambda Expressions (C++)
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Lambda Expressions (C++)
 
-.. warning:: Due to complications in C++ semantics, capturing ``this`` in a C++ lambda can cause a null pointer exception if done from a component command of a command composition.  Whenever possible, C++ users should capture relevant command members explicitly and by value.  For more details, see `here <https://github.com/wpilibsuite/allwpilib/issues/3109>`__.
+.. warning:: Due to complications in C++ semantics, capturing ``this`` in a C++ lambda can cause a null pointer exception if done from a component command of a command composition.  Whenever possible, C++ users should capture relevant command members explicitly and by value.  For more details, see [here](https://github.com/wpilibsuite/allwpilib/issues/3109).
 
 C++ lacks a close equivalent to Java method references - pointers to member functions are generally not directly usable as parameters due to the presence of the implicit ``this`` parameter.  However, C++ does offer lambda expressions - in addition, the lambda expressions offered by C++ are in many ways more powerful than those in Java.  For specifics on how to write C++ lambda expressions, see :ref:`docs/software/basic-programming/functions-as-data:Lambda Expressions in C++`.
diff --git a/source/docs/software/commandbased/organizing-command-based.rst b/source/docs/software/commandbased/organizing-command-based.rst
index f93f386015..699022b797 100644
--- a/source/docs/software/commandbased/organizing-command-based.rst
+++ b/source/docs/software/commandbased/organizing-command-based.rst
@@ -1,5 +1,4 @@
-Organizing Command-Based Robot Projects
-=======================================
+# Organizing Command-Based Robot Projects
 
 As robot code becomes more complicated, navigating, understanding, and maintaining the code takes up more and more time and energy. Making changes to the code often becomes more difficult, sometimes for reasons that have very little to do with the actual complexity of the underlying logic. For a simplified example: putting the logic for many unrelated robot functions into a single 1000-line file makes it difficult to find a specific piece of code within that file, particularly under stress at a competition. But spreading out closely related logic across dozens of tiny files is often just as difficult to navigate.
 
@@ -7,77 +6,67 @@ This is not a problem unique to FRC, and in fact, good organization only becomes
 
 This article discusses various facets of command-based robot program design that advanced FRC programmers may want to be aware of when writing code. It is not a prescriptive tutorial, though it presents some recommended best practices. If this level of choice seems daunting, however, many teams have been highly successful while sticking closely to WPILib's example code and guidelines. However, this discussion may be of interest to intermediate and advanced programmers who want to make their code not only effective, but flexible, easily changeable, and sometimes even beautiful.
 
-Why Care About Organization?
-----------------------------
+## Why Care About Organization?
 Good code organization will rarely make or break a team's competitive ability—but it does mean easier debugging, faster modifications, nicer-looking code, and happier programmers. While it's impossible to define "good" organization by way of what the code looks like from the inside, it's easier to define in terms of what the robot's software looks like from the outside.
 
-What Good Organization Looks Like
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### What Good Organization Looks Like
 
 When code is well-designed and well-organized, the code's internal structure is intuitive and easily comprehensible. Cumbersome boilerplate is minimized, meaning that new robot functionality can often be added with just a few lines of code. When a constant value (such as the speed of the robot's intake) needs to be changed, it only needs to change in one place. If multiple programmers are working together, they can easily understand each others' work. Bugs are rare, since it is difficult to accidentally introduce unintended behavior (such as creating a command that does not require necessary subsystems). Implementing more advanced functions like unit tests is easier, since the code is abstracted away from the physical hardware. Programmers are happy (most of the time).
 
-What Bad Organization Looks Like
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### What Bad Organization Looks Like
 
 Poorly organized code often has internal structure that makes little to no sense, even to whoever wrote it. When functionality has to be added or changed, it often breaks unrelated parts of the robot: adding automatic shooter control might introduce a bug in the climbing sequence for unclear reasons. Alternatively, the organizational framework might be so strict that it's impossible to implement necessary behavior, requiring nasty hacks or workarounds. Many lines of boilerplate code are needed for simple robot logic. Constants are scattered across the codebase, and changing basic behavior often requires making the same change to many different files. Collaboration among multiple programmers is difficult or impossible.
 
-Defining Commands
------------------
+## Defining Commands
 
 In larger robot codebases, multiple copies of the same command need to be used in many different places. For instance, a command that runs a robot's intake might be used in teleop, bound to a certain button; as part of a complicated command group for an autonomous routine; and as part of a self-test sequence.
 
 As an example, let's look at some ways to define a simple command that simply runs the robot's intake forward at full power until canceled.
 
-Inline Commands
-^^^^^^^^^^^^^^^
+### Inline Commands
 
 The easiest and most expressive way to do this is with a ``StartEndCommand``:
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  Command runIntake = Commands.startEnd(() -> intake.set(1), () -> intake.set(0), intake);
+  ```
 
-    Command runIntake = Commands.startEnd(() -> intake.set(1), () -> intake.set(0), intake);
-
-  .. code-block:: c++
-
-    frc2::CommandPtr runIntake = frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake});
+  ```c++
+  frc2::CommandPtr runIntake = frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake});
+  ```
 
 This is sufficient for commands that are only used once. However, for a command like this that might get used in many different autonomous routines and button bindings, inline commands everywhere means a lot of repetitive code:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    // RobotContainer.java
-    intakeButton.whileTrue(Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0), intake));
-
-    Command intakeAndShoot = Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0), intake)
-        .alongWith(new RunShooter(shooter));
-
-    Command autonomousCommand = Commands.sequence(
-        Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake).withTimeout(5.0),
-        Commands.waitSeconds(3.0),
-        Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake).withTimeout(5.0)
-    );
-
-  .. code-block:: c++
-
-    intakeButton.WhileTrue(frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake}));
-
-    frc2::CommandPtr intakeAndShoot = frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake})
-        .AlongWith(RunShooter(&shooter).ToPtr());
-
-    frc2::CommandPtr autonomousCommand = frc2::cmd::Sequence(
-      frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake}).WithTimeout(5.0_s),
-      frc2::cmd::Wait(3.0_s),
-      frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake}).WithTimeout(5.0_s)
-    );
+  ```java
+  // RobotContainer.java
+  intakeButton.whileTrue(Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0), intake));
+  Command intakeAndShoot = Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0), intake)
+      .alongWith(new RunShooter(shooter));
+  Command autonomousCommand = Commands.sequence(
+      Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake).withTimeout(5.0),
+      Commands.waitSeconds(3.0),
+      Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake).withTimeout(5.0)
+  );
+  ```
+
+  ```c++
+  intakeButton.WhileTrue(frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake}));
+  frc2::CommandPtr intakeAndShoot = frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake})
+      .AlongWith(RunShooter(&shooter).ToPtr());
+  frc2::CommandPtr autonomousCommand = frc2::cmd::Sequence(
+    frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake}).WithTimeout(5.0_s),
+    frc2::cmd::Wait(3.0_s),
+    frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake}).WithTimeout(5.0_s)
+  );
+  ```
 
 Creating one ``StartEndCommand`` instance and putting it in a variable won't work here, since once an instance of a command is added to a command group it is effectively "owned" by that command group and cannot be used in any other context.
 
-Instance Command Factory Methods
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Instance Command Factory Methods
 
 One way to solve this quandary is using the "factory method" design pattern: a function that returns a new object every invocation, according to some specification. Using :ref:`command composition <docs/software/commandbased/command-compositions:Command Compositions>`, a factory method can construct a complex command object with merely a few lines of code.
 
@@ -87,24 +76,23 @@ For example, a command like the intake-running command is conceptually related t
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    public class Intake extends SubsystemBase {
-        // [code for motor controllers, configuration, etc.]
-        // ...
-
-        public Command runIntakeCommand() {
-          // implicitly requires `this`
-          return this.startEnd(() -> this.set(1.0), () -> this.set(0.0));
-        }
-    }
-
-  .. code-block:: c++
-
-    frc2::CommandPtr Intake::RunIntakeCommand() {
+  ```java
+  public class Intake extends SubsystemBase {
+    // [code for motor controllers, configuration, etc.]
+    // ...
+    public Command runIntakeCommand() {
       // implicitly requires `this`
-      return this->StartEnd([this] { this->Set(1.0); }, [this] { this->Set(0); });
+      return this.startEnd(() -> this.set(1.0), () -> this.set(0.0));
     }
+  }
+  ```
+
+  ```c++
+  frc2::CommandPtr Intake::RunIntakeCommand() {
+    // implicitly requires `this`
+    return this->StartEnd([this] { this->Set(1.0); }, [this] { this->Set(0); });
+  }
+  ```
 
 Notice how since we are in the ``Intake`` class, we no longer refer to ``intake``; instead, we use the ``this`` keyword to refer to the current instance.
 
@@ -114,68 +102,62 @@ Using this new factory method in command groups and button bindings is highly ex
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    intakeButton.whileTrue(intake.runIntakeCommand());
-
-    Command intakeAndShoot = intake.runIntakeCommand().alongWith(new RunShooter(shooter));
-
-    Command autonomousCommand = Commands.sequence(
-        intake.runIntakeCommand().withTimeout(5.0),
-        Commands.waitSeconds(3.0),
-        intake.runIntakeCommand().withTimeout(5.0)
-    );
-
-  .. code-block:: c++
-
-    intakeButton.WhileTrue(intake.RunIntakeCommand());
-
-    frc2::CommandPtr intakeAndShoot = intake.RunIntakeCommand().AlongWith(RunShooter(&shooter).ToPtr());
-
-    frc2::CommandPtr autonomousCommand = frc2::cmd::Sequence(
-      intake.RunIntakeCommand().WithTimeout(5.0_s),
-      frc2::cmd::Wait(3.0_s),
-      intake.RunIntakeCommand().WithTimeout(5.0_s)
-    );
+  ```java
+  intakeButton.whileTrue(intake.runIntakeCommand());
+  Command intakeAndShoot = intake.runIntakeCommand().alongWith(new RunShooter(shooter));
+  Command autonomousCommand = Commands.sequence(
+      intake.runIntakeCommand().withTimeout(5.0),
+      Commands.waitSeconds(3.0),
+      intake.runIntakeCommand().withTimeout(5.0)
+  );
+  ```
+
+  ```c++
+  intakeButton.WhileTrue(intake.RunIntakeCommand());
+  frc2::CommandPtr intakeAndShoot = intake.RunIntakeCommand().AlongWith(RunShooter(&shooter).ToPtr());
+  frc2::CommandPtr autonomousCommand = frc2::cmd::Sequence(
+    intake.RunIntakeCommand().WithTimeout(5.0_s),
+    frc2::cmd::Wait(3.0_s),
+    intake.RunIntakeCommand().WithTimeout(5.0_s)
+  );
+  ```
 
 Adding a parameter to the ``runIntakeCommand`` method to provide the exact percentage to run the intake is easy and allows for even more flexibility.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    public Command runIntakeCommand(double percent) {
-        return new StartEndCommand(() -> this.set(percent), () -> this.set(0.0), this);
-    }
-
-  .. code-block:: c++
+  ```java
+  public Command runIntakeCommand(double percent) {
+      return new StartEndCommand(() -> this.set(percent), () -> this.set(0.0), this);
+  }
+  ```
 
-    frc2::CommandPtr Intake::RunIntakeCommand() {
-      // implicitly requires `this`
-      return this->StartEnd([this, percent] { this->Set(percent); }, [this] { this->Set(0); });
-    }
+  ```c++
+  frc2::CommandPtr Intake::RunIntakeCommand() {
+    // implicitly requires `this`
+    return this->StartEnd([this, percent] { this->Set(percent); }, [this] { this->Set(0); });
+  }
+  ```
 
 For instance, this code creates a command group that runs the intake forwards for two seconds, waits for two seconds, and then runs the intake backwards for five seconds.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    Command intakeRunSequence = intake.runIntakeCommand(1.0).withTimeout(2.0)
-        .andThen(Commands.waitSeconds(2.0))
-        .andThen(intake.runIntakeCommand(-1.0).withTimeout(5.0));
-
-  .. code-block:: c++
-
-    frc2::CommandPtr intakeRunSequence = intake.RunIntakeCommand(1.0).WithTimeout(2.0_s)
-        .AndThen(frc2::cmd::Wait(2.0_s))
-        .AndThen(intake.RunIntakeCommand(-1.0).WithTimeout(5.0_s));
+  ```java
+  Command intakeRunSequence = intake.runIntakeCommand(1.0).withTimeout(2.0)
+      .andThen(Commands.waitSeconds(2.0))
+      .andThen(intake.runIntakeCommand(-1.0).withTimeout(5.0));
+  ```
 
+  ```c++
+  frc2::CommandPtr intakeRunSequence = intake.RunIntakeCommand(1.0).WithTimeout(2.0_s)
+      .AndThen(frc2::cmd::Wait(2.0_s))
+      .AndThen(intake.RunIntakeCommand(-1.0).WithTimeout(5.0_s));
+    ```
 
 This approach is recommended for commands that are conceptually related to only a single subsystem, and is very concise. However, it doesn't fare well with commands related to more than one subsystem: passing in other subsystem objects is unintuitive and can cause race conditions and circular dependencies, and thus should be avoided. Therefore, this approach is best suited for single-subsystem commands, and should be used only for those cases.
 
-Static Command Factories
-~~~~~~~~~~~~~~~~~~~~~~~~
+#### Static Command Factories
 
 Instance factory methods work great for single-subsystem commands.  However, complicated robot actions (like the ones often required during the autonomous period) typically need to coordinate multiple subsystems at once.  When we want to define an inline command that uses multiple subsystems, it doesn't make sense for the command factory to live in any single one of those subsystems.  Instead, it can be cleaner to define the command factory methods statically in some external class:
 
@@ -183,96 +165,86 @@ Instance factory methods work great for single-subsystem commands.  However, com
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    public class AutoRoutines {
-
-        public static Command driveAndIntake(Drivetrain drivetrain, Intake intake) {
-            return Commands.sequence(
-                Commands.parallel(
-                    drivetrain.driveCommand(0.5, 0.5),
-                    intake.runIntakeCommand(1.0)
-                ).withTimeout(5.0),
-                Commands.parallel(
-                  drivetrain.stopCommand();
-                  intake.stopCommand();
-                )
-            );
-        }
-    }
-
-  .. code-block:: c++
-
-    // TODO
-
-Non-Static Command Factories
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+  ```java
+  public class AutoRoutines {
+      public static Command driveAndIntake(Drivetrain drivetrain, Intake intake) {
+          return Commands.sequence(
+              Commands.parallel(
+                  drivetrain.driveCommand(0.5, 0.5),
+                  intake.runIntakeCommand(1.0)
+              ).withTimeout(5.0),
+              Commands.parallel(
+                drivetrain.stopCommand();
+                intake.stopCommand();
+              )
+          );
+      }
+  }
+  ```
+
+  ```c++
+  // TODO
+  ```
+
+#### Non-Static Command Factories
 If we want to avoid the verbosity of adding required subsystems as parameters to our factory methods, we can instead construct an instance of our ``AutoRoutines`` class and inject our subsystems through the constructor:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    public class AutoRoutines {
-
-        private Drivetrain drivetrain;
-
-        private Intake intake;
-
-        public AutoRoutines(Drivetrain drivetrain, Intake intake) {
+  ```java
+  public class AutoRoutines {
+      private Drivetrain drivetrain;
+      private Intake intake;
+      public AutoRoutines(Drivetrain drivetrain, Intake intake) {
           this.drivetrain = drivetrain;
           this.intake = intake;
-        }
-
-        public Command driveAndIntake() {
-            return Commands.sequence(
-                Commands.parallel(
-                    drivetrain.driveCommand(0.5, 0.5),
-                    intake.runIntakeCommand(1.0)
-                ).withTimeout(5.0),
-                Commands.parallel(
+      }
+      public Command driveAndIntake() {
+          return Commands.sequence(
+              Commands.parallel(
+                  drivetrain.driveCommand(0.5, 0.5),
+                  intake.runIntakeCommand(1.0)
+              ).withTimeout(5.0),
+              Commands.parallel(
                   drivetrain.stopCommand();
                   intake.stopCommand();
-                )
-            );
-        }
-
-        public Command driveThenIntake() {
-            return Commands.sequence(
-                drivetrain.driveCommand(0.5, 0.5).withTimeout(5.0),
-                drivetrain.stopCommand(),
-                intake.runIntakeCommand(1.0).withTimeout(5.0),
-                intake.stopCommand()
-            );
-        }
-    }
-
-  .. code-block:: c++
-
-    // TODO
+              )
+          );
+      }
+      public Command driveThenIntake() {
+          return Commands.sequence(
+              drivetrain.driveCommand(0.5, 0.5).withTimeout(5.0),
+              drivetrain.stopCommand(),
+              intake.runIntakeCommand(1.0).withTimeout(5.0),
+              intake.stopCommand()
+          );
+      }
+  }
+  ```
+
+  ```c++
+  // TODO
+  ```
 
 Then, elsewhere in our code, we can instantiate an single instance of this class and use it to produce several commands:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    AutoRoutines autoRoutines = new AutoRoutines(this.drivetrain, this.intake);
-
-    Command driveAndIntake = autoRoutines.driveAndIntake();
-    Command driveThenIntake = autoRoutines.driveThenIntake();
-
-    Command drivingAndIntakingSequence = Commands.sequence(
-      autoRoutines.driveAndIntake(),
-      autoRoutines.driveThenIntake()
-    );
-
-  .. code-block:: c++
+  ```java
+  AutoRoutines autoRoutines = new AutoRoutines(this.drivetrain, this.intake);
+  Command driveAndIntake = autoRoutines.driveAndIntake();
+  Command driveThenIntake = autoRoutines.driveThenIntake();
+  Command drivingAndIntakingSequence = Commands.sequence(
+    autoRoutines.driveAndIntake(),
+    autoRoutines.driveThenIntake()
+  );
+  ```
 
-    // TODO
+  ```c++
+  // TODO
+  ```
 
-Capturing State in Inline Commands
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Capturing State in Inline Commands
 
 Inline commands are extremely concise and expressive, but do not offer explicit support for commands that have their own internal state (such as a drivetrain trajectory following command, which may encapsulate an entire controller).  This is often accomplished by instead writing a Command class, which will be covered later in this article.
 
@@ -282,99 +254,91 @@ However, it is still possible to ergonomically write a stateful command composit
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    public Command turnToAngle(double targetDegrees) {
-        // Create a controller for the inline command to capture
-        PIDController controller = new PIDController(Constants.kTurnToAngleP, 0, 0);
-        // We can do whatever configuration we want on the created state before returning from the factory
-        controller.setPositionTolerance(Constants.kTurnToAngleTolerance);
-
-        // Try to turn at a rate proportional to the heading error until we're at the setpoint, then stop
-        return run(() -> arcadeDrive(0,-controller.calculate(gyro.getHeading(), targetDegrees)))
-            .until(controller::atSetpoint)
-            .andThen(runOnce(() -> arcadeDrive(0, 0)));
-    }
-
-  .. code-block:: c++
-
-    // TODO
+  ```java
+  public Command turnToAngle(double targetDegrees) {
+      // Create a controller for the inline command to capture
+      PIDController controller = new PIDController(Constants.kTurnToAngleP, 0, 0);
+      // We can do whatever configuration we want on the created state before returning from the factory
+      controller.setPositionTolerance(Constants.kTurnToAngleTolerance);
+      // Try to turn at a rate proportional to the heading error until we're at the setpoint, then stop
+      return run(() -> arcadeDrive(0,-controller.calculate(gyro.getHeading(), targetDegrees)))
+          .until(controller::atSetpoint)
+          .andThen(runOnce(() -> arcadeDrive(0, 0)));
+  }
+  ```
+
+  ```c++
+  // TODO
+  ```
 
 This pattern works very well in Java so long as the captured state is "effectively final" - i.e., it is never reassigned.  This means that we cannot directly define and capture primitive types (e.g. `int`, `double`, `boolean`) - to circumvent this, we need to wrap any state primitives in a mutable container type (the same way `PIDController` wraps its internal `kP`, `kI`, and `kD` values).
 
-Writing Command Classes
-^^^^^^^^^^^^^^^^^^^^^^^
+### Writing Command Classes
 
 Another possible way to define reusable commands is to write a class that represents the command.  This is typically done by subclassing either ``Command`` or one of the ``CommandGroup`` classes.
 
-Subclassing Command
-~~~~~~~~~~~~~~~~~~~~~~~
+#### Subclassing Command
 
 Returning to our simple intake command from earlier, we could do this by creating a new subclass of ``Command`` that implements the necessary ``initialize`` and ``end`` methods.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    public class RunIntakeCommand extends Command {
-        private Intake m_intake;
-
-        public RunIntakeCommand(Intake intake) {
-            this.m_intake = intake;
-            addRequirements(intake);
-        }
-
-        @Override
-        public void initialize() {
-            m_intake.set(1.0);
-        }
-
-        @Override
-        public void end(boolean interrupted) {
-            m_intake.set(0.0);
-        }
-
-        // execute() defaults to do nothing
-        // isFinished() defaults to return false
-    }
-
-  .. code-block:: c++
-
-    // TODO
+  ```java
+  public class RunIntakeCommand extends Command {
+      private Intake m_intake;
+      public RunIntakeCommand(Intake intake) {
+          this.m_intake = intake;
+          addRequirements(intake);
+      }
+      @Override
+      public void initialize() {
+          m_intake.set(1.0);
+      }
+      @Override
+      public void end(boolean interrupted) {
+          m_intake.set(0.0);
+      }
+      // execute() defaults to do nothing
+      // isFinished() defaults to return false
+  }
+  ```
+
+  ```c++
+  // TODO
+  ```
 
 This, however, is just as cumbersome as the original repetitive code, if not more verbose. The only two lines that really matter in this entire file are the two calls to ``intake.set()``, yet there are over 20 lines of boilerplate code! Not to mention, doing this for a lot of robot actions quickly clutters up a robot project with dozens of small files. Nevertheless, this might feel more "natural," particularly for programmers who prefer to stick closely to an object-oriented model.
 
 This approach should be used for commands with internal state (not subsystem state!), as the class can have fields to manage said state. It may also be more intuitive to write commands with complex logic as classes, especially for those less experienced with command composition. As the command is detached from any specific subsystem class and the required subsystem objects are injected through the constructor, this approach deals well with commands involving multiple subsystems.
 
 
-Subclassing Command Groups
-~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Subclassing Command Groups
 
 If we wish to write composite commands as their own classes, we may write a constructor-only subclass of the most exterior group type. For example, an intake-then-outtake sequence (with single-subsystem commands defined as instance factory methods) can look like this:
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    public class IntakeThenOuttake extends SequentialCommandGroup {
-        public IntakeThenOuttake(Intake intake) {
-            super(
-                intake.runIntakeCommand(1.0).withTimeout(2.0),
-                new WaitCommand(2.0),
-                intake.runIntakeCommand(-1).withTimeout(5.0)
-            );
-        }
-    }
-  .. code-block:: c++
-
-    // TODO
+  ```java
+  public class IntakeThenOuttake extends SequentialCommandGroup {
+      public IntakeThenOuttake(Intake intake) {
+          super(
+              intake.runIntakeCommand(1.0).withTimeout(2.0),
+              new WaitCommand(2.0),
+              intake.runIntakeCommand(-1).withTimeout(5.0)
+          );
+      }
+  }
+  ```
+
+  ```c++
+  // TODO
+  ```
 
 This is relatively short and minimizes boilerplate. It is also comfortable to use in a purely object-oriented paradigm and may be more acceptable to novice programmers. However, it has some downsides. For one, it is not immediately clear exactly what type of command group this is from the constructor definition: it is better to define this in a more inline and expressive way, particularly when nested command groups start showing up. Additionally, it requires a new file for every single command group, even when the groups are conceptually related.
 
 As with factory methods, state can be defined and captured within the command group subclass constructor, if necessary.
 
-Summary
-^^^^^^^
+### Summary
 
 .. list-table::
    :header-rows: 1
diff --git a/source/docs/software/commandbased/pid-subsystems-commands.rst b/source/docs/software/commandbased/pid-subsystems-commands.rst
index 06fa236496..bd5bdd8bf6 100644
--- a/source/docs/software/commandbased/pid-subsystems-commands.rst
+++ b/source/docs/software/commandbased/pid-subsystems-commands.rst
@@ -1,289 +1,39 @@
 .. include:: <isonum.txt>
 
-PID Control through PIDSubsystems and PIDCommands
+PID Control in Command-based
 =================================================
 
 .. note:: For a description of the WPILib PID control features used by these command-based wrappers, see :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib`.
 
-One of the most common control algorithms used in FRC\ |reg| is the :term:`PID` controller. WPILib offers its own :ref:`PIDController <docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib>` class to help teams implement this functionality on their robots. To further help teams integrate PID control into a command-based robot project, the command-based library includes two convenience wrappers for the ``PIDController`` class: ``PIDSubsystem``, which integrates the PID controller into a subsystem, and ``PIDCommand``, which integrates the PID controller into a command.
-
-PIDSubsystems
--------------
-
-The ``PIDSubsystem`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_p_i_d_subsystem.html>`__) allows users to conveniently create a subsystem with a built-in ``PIDController``.  In order to use the ``PIDSubsystem`` class, users must create a subclass of it.
-
-Creating a PIDSubsystem
-^^^^^^^^^^^^^^^^^^^^^^^
-
-.. note:: If ``periodic`` is overridden when inheriting from ``PIDSubsystem``, make sure to call ``super.periodic()``! Otherwise, PID functionality will not work properly.
-
-When subclassing ``PIDSubsystem``, users must override two abstract methods to provide functionality that the class will use in its ordinary operation:
-
-getMeasurement()
-~~~~~~~~~~~~~~~~
-
-.. tab-set::
-
-   .. tab-item:: Java
-     :sync: Java
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
-         :language: java
-         :lines: 84-84
-
-   .. tab-item:: C++
-     :sync: C++
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
-         :language: cpp
-         :lines: 80-80
-
-The ``getMeasurement`` method returns the current measurement of the process variable.  The ``PIDSubsystem`` will automatically call this method from its ``periodic()`` block, and pass its value to the control loop.
-
-Users should override this method to return whatever sensor reading they wish to use as their process variable measurement.
-
-useOutput()
-~~~~~~~~~~~
+One of the most common control algorithms used in FRC\ |reg| is the :term:`PID` controller. WPILib offers its own :ref:`PIDController <docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib>` class to help teams implement this functionality on their robots. The following example is from the RapidReactCommandBot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot>`__) and shows how PIDControllers can be used within the command-based framework:
 
 .. tab-set::
 
    .. tab-item:: Java
-     :sync: Java
+      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Shooter.java
          :language: java
-         :lines: 77-77
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
    .. tab-item:: C++
-     :sync: C++
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
-         :language: cpp
-         :lines: 88-88
-
-
-The ``useOutput()`` method consumes the output of the PID controller, and the current setpoint (which is often useful for computing a feedforward).  The ``PIDSubsystem`` will automatically call this method from its ``periodic()`` block, and pass it the computed output of the control loop.
-
-Users should override this method to pass the final computed control output to their subsystem's motors.
-
-Passing In the Controller
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Users must also pass in a ``PIDController`` to the ``PIDSubsystem`` base class through the superclass constructor call of their subclass.  This serves to specify the PID gains, as well as the period (if the user is using a non-standard main robot loop period).
-
-Additional modifications (e.g. enabling continuous input) can be made to the controller in the constructor body by calling ``getController()``.
-
-Using a PIDSubsystem
-^^^^^^^^^^^^^^^^^^^^
-
-Once an instance of a ``PIDSubsystem`` subclass has been created, it can be used by commands through the following methods:
-
-setSetpoint()
-~~~~~~~~~~~~~
-
-The ``setSetpoint()`` method can be used to set the setpoint of the ``PIDSubsystem``.  The subsystem will automatically track to the setpoint using the defined output:
-
-.. tab-set-code::
-
-  .. code-block:: java
-
-    // The subsystem will track to a setpoint of 5.
-    examplePIDSubsystem.setSetpoint(5);
-
-  .. code-block:: c++
-
-    // The subsystem will track to a setpoint of 5.
-    examplePIDSubsystem.SetSetpoint(5);
-
-enable() and disable()
-~~~~~~~~~~~~~~~~~~~~~~
-
-The ``enable()`` and ``disable()`` methods enable and disable the PID control of the ``PIDSubsystem``.  When the subsystem is enabled, it will automatically run the control loop and track the setpoint.  When it is disabled, no control is performed.
-
-Additionally, the ``enable()`` method resets the internal ``PIDController``, and the ``disable()`` method calls the user-defined `useOutput()`_ method with both output and setpoint set to ``0``.
-
-Full PIDSubsystem Example
-^^^^^^^^^^^^^^^^^^^^^^^^^
-
-What does a ``PIDSubsystem`` look like when used in practice? The following examples are taken from the FrisbeeBot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Frisbeebot>`__):
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++
-     :sync: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-Using a ``PIDSubsystem`` with commands can be very simple:
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
-      :language: java
-      :lines: 26-27, 80-87
-
-  .. tab-item:: C++
-     :sync: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h
-      :language: c++
-      :lines: 45-49
-      :linenos:
-      :lineno-start: 45
-
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 25-31
-      :linenos:
-      :lineno-start: 25
-
-PIDCommand
-----------
-
-The ``PIDCommand`` class allows users to easily create commands with a built-in PIDController.
-
-Creating a PIDCommand
-^^^^^^^^^^^^^^^^^^^^^
-
-A ``PIDCommand`` can be created two ways - by subclassing the ``PIDCommand`` class, or by defining the command :ref:`inline <docs/software/commandbased/organizing-command-based:Inline Commands>`. Both methods ultimately extremely similar, and ultimately the choice of which to use comes down to where the user desires that the relevant code be located.
-
-.. note:: If subclassing ``PIDCommand`` and overriding any methods, make sure to call the ``super`` version of those methods! Otherwise, PID functionality will not work properly.
-
-In either case, a ``PIDCommand`` is created by passing the necessary parameters to its constructor (if defining a subclass, this can be done with a `super()` call):
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
-      :language: java
-      :lines: 27-41
-      :linenos:
-      :lineno-start: 27
-
-  .. tab-item:: C++
-     :sync: C++
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
-      :language: c++
-      :lines: 28-42
-      :linenos:
-      :lineno-start: 28
-
-controller
-~~~~~~~~~~
-
-The ``controller`` parameter is the ``PIDController`` object that will be used by the command.  By passing this in, users can specify the PID gains and the period for the controller (if the user is using a nonstandard main robot loop period).
-
-When subclassing ``PIDCommand``, additional modifications (e.g. enabling continuous input) can be made to the controller in the constructor body by calling ``getController()``.
-
-measurementSource
-~~~~~~~~~~~~~~~~~
-
-The ``measurementSource`` parameter is a function (usually passed as a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`) that returns the measurement of the process variable.  Passing in the ``measurementSource`` function in ``PIDCommand`` is functionally analogous to overriding the `getMeasurement()`_ function in ``PIDSubsystem``.
-
-When subclassing ``PIDCommand``, advanced users may further modify the measurement supplier by modifying the class's ``m_measurement`` field.
-
-setpointSource
-~~~~~~~~~~~~~~
-
-The ``setpointSource`` parameter is a function (usually passed as a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`) that returns the current setpoint for the control loop.  If only a constant setpoint is needed, an overload exists that takes a constant setpoint rather than a supplier.
-
-When subclassing ``PIDCommand``, advanced users may further modify the setpoint supplier by modifying the class's ``m_setpoint`` field.
-
-useOutput
-~~~~~~~~~
-
-The ``useOutput`` parameter is a function (usually passed as a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`) that consumes the output and setpoint of the control loop.  Passing in the ``useOutput`` function in ``PIDCommand`` is functionally analogous to overriding the `useOutput()`_ function in ``PIDSubsystem``.
-
-When subclassing ``PIDCommand``, advanced users may further modify the output consumer by modifying the class's ``m_useOutput`` field.
-
-requirements
-~~~~~~~~~~~~
-
-Like all inlineable commands, ``PIDCommand`` allows the user to specify its subsystem requirements as a constructor parameter.
-
-Full PIDCommand Example
-^^^^^^^^^^^^^^^^^^^^^^^
-
-What does a ``PIDCommand`` look like when used in practice? The following examples are from the GyroDriveCommands example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands>`__):
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++
-     :sync: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngle.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-And, for an :ref:`inlined <docs/software/commandbased/organizing-command-based:Inline Commands>`  example:
-
-.. tab-set::
+      :sync: C++ (Header)
 
-  .. tab-item:: Java
-     :sync: Java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
-      :language: java
-      :lines: 64-79
-      :linenos:
-      :lineno-start: 64
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-  .. tab-item:: C++
-     :sync: C++
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 34-49
-      :linenos:
-      :lineno-start: 34
+A ``PIDController`` is declared inside the ``Shooter`` subsystem. It is used by ``ShootCommand`` alongside a feedforward to spin the shooter flywheel to the specified velocity. Once the ``PIDController`` reaches the specified velocity, the ``ShootCommand`` runs the feeder.
diff --git a/source/docs/software/commandbased/profile-subsystems-commands.rst b/source/docs/software/commandbased/profile-subsystems-commands.rst
index 49b769e30c..cfa21cb119 100644
--- a/source/docs/software/commandbased/profile-subsystems-commands.rst
+++ b/source/docs/software/commandbased/profile-subsystems-commands.rst
@@ -1,259 +1,45 @@
-Motion Profiling through TrapezoidProfileSubsystems and TrapezoidProfileCommands
+Motion Profiling in Command-based
 ================================================================================
 
 .. note:: For a description of the WPILib motion profiling features used by these command-based wrappers, see :ref:`docs/software/advanced-controls/controllers/trapezoidal-profiles:Trapezoidal Motion Profiles in WPILib`.
 
-.. note:: The ``TrapezoidProfile`` command wrappers are generally intended for composition with custom or external controllers.  For combining trapezoidal motion profiling with WPILib's ``PIDController``, see :doc:`profilepid-subsystems-commands`.
+.. note:: The ``TrapezoidProfile`` class, used on its own, is most useful when composed with external controllers, such as a "smart" motor controller with a built-in PID functionality.  For combining trapezoidal motion profiling with WPILib's ``PIDController``, see :doc:`profilepid-subsystems-commands`.
 
-When controlling a mechanism, is often desirable to move it smoothly between two positions, rather than to abruptly change its setpoint.  This is called "motion-profiling," and is supported in WPILib through the ``TrapezoidProfile`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/trajectory/TrapezoidProfile.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_trapezoid_profile.html>`__).
+When controlling a mechanism, is often desirable to move it smoothly between two positions, rather than to abruptly change its setpoint.  This is called "motion-profiling," and is supported in WPILib through the ``TrapezoidProfile`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile.html)).
 
-To further help teams integrate motion profiling into their command-based robot projects, WPILib includes two convenience wrappers for the ``TrapezoidProfile`` class: ``TrapezoidProfileSubsystem``, which automatically generates and executes motion profiles in its ``periodic()`` method, and the ``TrapezoidProfileCommand``, which executes a single user-provided ``TrapezoidProfile``.
+.. note:: In C++, the ``TrapezoidProfile`` class is templated on the unit type used for distance measurements, which may be angular or linear.  The passed-in values *must* have units consistent with the distance units, or a compile-time error will be thrown.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
-TrapezoidProfileSubsystem
--------------------------
-
-.. note:: In C++, the ``TrapezoidProfileSubsystem`` class is templated on the unit type used for distance measurements, which may be angular or linear.  The passed-in values *must* have units consistent with the distance units, or a compile-time error will be thrown.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
-
-The ``TrapezoidProfileSubsystem`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_trapezoid_profile_subsystem.html>`__) will automatically create and execute trapezoidal motion profiles to reach the user-provided goal state.  To use the ``TrapezoidProfileSubsystem`` class, users must create a subclass of it.
-
-Creating a TrapezoidProfileSubsystem
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. note:: If ``periodic`` is overridden when inheriting from ``TrapezoidProfileSubsystem``, make sure to call ``super.periodic()``! Otherwise, motion profiling functionality will not work properly.
-
-When subclassing ``TrapezoidProfileSubsystem``, users must override a single abstract method to provide functionality that the class will use in its ordinary operation:
-
-useState()
-~~~~~~~~~~
+The following examples are taken from the DriveDistanceOffboard example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard>`__):
 
 .. tab-set::
 
    .. tab-item:: Java
-     :sync: Java
+      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.0.0-alpha-2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
          :language: java
-         :lines: 105-105
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-   .. tab-item:: C++
-     :sync: C++
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.0.0-alpha-2/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h
          :language: c++
-         :lines: 75-75
-
-
-The ``useState()`` method consumes the current state of the motion profile.  The ``TrapezoidProfileSubsystem`` will automatically call this method from its ``periodic()`` block, and pass it the motion profile state corresponding to the subsystem's current progress through the motion profile.
-
-Users may do whatever they want with this state; a typical use case (as shown in the `Full TrapezoidProfileSubsystem Example`_) is to use the state to obtain a setpoint and a feedforward for an external "smart" motor controller.
-
-Constructor Parameters
-~~~~~~~~~~~~~~~~~~~~~~
-
-Users must pass in a set of ``TrapezoidProfile.Constraints`` to the ``TrapezoidProfileSubsystem`` base class through the superclass constructor call of their subclass.  This serves to constrain the automatically-generated profiles to a given maximum velocity and acceleration.
-
-Users must also pass in an initial position for the mechanism.
-
-Advanced users may pass in an alternate value for the loop period, if a non-standard main loop period is being used.
-
-Using a TrapezoidProfileSubsystem
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Once an instance of a ``TrapezoidProfileSubsystem`` subclass has been created, it can be used by commands through the following methods:
-
-setGoal()
-~~~~~~~~~
-
-.. note:: If you wish to set the goal to a simple distance with an implicit target velocity of zero, an overload of ``setGoal()`` exists that takes a single distance value, rather than a full motion profile state.
-
-The ``setGoal()`` method can be used to set the goal state of the ``TrapezoidProfileSubsystem``.  The subsystem will automatically execute a profile to the goal, passing the current state at each iteration to the provided `useState()`_ method.
-
-.. tab-set-code::
-
-  .. code-block:: java
-
-    // The subsystem will execute a profile to a position of 5 and a velocity of 3.
-    examplePIDSubsystem.setGoal(new TrapezoidProfile.State(5, 3);
-
-  .. code-block:: c++
-
-    // The subsystem will execute a profile to a position of 5 meters and a velocity of 3 mps.
-    examplePIDSubsyste.SetGoal({5_m, 3_mps});
-
-enable() and disable()
-~~~~~~~~~~~~~~~~~~~~~~
-
-The ``enable()`` and ``disable()`` methods enable and disable the motion profiling control of the ``TrapezoidProfileSubsystem``.  When the subsystem is enabled, it will automatically run the control loop and call ``useState()`` periodically.  When it is disabled, no control is performed.
-
-Full TrapezoidProfileSubsystem Example
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The following examples are taking from the ArmbotOffobard example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard>`__):
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-Using a ``TrapezoidProfileSubsystem`` with commands can be quite simple:
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
-      :language: java
-      :lines: 52-58
-      :linenos:
-      :lineno-start: 52
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-  .. tab-item:: C++
-     :sync: C++
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 24-29
-      :linenos:
-      :lineno-start: 24
-
-TrapezoidProfileCommand
------------------------
-
-.. note:: In C++, the ``TrapezoidProfileCommand`` class is templated on the unit type used for distance measurements, which may be angular or linear.  The passed-in values *must* have units consistent with the distance units, or a compile-time error will be thrown.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
-
-The ``TrapezoidProfileCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_trapezoid_profile_command.html>`__) allows users to create a command that will execute a single ``TrapezoidProfile``, passing its current state at each iteration to a user-defined function.
-
-Creating a TrapezoidProfileCommand
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-A ``TrapezoidProfileCommand`` can be created two ways - by subclassing the ``TrapezoidProfileCommand`` class, or by defining the command :ref:`inline <docs/software/commandbased/organizing-command-based:Inline Commands>`.  Both methods are ultimately extremely similar, and ultimately the choice of which to use comes down to where the user desires that the relevant code be located.
-
-.. note:: If subclassing ``TrapezoidProfileCommand`` and overriding any methods, make sure to call the ``super`` version of those methods! Otherwise, motion profiling functionality will not work properly.
-
-In either case, a ``TrapezoidProfileCommand`` is created by passing the necessary parameters to its constructor (if defining a subclass, this can be done with a `super()` call):
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
-      :language: java
-      :lines: 28-43
-      :linenos:
-      :lineno-start: 28
-
-  .. tab-item:: C++
-     :sync: C++
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
-      :language: c++
-      :lines: 35-49
-      :linenos:
-      :lineno-start: 35
-
-profile
-~~~~~~~
-
-The ``profile`` parameter is the ``TrapezoidProfile`` object that will be executed by the command.  By passing this in, users specify the motion constraints of the profile that the command will use.
-
-output
-~~~~~~
-
-The ``output`` parameter is a function (usually passed as a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`) that consumes the output and setpoint of the control loop.  Passing in the ``useOutput`` function in ``PIDCommand`` is functionally analogous to overriding the `useState()`_ function in ``PIDSubsystem``.
-
-goal
-~~~~
-
-The ``goal`` parameter is a function that supplies the desired state of the motion profile. This can be used to change the goal at runtime if desired.
-
-currentState
-~~~~~~~~~~~~
-
-The ``currentState`` parameter is a function that supplies the starting state of the motion profile. Combined with ``goal``, this can be used to dynamically generate and follow any motion profile at runtime.
-
-requirements
-~~~~~~~~~~~~
-
-Like all inlineable commands, ``TrapezoidProfileCommand`` allows the user to specify its subsystem requirements as a constructor parameter.
-
-Full TrapezoidProfileCommand Example
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The following examples are taking from the DriveDistanceOffboard example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard>`__):
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/commands/DriveDistanceProfiled.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-And, for an :ref:`inlined <docs/software/commandbased/organizing-command-based:Inline Commands>` example:
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
-      :language: java
-      :lines: 66-85
-      :linenos:
-      :lineno-start: 66
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.0.0-alpha-2/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-  .. tab-item:: C++
-     :sync: C++
+There are two commands in this example. They function very similarly, with the main difference being that one resets encoders, and the other doesn't, which allows encoder data to be preserved.
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 37-60
-      :linenos:
-      :lineno-start: 37
+The subsystem contains a ``TrapezoidProfile`` with a ``Timer``.  The timer is used along with a ``kDt`` constant of 0.02 seconds to calculate the current and next states from the ``TrapezoidProfile``.  The current state is fed to the "smart" motor controller for PID control, while the current and next state are used to calculate feedforward outputs.  Both commands end when ``isFinished(0)`` returns true, which means that the profile has reached the goal state.
diff --git a/source/docs/software/commandbased/profilepid-subsystems-commands.rst b/source/docs/software/commandbased/profilepid-subsystems-commands.rst
index 695657817b..ed26178c10 100644
--- a/source/docs/software/commandbased/profilepid-subsystems-commands.rst
+++ b/source/docs/software/commandbased/profilepid-subsystems-commands.rst
@@ -1,176 +1,18 @@
 .. include:: <isonum.txt>
 
-Combining Motion Profiling and PID in Command-Based
-===================================================
+# Combining Motion Profiling and PID in Command-Based
 
 .. note:: For a description of the WPILib PID control features used by these command-based wrappers, see :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib`.
 
-A common FRC\ |reg| controls solution is to pair a trapezoidal motion profile for setpoint generation with a PID controller for setpoint tracking.  To facilitate this, WPILib includes its own :ref:`ProfiledPIDController <docs/software/advanced-controls/controllers/profiled-pidcontroller:Combining Motion Profiling and PID Control with ProfiledPIDController>` class.  To further aid teams in integrating this functionality into their robots, the command-based framework contains two convenience wrappers for the ``ProfiledPIDController`` class: ``ProfiledPIDSubsystem``, which integrates the controller into a subsystem, and ``ProfiledPIDCommand``, which integrates the controller into a command.
+A common FRC\ |reg| controls solution is to pair a trapezoidal motion profile for setpoint generation with a PID controller for setpoint tracking.  To facilitate this, WPILib includes its own :ref:`ProfiledPIDController <docs/software/advanced-controls/controllers/profiled-pidcontroller:Combining Motion Profiling and PID Control with ProfiledPIDController>` class.  To further aid teams in integrating this functionality into their robots, the command-based framework contains a convenience wrapper for the ``ProfiledPIDController`` class: ``ProfiledPIDCommand``, which integrates the controller into a command.
 
-ProfiledPIDSubsystem
---------------------
-
-.. note:: In C++, the ``ProfiledPIDSubsystem`` class is templated on the unit type used for distance measurements, which may be angular or linear.  The passed-in values *must* have units consistent with the distance units, or a compile-time error will be thrown.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
-
-The ``ProfiledPIDSubsystem`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_profiled_p_i_d_subsystem.html>`__) allows users to conveniently create a subsystem with a built-in PIDController.  In order to use the ``ProfiledPIDSubsystem`` class, users must create a subclass of it.
-
-Creating a ProfiledPIDSubsystem
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. note:: If ``periodic`` is overridden when inheriting from ``ProfiledPIDSubsystem``, make sure to call ``super.periodic()``! Otherwise, control functionality will not work properly.
-
-When subclassing ``ProfiledPIDSubsystem``, users must override two abstract methods to provide functionality that the class will use in its ordinary operation:
-
-getMeasurement()
-~~~~~~~~~~~~~~~~
-
-.. tab-set::
-
-   .. tab-item:: Java
-     :sync: Java
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
-         :language: java
-         :lines: 85-85
-
-   .. tab-item:: C++
-     :sync: C++
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
-         :language: cpp
-         :lines: 103-103
-
-The ``getMeasurement`` method returns the current measurement of the process variable.  The ``PIDSubsystem`` will automatically call this method from its ``periodic()`` block, and pass its value to the control loop.
-
-Users should override this method to return whatever sensor reading they wish to use as their process variable measurement.
-
-useOutput()
-~~~~~~~~~~~
-
-.. tab-set::
-
-   .. tab-item:: Java
-     :sync: Java
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
-         :language: java
-         :lines: 78-78
-
-   .. tab-item:: C++
-     :sync: C++
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
-         :language: cpp
-         :lines: 112-112
-
-
-The ``useOutput()`` method consumes the output of the Profiled PID controller, and the current setpoint state (which is often useful for computing a feedforward).  The ``PIDSubsystem`` will automatically call this method from its ``periodic()`` block, and pass it the computed output of the control loop.
-
-Users should override this method to pass the final computed control output to their subsystem's motors.
-
-Passing In the Controller
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Users must also pass in a ``ProfiledPIDController`` to the ``ProfiledPIDSubsystem`` base class through the superclass constructor call of their subclass.  This serves to specify the PID gains, the motion profile constraints, and the period (if the user is using a non-standard main robot loop period).
-
-Additional modifications (e.g. enabling continuous input) can be made to the controller in the constructor body by calling ``getController()``.
-
-Using a ProfiledPIDSubsystem
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Once an instance of a ``PIDSubsystem`` subclass has been created, it can be used by commands through the following methods:
-
-setGoal()
-~~~~~~~~~
-
-.. note:: If you wish to set the goal to a simple distance with an implicit target velocity of zero, an overload of ``setGoal()`` exists that takes a single distance value, rather than a full motion profile state.
-
-The ``setGoal()`` method can be used to set the setpoint of the ``PIDSubsystem``.  The subsystem will automatically track to the setpoint using the defined output:
-
-.. tab-set-code::
-
-  .. code-block:: java
-
-    // The subsystem will track to a goal of 5 meters and velocity of 3 meters per second.
-    examplePIDSubsystem.setGoal(5, 3);
-
-  .. code-block:: c++
-
-    // The subsystem will track to a goal of 5 meters and velocity of 3 meters per second.
-    examplePIDSubsystem.SetGoal({5_m, 3_mps});
-
-enable() and disable()
-~~~~~~~~~~~~~~~~~~~~~~
-
-The ``enable()`` and ``disable()`` methods enable and disable the automatic control of the ``ProfiledPIDSubsystem``.  When the subsystem is enabled, it will automatically run the motion profile and the control loop and track to the goal.  When it is disabled, no control is performed.
-
-Additionally, the ``enable()`` method resets the internal ``ProfiledPIDController``, and the ``disable()`` method calls the user-defined `useOutput()`_ method with both output and setpoint set to ``0``.
-
-Full ProfiledPIDSubsystem Example
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-What does a PIDSubsystem look like when used in practice? The following examples are taken from the ArmBot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmBot>`__):
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-Using a ``ProfiledPIDSubsystem`` with commands can be very simple:
-
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
-      :language: java
-      :lines: 55-64
-      :linenos:
-      :lineno-start: 55
-
-  .. tab-item:: C++
-     :sync: C++
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 33-39
-      :linenos:
-      :lineno-start: 32
-
-ProfiledPIDCommand
-------------------
+## ProfiledPIDCommand
 
 .. note:: In C++, the ``ProfiledPIDCommand`` class is templated on the unit type used for distance measurements, which may be angular or linear.  The passed-in values *must* have units consistent with the distance units, or a compile-time error will be thrown.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
-The ``ProfiledPIDCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_profiled_p_i_d_command.html>`__) allows users to easily create commands with a built-in ProfiledPIDController.
+The ``ProfiledPIDCommand`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_profiled_p_i_d_command.html)) allows users to easily create commands with a built-in ProfiledPIDController.
 
-Creating a PIDCommand
-^^^^^^^^^^^^^^^^^^^^^
+### Creating a PIDCommand
 
 A ``ProfiledPIDCommand`` can be created two ways - by subclassing the ``ProfiledPIDCommand`` class, or by defining the command :ref:`inline <docs/software/commandbased/organizing-command-based:Inline Commands>`.  Both methods ultimately extremely similar, and ultimately the choice of which to use comes down to where the user desires that the relevant code be located.
 
@@ -180,89 +22,83 @@ In either case, a ``ProfiledPIDCommand`` is created by passing the necessary par
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
-      :language: java
-      :lines: 29-44
-      :linenos:
-      :lineno-start: 29
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
+         :language: java
+         :lines: 29-44
+         :linenos:
+         :lineno-start: 29
 
-  .. tab-item:: C++
-     :sync: C++
+   .. tab-item:: C++
+      :sync: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
-      :language: c++
-      :lines: 38-52
-      :linenos:
-      :lineno-start: 38
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
+         :language: c++
+         :lines: 38-52
+         :linenos:
+         :lineno-start: 38
 
-controller
-~~~~~~~~~~
+#### controller
 
 The ``controller`` parameter is the ``ProfiledPIDController`` object that will be used by the command.  By passing this in, users can specify the PID gains, the motion profile constraints, and the period for the controller (if the user is using a nonstandard main robot loop period).
 
 When subclassing ``ProfiledPIDCommand``, additional modifications (e.g. enabling continuous input) can be made to the controller in the constructor body by calling ``getController()``.
 
-measurementSource
-~~~~~~~~~~~~~~~~~
+#### measurementSource
 
-The ``measurementSource`` parameter is a function (usually passed as a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`) that returns the measurement of the process variable.  Passing in the ``measurementSource`` function in ``ProfiledPIDCommand`` is functionally analogous to overriding the `getMeasurement()`_ function in ``ProfiledPIDSubsystem``.
+The ``measurementSource`` parameter is a function (usually passed as a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`) that returns the measurement of the process variable.
 
 When subclassing ``ProfiledPIDCommand``, advanced users may further modify the measurement supplier by modifying the class's ``m_measurement`` field.
 
-goalSource
-~~~~~~~~~~
+#### goalSource
 
 The ``goalSource`` parameter is a function (usually passed as a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`) that returns the current goal state for the mechanism.  If only a constant goal is needed, an overload exists that takes a constant goal rather than a supplier.  Additionally, if goal velocities are desired to be zero, overloads exist that take a constant distance rather than a full profile state.
 
 When subclassing ``ProfiledPIDCommand``, advanced users may further modify the setpoint supplier by modifying the class's ``m_goal`` field.
 
-useOutput
-~~~~~~~~~
+#### useOutput
 
-The ``useOutput`` parameter is a function (usually passed as a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`) that consumes the output and setpoint state of the control loop.  Passing in the ``useOutput`` function in ``ProfiledPIDCommand`` is functionally analogous to overriding the `useOutput()`_ function in ``ProfiledPIDSubsystem``.
+The ``useOutput`` parameter is a function (usually passed as a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`) that consumes the output and setpoint state of the control loop.
 
 When subclassing ``ProfiledPIDCommand``, advanced users may further modify the output consumer by modifying the class's ``m_useOutput`` field.
 
-requirements
-~~~~~~~~~~~~
+#### requirements
 
 Like all inlineable commands, ``ProfiledPIDCommand`` allows the user to specify its subsystem requirements as a constructor parameter.
 
-Full ProfiledPIDCommand Example
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Full ProfiledPIDCommand Example
 
-What does a ``ProfiledPIDCommand`` look like when used in practice? The following examples are from the GyroDriveCommands example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands>`__):
+What does a ``ProfiledPIDCommand`` look like when used in practice? The following examples are from the GyroDriveCommands example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands)):
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngleProfiled.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
-
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngleProfiled.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
+         :language: java
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
+
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngleProfiled.h
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
+
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngleProfiled.cpp
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
 .. todo:: inlined example?
diff --git a/source/docs/software/commandbased/structuring-command-based-project.rst b/source/docs/software/commandbased/structuring-command-based-project.rst
index 6136f396fc..f7edaa1c02 100644
--- a/source/docs/software/commandbased/structuring-command-based-project.rst
+++ b/source/docs/software/commandbased/structuring-command-based-project.rst
@@ -1,9 +1,8 @@
-Structuring a Command-Based Robot Project
-=========================================
+# Structuring a Command-Based Robot Project
 
 While users are free to use the command-based libraries however they like (and advanced users are encouraged to do so), new users may want some guidance on how to structure a basic command-based robot project.
 
-A standard template for a command-based robot project is included in the WPILib examples repository (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/templates/commandbased>`__). This section will walk users through the structure of this template.
+A standard template for a command-based robot project is included in the WPILib examples repository ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/templates/commandbased)). This section will walk users through the structure of this template.
 
 The root package/directory generally will contain four classes:
 
@@ -11,21 +10,20 @@ The root package/directory generally will contain four classes:
 
 The root directory will also contain two sub-packages/sub-directories: ``Subsystems`` contains all user-defined subsystem classes. ``Commands`` contains all user-defined command classes.
 
-Robot
------
+## Robot
 
-As ``Robot`` (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java>`__, `C++ (Header) <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h>`__, `C++ (Source) <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp>`__) is responsible for the program’s control flow, and command-based is an declarative paradigm designed to minimize the amount of attention the user has to pay to explicit program control flow, the ``Robot`` class of a command-based project should be mostly empty. However, there are a few important things that must be included
+As ``Robot`` ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java), [C++ (Header)](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h), [C++ (Source)](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp)) is responsible for the program’s control flow, and command-based is an declarative paradigm designed to minimize the amount of attention the user has to pay to explicit program control flow, the ``Robot`` class of a command-based project should be mostly empty. However, there are a few important things that must be included
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
-      :language: java
-      :lines: 22-31
-      :linenos:
-      :lineno-start: 22
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+         :language: java
+         :lines: 22-31
+         :linenos:
+         :lineno-start: 22
 
 In Java, an instance of ``RobotContainer`` should be constructed during the ``robotInit()`` method - this is important, as most of the declarative robot setup will be called from the ``RobotContainer`` constructor.
 
@@ -33,197 +31,193 @@ In C++, this is not needed as RobotContainer is a value member and will be const
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
-      :language: java
-      :lines: 33-47
-      :linenos:
-      :lineno-start: 33
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+         :language: java
+         :lines: 33-47
+         :linenos:
+         :lineno-start: 33
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
-      :language: c++
-      :lines: 11-22
-      :linenos:
-      :lineno-start: 11
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+         :language: c++
+         :lines: 11-22
+         :linenos:
+         :lineno-start: 11
 
 The inclusion of the ``CommandScheduler.getInstance().run()`` call in the ``robotPeriodic()`` method is essential; without this call, the scheduler will not execute any scheduled commands. Since ``TimedRobot`` runs with a default main loop frequency of 50Hz, this is the frequency with which periodic command and subsystem methods will be called. It is not recommended for new users to call this method from anywhere else in their code.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
-      :language: java
-      :lines: 56-65
-      :linenos:
-      :lineno-start: 56
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+         :language: java
+         :lines: 56-65
+         :linenos:
+         :lineno-start: 56
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
-      :language: c++
-      :lines: 32-42
-      :linenos:
-      :lineno-start: 33
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+         :language: c++
+         :lines: 32-42
+         :linenos:
+         :lineno-start: 33
 
 The ``autonomousInit()`` method schedules an autonomous command returned by the ``RobotContainer`` instance. The logic for selecting which autonomous command to run can be handled inside of ``RobotContainer``.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
-      :language: java
-      :lines: 71-80
-      :linenos:
-      :lineno-start: 71
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+         :language: java
+         :lines: 71-80
+         :linenos:
+         :lineno-start: 71
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
-      :language: c++
-      :lines: 46-55
-      :linenos:
-      :lineno-start: 46
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+         :language: c++
+         :lines: 46-55
+         :linenos:
+         :lineno-start: 46
 
 The ``teleopInit()`` method cancels any still-running autonomous commands. This is generally good practice.
 
 Advanced users are free to add additional code to the various init and periodic methods as they see fit; however, it should be noted that including large amounts of imperative robot code in ``Robot.java`` is contrary to the declarative design philosophy of the command-based paradigm, and can result in confusingly-structured/disorganized code.
 
-RobotContainer
---------------
+## RobotContainer
 
-This class (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java>`__, `C++ (Header) <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h>`__, `C++ (Source) <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp>`__) is where most of the setup for your command-based robot will take place. In this class, you will define your robot’s subsystems and commands, bind those commands to triggering events (such as buttons), and specify which command you will run in your autonomous routine. There are a few aspects of this class new users may want explanations for:
+This class ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java), [C++ (Header)](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h), [C++ (Source)](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp)) is where most of the setup for your command-based robot will take place. In this class, you will define your robot’s subsystems and commands, bind those commands to triggering events (such as buttons), and specify which command you will run in your autonomous routine. There are a few aspects of this class new users may want explanations for:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
-      :language: java
-      :lines: 23
-      :linenos:
-      :lineno-start: 23
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+         :language: java
+         :lines: 23
+         :linenos:
+         :lineno-start: 23
 
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
-      :language: c++
-      :lines: 32
-      :linenos:
-      :lineno-start: 32
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
+         :language: c++
+         :lines: 32
+         :linenos:
+         :lineno-start: 32
 
 Notice that subsystems are declared as private fields in ``RobotContainer``. This is in stark contrast to the previous incarnation of the command-based framework, but is much more-aligned with agreed-upon object-oriented best-practices. If subsystems are declared as global variables, it allows the user to access them from anywhere in the code. While this can make certain things easier (for example, there would be no need to pass subsystems to commands in order for those commands to access them), it makes the control flow of the program much harder to keep track of as it is not immediately obvious which parts of the code can change or be changed by which other parts of the code. This also circumvents the ability of the resource-management system to do its job, as ease-of-access makes it easy for users to accidentally make conflicting calls to subsystem methods outside of the resource-managed commands.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
-      :language: java
-      :lines: 61
-      :linenos:
-      :lineno-start: 61
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+         :language: java
+         :lines: 61
+         :linenos:
+         :lineno-start: 61
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 34
-      :linenos:
-      :lineno-start: 34
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+         :language: c++
+         :lines: 34
+         :linenos:
+         :lineno-start: 34
 
 Since subsystems are declared as private members, they must be explicitly passed to commands (a pattern called "dependency injection") in order for those commands to call methods on them.  This is done here with ``ExampleCommand``, which is passed a pointer to an ``ExampleSubsystem``.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
-      :language: java
-      :lines: 35-52
-      :linenos:
-      :lineno-start: 35
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+         :language: java
+         :lines: 35-52
+         :linenos:
+         :lineno-start: 35
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 19-30
-      :linenos:
-      :lineno-start: 19
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+         :language: c++
+         :lines: 19-30
+         :linenos:
+         :lineno-start: 19
 
 As mentioned before, the ``RobotContainer()`` constructor is where most of the declarative setup for the robot should take place, including button bindings, configuring autonomous selectors, etc. If the constructor gets too "busy," users are encouraged to migrate code into separate subroutines (such as the ``configureBindings()`` method included by default) which are called from the constructor.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
-      :language: java
-      :lines: 54-63
-      :linenos:
-      :lineno-start: 54
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+         :language: java
+         :lines: 54-63
+         :linenos:
+         :lineno-start: 54
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 32-35
-      :linenos:
-      :lineno-start: 32
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+         :language: c++
+         :lines: 32-35
+         :linenos:
+         :lineno-start: 32
 
 Finally, the ``getAutonomousCommand()`` method provides a convenient way for users to send their selected autonomous command to the main ``Robot`` class (which needs access to it to schedule it when autonomous starts).
 
-Constants
----------
+## Constants
 
-The ``Constants`` class (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java>`__, `C++ (Header) <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h>`__) (in C++ this is not a class, but simply a header file in which several namespaces are defined) is where globally-accessible robot constants (such as speeds, unit conversion factors, PID gains, and sensor/motor ports) can be stored. It is recommended that users separate these constants into individual inner classes corresponding to subsystems or robot modes, to keep variable names shorter.
+The ``Constants`` class ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java), [C++ (Header)](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h)) (in C++ this is not a class, but simply a header file in which several namespaces are defined) is where globally-accessible robot constants (such as speeds, unit conversion factors, PID gains, and sensor/motor ports) can be stored. It is recommended that users separate these constants into individual inner classes corresponding to subsystems or robot modes, to keep variable names shorter.
 
 In Java, all constants should be declared ``public static final`` so that they are globally accessible and cannot be changed.  In C++, all constants should be ``constexpr``.
 
 For more illustrative examples of what a ``constants`` class should look like in practice, see those of the various command-based example projects:
 
-* FrisbeeBot (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h>`__)
-* GyroDriveCommands (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h>`__)
-* Hatchbot (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h>`__)
-* RapidReactCommandBot (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h>`__)
+* FrisbeeBot ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java), [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h))
+* GyroDriveCommands ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java), [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h))
+* Hatchbot ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java), [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h))
+* RapidReactCommandBot ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java), [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h))
 
 In Java, it is recommended that the constants be used from other classes by statically importing the necessary inner class. An ``import static`` statement imports the static namespace of a class into the class in which you are working, so that any ``static`` constants can be referenced directly as if they had been defined in that class.  In C++, the same effect can be attained with ``using namespace``:
 
 .. tab-set-code::
 
-  .. code-block:: java
+   ```java
+   import static edu.wpi.first.wpilibj.templates.commandbased.Constants.OIConstants.*;
+   ```
 
-    import static edu.wpi.first.wpilibj.templates.commandbased.Constants.OIConstants.*;
+   ```c++
+   using namespace OIConstants;
+   ```
 
-  .. code-block:: c++
-
-    using namespace OIConstants;
-
-Subsystems
-----------
+## Subsystems
 
 User-defined subsystems should go in this package/directory.
 
-Commands
---------
+## Commands
 
 User-defined commands should go in this package/directory.
diff --git a/source/docs/software/commandbased/subsystems.rst b/source/docs/software/commandbased/subsystems.rst
index 286ff950a7..2e602e7bee 100644
--- a/source/docs/software/commandbased/subsystems.rst
+++ b/source/docs/software/commandbased/subsystems.rst
@@ -1,150 +1,210 @@
-Subsystems
-==========
+# Subsystems
 
 Subsystems are the basic unit of robot organization in the command-based paradigm. A subsystem is an abstraction for a collection of robot hardware that *operates together as a unit*. Subsystems form an :term:`encapsulation` for this hardware, "hiding" it from the rest of the robot code and restricting access to it except through the subsystem’s public methods. Restricting the access in this way provides a single convenient place for code that might otherwise be duplicated in multiple places (such as scaling motor outputs or checking limit switches) if the subsystem internals were exposed. It also allows changes to the specific details of how the subsystem works (the "implementation") to be isolated from the rest of robot code, making it far easier to make substantial changes if/when the design constraints change.
 
 Subsystems also serve as the backbone of the ``CommandScheduler``\ ’s resource management system. Commands may declare resource requirements by specifying which subsystems they interact with; the scheduler will never concurrently schedule more than one command that requires a given subsystem. An attempt to schedule a command that requires a subsystem that is already-in-use will either interrupt the currently-running command or be ignored, based on the running command's :ref:`Interruption Behavior <docs/software/commandbased/commands:getInterruptionBehavior>`.
 
-Subsystems can be associated with "default commands" that will be automatically scheduled when no other command is currently using the subsystem. This is useful for "background" actions such as controlling the robot drive, keeping an arm held at a setpoint, or stopping motors when the subsystem isn't used. Similar functionality can be achieved in the subsystem’s ``periodic()`` method, which is run once per run of the scheduler; teams should try to be consistent within their codebase about which functionality is achieved through either of these methods. Subsystems are represented in the command-based library by the ``Subsystem`` interface (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Subsystem.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_subsystem.html>`__).
+Subsystems can be associated with "default commands" that will be automatically scheduled when no other command is currently using the subsystem. This is useful for "background" actions such as controlling the robot drive, keeping an arm held at a setpoint, or stopping motors when the subsystem isn't used. Similar functionality can be achieved in the subsystem’s ``periodic()`` method, which is run once per run of the scheduler; teams should try to be consistent within their codebase about which functionality is achieved through either of these methods. Subsystems are represented in the command-based library by the ``Subsystem`` interface ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Subsystem.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_subsystem.html), :external:py:class:`Python <commands2.Subsystem>`).
 
-Creating a Subsystem
---------------------
+## Creating a Subsystem
 
-The recommended method to create a subsystem for most users is to subclass the abstract ``SubsystemBase`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/SubsystemBase.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_subsystem_base.html>`__), as seen in the command-based template (`Java <https://github.com/wpilibsuite/allwpilib/blob/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h>`__):
+The recommended method to create a subsystem for most users is to subclass the abstract ``SubsystemBase`` class in ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/SubsystemBase.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_subsystem_base.html)), as seen in the command-based template ([Java](https://github.com/wpilibsuite/allwpilib/blob/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java), [C++](https://github.com/wpilibsuite/allwpilib/blob/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h)). In Python, because Python does not have interfaces, the ``Subsystem`` class is a concrete class that can be subclassed directly (:external:py:class:`Python <commands2.Subsystem>`). The following example demonstrates how to create a simple subsystem in each of the supported languages:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
-      :language: java
-      :lines: 7-
-      :linenos:
-      :lineno-start: 7
-
-  .. tab-item:: C++
-     :sync: C++
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+   .. tab-item:: Java
+      :sync: Java
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
+         :language: java
+         :lines: 7-
+         :linenos:
+         :lineno-start: 7
+
+   .. tab-item:: C++
+      :sync: C++
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
+
+   .. tab-item:: Python
+      :sync: Python
+
+      ```python
+      from commands2 import Command
+      from commands2 import Subsystem
+      class ExampleSubsystem(Subsystem):
+          def __init__(self):
+              """Creates a new ExampleSubsystem."""
+              super().__init__()
+          def exampleMethodCommand()->Command:
+              """
+              Example command factory method.
+               :return a command
+              """
+              return self.runOnce(
+                  lambda: # one-time action goes here #
+              )
+          def exampleCondition(self)->bool:
+              """
+              An example method querying a boolean state of the subsystem (for example, a digital sensor).
+              :return value of some boolean subsystem state, such as a digital sensor.
+              """
+              #Query some boolean state, such as a digital sensor.
+              return False
+          def periodic(self):
+              # This method will be called once per scheduler run
+              pass
+          def simulationPeriodic(self):
+              # This method will be called once per scheduler run during simulation
+              pass
+      ```
 
 This class contains a few convenience features on top of the basic ``Subsystem`` interface: it automatically calls the ``register()`` method in its constructor to register the subsystem with the scheduler (this is necessary for the ``periodic()`` method to be called when the scheduler runs), and also implements the ``Sendable`` interface so that it can be sent to the dashboard to display/log relevant status information.
 
 Advanced users seeking more flexibility may simply create a class that implements the ``Subsystem`` interface.
 
-Simple Subsystem Example
-------------------------
+## Simple Subsystem Example
 
-What might a functional subsystem look like in practice? Below is a simple pneumatically-actuated hatch mechanism from the HatchBotTraditional example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__):
+What might a functional subsystem look like in practice? Below is a simple pneumatically-actuated hatch mechanism from the HatchBotTraditional example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional), [Python](https://github.com/robotpy/examples/tree/main/HatchbotTraditional)):
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
+         :language: java
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+   .. tab-item:: Python
+      :sync: Python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotTraditional/subsystems/hatchsubsystem.py
+         :language: python
+         :lines: 7-
+         :linenos:
+         :lineno-start: 7
 
 Notice that the subsystem hides the presence of the DoubleSolenoid from outside code (it is declared ``private``), and instead publicly exposes two higher-level, descriptive robot actions: ``grabHatch()`` and ``releaseHatch()``. It is extremely important that "implementation details" such as the double solenoid be "hidden" in this manner; this ensures that code outside the subsystem will never cause the solenoid to be in an unexpected state. It also allows the user to change the implementation (for instance, a motor could be used instead of a pneumatic) without any of the code outside of the subsystem having to change with it.
 
-Alternatively, instead of writing ``void`` public methods that are called from commands, we can define the public methods as factories that return a command. Consider the following from the HatchBotInlined example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotInlined>`__):
+Alternatively, instead of writing ``void`` public methods that are called from commands, we can define the public methods as factories that return a command. Consider the following from the HatchBotInlined example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotInlined), [Python](https://github.com/robotpy/examples/tree/main/HatchbotInlined)):
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
+         :language: java
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-Note the qualification of the ``RunOnce`` factory used here: this isn't the static factory in ``Commands``! Subsystems have similar instance factories that return commands requiring ``this`` subsystem. Here, the ``Subsystem.runOnce(Runnable)`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Subsystem.html#runOnce(java.lang.Runnable)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_subsystem.html#a6b8b3b7dab6f54fb8635e335dad448fe>`__) is used.
+   .. tab-item:: Python
+      :sync: Python
 
-For a comparison between these options, see :ref:`docs/software/commandbased/organizing-command-based:Instance Command Factory Methods`.
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotInlined/subsystems/hatchsubsystem.py
+         :language: python
+         :lines: 7-
+         :linenos:
+         :lineno-start: 7
 
-Periodic
---------
 
-Subsystems have a ``periodic`` method that is called once every scheduler iteration (usually, once every 20 ms). This method is typically used for telemetry and other periodic actions that do not interfere with whatever command is requiring the subsystem.
+Note the qualification of the ``RunOnce`` factory used here: this isn't the static factory in ``Commands``! Subsystems have similar instance factories that return commands requiring ``this`` (Java/C++) or ``self`` (Python) subsystem. Here, the ``Subsystem.runOnce(Runnable)`` factory ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Subsystem.html#runOnce(java.lang.Runnable)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_subsystem.html#a6b8b3b7dab6f54fb8635e335dad448fe), :external:py:meth:`Python <commands2.Subsystem.runOnce>`) is used.
 
-.. tab-set::
-
-  .. tab-item:: Java
-     :sync: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 117-125
-      :linenos:
-      :lineno-start: 117
+For a comparison between these options, see :ref:`docs/software/commandbased/organizing-command-based:Instance Command Factory Methods`.
 
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+## Periodic
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
-      :language: c++
-      :lines: 30-30
-      :linenos:
-      :lineno-start: 30
+Subsystems have a ``periodic`` method that is called once every scheduler iteration (usually, once every 20 ms). This method is typically used for telemetry and other periodic actions that do not interfere with whatever command is requiring the subsystem.
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+.. tab-set::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
-      :language: c++
-      :lines: 30-36
-      :linenos:
-      :lineno-start: 30
+   .. tab-item:: Java
+      :sync: Java
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 117-125
+         :linenos:
+         :lineno-start: 117
+
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
+         :language: c++
+         :lines: 30-30
+         :linenos:
+         :lineno-start: 30
+
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 30-36
+         :linenos:
+         :lineno-start: 30
+
+   .. tab-item:: Python
+      :sync: Python
+
+      ```python
+      def periodic(self):
+          #Update the odometry in the periodic block
+          self.odometry.update(
+              Rotation2d.fromDegrees(getHeading()),
+              self.leftEncoder.getDistance(),
+              self.rightEncoder.getDistance())
+          self.fieldSim.setRobotPose(getPose())
+      ```
 
 There is also a ``simulationPeriodic()`` method that is similar to ``periodic()`` except that it is only run during :doc:`Simulation </docs/software/wpilib-tools/robot-simulation/introduction>` and can be used to update the state of the robot.
 
-Default Commands
-----------------
+## Default Commands
 
 .. note:: In the C++ command-based library, the CommandScheduler `owns` the default command object.
 
@@ -154,22 +214,30 @@ Setting a default command for a subsystem is very easy; one simply calls ``Comma
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    CommandScheduler.getInstance().setDefaultCommand(exampleSubsystem, exampleCommand);
+   ```java
+   CommandScheduler.getInstance().setDefaultCommand(exampleSubsystem, exampleCommand);
+   ```
 
-  .. code-block:: c++
+   ```c++
+   CommandScheduler.GetInstance().SetDefaultCommand(exampleSubsystem, std::move(exampleCommand));
+   ```
 
-    CommandScheduler.GetInstance().SetDefaultCommand(exampleSubsystem, std::move(exampleCommand));
+   ```python
+   CommandScheduler.getInstance().setDefaultCommand(exampleSubsystem, exampleCommand)
+   ```
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    exampleSubsystem.setDefaultCommand(exampleCommand);
+   ```java
+   exampleSubsystem.setDefaultCommand(exampleCommand);
+   ```
 
-  .. code-block:: c++
+   ```c++
+   exampleSubsystem.SetDefaultCommand(std::move(exampleCommand));
+   ```
 
-    exampleSubsystem.SetDefaultCommand(std::move(exampleCommand));
+   ```python
+   exampleSubsystem.setDefaultCommand(exampleCommand)
+   ```
 
 .. note:: A command that is assigned as the default command for a subsystem must require that subsystem.
diff --git a/source/docs/software/commandbased/what-is-command-based.rst b/source/docs/software/commandbased/what-is-command-based.rst
index f8ac61a8c7..76438aacac 100644
--- a/source/docs/software/commandbased/what-is-command-based.rst
+++ b/source/docs/software/commandbased/what-is-command-based.rst
@@ -1,50 +1,61 @@
-What Is "Command-Based" Programming?
-====================================
+# What Is "Command-Based" Programming?
 
 WPILib supports a robot programming methodology called "command-based" programming. In general, "command-based" can refer both the general programming paradigm, and to the set of WPILib library resources included to facilitate it.
 
-"Command-based" programming is one possible :term:`design pattern` for robot software. It is not the only way to write a robot program, but it is a very effective one. Command-based robot code tends to be clean, extensible, and (with some tricks) easy to re-use from year to year.
+"Command-based" programming is one possible :term:`design pattern` for robot software. It is not the only way to write a robot program, but it is a very effective one. Command-based robot code tends to be clean, extensible, and (with some tricks) easy to reuse from year to year.
 
 The command-based paradigm is also an example of :term:`declarative programming`. The command-based library allow users to define desired robot behaviors while minimizing the amount of iteration-by-iteration robot logic that they must write. For example, in the command-based program, a user can specify that "the robot should perform an action when a condition is true" (note the use of a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`):
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  new Trigger(condition::get).onTrue(Commands.runOnce(() -> piston.set(DoubleSolenoid.Value.kForward)));
+  ```
 
-    new Trigger(condition::get).onTrue(Commands.runOnce(() -> piston.set(DoubleSolenoid.Value.kForward)));
+  ```c++
+  Trigger([&condition] { return condition.Get()).OnTrue(frc2::cmd::RunOnce([&piston] { piston.Set(frc::DoubleSolenoid::kForward)));
+  ```
 
-  .. code-block:: c++
-
-    Trigger([&condition] { return condition.Get()).OnTrue(frc2::cmd::RunOnce([&piston] { piston.Set(frc::DoubleSolenoid::kForward)));
+  ```python
+  Trigger(condition.get).onTrue(Commands.runOnce(lambda: piston.set(DoubleSolenoid.Value.kForward)))
+  ```
 
 In contrast, without using command-based, the user would need to check the button state every iteration, and perform the appropriate action based on the state of the button.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    if(condition.get()) {
-      if(!pressed) {
-        piston.set(DoubleSolenoid.Value.kForward);
-        pressed = true;
-      }
-    } else {
-      pressed = false;
+  ```java
+  if(condition.get()) {
+    if(!pressed) {
+      piston.set(DoubleSolenoid.Value.kForward);
+      pressed = true;
     }
-
-  .. code-block:: c++
-
-    if(condition.Get()) {
-      if(!pressed) {
-        piston.Set(frc::DoubleSolenoid::kForward);
-        pressed = true;
-      }
-    } else {
-      pressed = false;
+  } else {
+    pressed = false;
+  }
+  ```
+
+  ```c++
+  if(condition.Get()) {
+    if(!pressed) {
+      piston.Set(frc::DoubleSolenoid::kForward);
+      pressed = true;
     }
-
-Subsystems and Commands
------------------------
+  } else {
+    pressed = false;
+  }
+  ```
+
+  ```python
+  if condition.get():
+      if not pressed:
+          piston.set(DoubleSolenoid.Value.kForward)
+          pressed = True
+      else:
+          pressed = False
+  ```
+
+## Subsystems and Commands
 
 .. image:: diagrams/subsystems-and-commands.drawio.svg
    :alt: image of subsystems and commands
@@ -55,16 +66,14 @@ The command-based pattern is based around two core abstractions: **commands**, a
 
 **Subsystems** represent independently-controlled collections of robot hardware (such as motor controllers, sensors, pneumatic actuators, etc.) that operate together. Subsystems back the resource-management system of command-based: only one command can use a given subsystem at the same time. Subsystems allow users to "hide" the internal complexity of their actual hardware from the rest of their code - this both simplifies the rest of the robot code, and allows changes to the internal details of a subsystem's hardware without also changing the rest of the robot code.
 
-How Commands Are Run
---------------------
+## How Commands Are Run
 
 .. note:: For a more detailed explanation, see :doc:`command-scheduler`.
 
-Commands are run by the ``CommandScheduler`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_scheduler.html>`__) singleton, which polls triggers (such as buttons) for commands to schedule, preventing resource conflicts, and executing scheduled commands. The scheduler's ``run()`` method must be called; it is generally recommended to call it from the ``robotPeriodic()`` method of the ``Robot`` class, which is run at a default frequency of 50Hz (once every 20ms).
+Commands are run by the ``CommandScheduler`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/CommandScheduler.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_scheduler.html), :external:py:class:`Python <commands2.CommandScheduler>`) singleton, which polls triggers (such as buttons) for commands to schedule, preventing resource conflicts, and executing scheduled commands. The scheduler's ``run()`` method must be called; it is generally recommended to call it from the ``robotPeriodic()`` method of the ``Robot`` class, which is run at a default frequency of 50Hz (once every 20ms).
 
 Multiple commands can run concurrently, as long as they do not require the same resources on the robot. Resource management is handled on a per-subsystem basis: commands specify which subsystems they interact with, and the scheduler will ensure that no more more than one command requiring a given subsystem is scheduled at a time. This ensures that, for example, users will not end up with two different pieces of code attempting to set the same motor controller to different output values.
 
-Command Compositions
---------------------
+## Command Compositions
 
 It is often desirable to build complex commands from simple pieces. This is achievable by creating a :term:`composition` of commands. The command-based library provides several types of :doc:`command compositions <command-compositions>` for teams to use, and users may write their own. As command compositions are commands themselves, they may be used in a :term:`recursive composition`. That is to say - one can create a command compositions from multiple command compositions. This provides an extremely powerful way of building complex robot actions from simple components.
diff --git a/source/docs/software/convenience-features/event-based.rst b/source/docs/software/convenience-features/event-based.rst
index d6506ddf88..c093b0adfd 100644
--- a/source/docs/software/convenience-features/event-based.rst
+++ b/source/docs/software/convenience-features/event-based.rst
@@ -1,114 +1,105 @@
-Event-Based Programming With EventLoop
-======================================
+# Event-Based Programming With EventLoop
 
 Many operations in robot code are driven by certain conditions; buttons are one common example. Conditions can be polled with an :term:`imperative programming` style by using an ``if`` statement in a periodic method. As an alternative, WPILib offers an :term:`event-driven programming` style of API in the shape of the ``EventLoop`` and ``BooleanEvent`` classes.
 
-.. note:: The example code here is taken from the EventLoop example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java>`__/`C++ <https://github.com/wpilibsuite/allwpilib/blob/v2023.2.1/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp>`__).
+.. note:: The example code here is taken from the EventLoop example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java)/[C++](https://github.com/wpilibsuite/allwpilib/blob/v2023.2.1/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp)).
 
-EventLoop
----------
+## EventLoop
 
 The ``EventLoop`` class is a "container" for pairs of conditions and actions, which can be polled using the ``poll()``/``Poll()`` method. When polled, every condition will be queried and if it returns ``true`` the action associated with the condition will be executed.
 
 .. tab-set-code::
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
       :language: java
-      :lines: 33-33, 87-91
+      :lines: 32-33, 86-90
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: c++
       :lines: 94-94, 81-81
 
 .. warning:: The ``EventLoop``'s ``poll()`` method should be called consistently in a ``*Periodic()`` method. Failure to do this will result in unintended loop behavior.
 
-BooleanEvent
-------------
+## BooleanEvent
 
-The ``BooleanEvent`` class represents a boolean condition: a ``BooleanSupplier`` (`Java <https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/BooleanSupplier.html>`__) / ``std::function<bool()>`` (C++).
+The ``BooleanEvent`` class represents a boolean condition: a ``BooleanSupplier`` ([Java](https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/BooleanSupplier.html)) / ``std::function<bool()>`` (C++).
 
 To bind a callback action to the condition, use ``ifHigh()``/``IfHigh()``:
 
 .. tab-set-code::
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
       :language: java
-      :lines: 72-78
+      :lines: 71-77
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: c++
       :lines: 64-72
 
 Remember that button binding is *declarative*: bindings only need to be declared once, ideally some time during robot initialization. The library handles everything else.
 
-Composing Conditions
---------------------
+## Composing Conditions
 
 ``BooleanEvent`` objects can be composed to create composite conditions. In C++ this is done using operators when applicable, other cases and all compositions in Java are done using methods.
 
-and() / &&
-^^^^^^^^^^
+### and() / &&
 
 The ``and()``/``&&`` composes two ``BooleanEvent`` conditions into a third condition that returns ``true`` only when **both** of the conditions return ``true``.
 
 .. tab-set-code::
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
       :language: java
-      :lines: 44-49
+      :lines: 43-48
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: c++
       :lines: 35-40
 
-or() / ||
-^^^^^^^^^
+### or() / ||
 
 The ``or()``/``||`` composes two ``BooleanEvent`` conditions into a third condition that returns ``true`` only when **either** of the conditions return ``true``.
 
 .. tab-set-code::
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
       :language: java
-      :lines: 51-57
+      :lines: 50-56
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: c++
       :lines: 42-47
 
-negate() / !
-^^^^^^^^^^^^
+### negate() / !
 
 The ``negate()``/``!`` composes one ``BooleanEvent`` condition into another condition that returns the opposite of what the original conditional did.
 
 .. tab-set-code::
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
       :language: java
-      :lines: 46-47
+      :lines: 45-46
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: c++
       :lines: 37-38
 
-debounce() / Debounce()
-^^^^^^^^^^^^^^^^^^^^^^^
+### debounce() / Debounce()
 
 To avoid rapid repeated activation, conditions (especially those originating from digital inputs) can be debounced with the :ref:`WPILib Debouncer class <docs/software/advanced-controls/filters/debouncer:Debouncer>` using the `debounce` method:
 
 .. tab-set-code::
 
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
       :language: java
-      :lines: 71-75
+      :lines: 70-74
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: c++
       :lines: 64-69
 
-rising(), falling()
-^^^^^^^^^^^^^^^^^^^
+### rising(), falling()
 
 Often times it is desired to bind an action not to the *current* state of a condition, but instead to when that state *changes*. For example, binding an action to when a button is newly pressed as opposed to when it is held. This is what the ``rising()`` and ``falling()`` decorators do: ``rising()`` will return a condition that is ``true`` only when the original condition returned ``true`` in the *current* polling and ``false`` in the *previous* polling; ``falling()`` returns a condition that returns ``true`` only on a transition from ``true`` to ``false``.
 
@@ -116,27 +107,26 @@ Often times it is desired to bind an action not to the *current* state of a cond
 
 .. tab-set-code::
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
       :language: java
-      :lines: 79-84
+      :lines: 78-83
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: c++
       :lines: 74-78
 
-Downcasting ``BooleanEvent`` Objects
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Downcasting ``BooleanEvent`` Objects
 
 To convert ``BooleanEvent`` objects to other types, most commonly the ``Trigger`` subclass used for :ref:`binding commands to conditions <docs/software/commandbased/binding-commands-to-triggers:Binding Commands to Triggers>`, the generic ``castTo()``/``CastTo()`` decorator exists:
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  Trigger trigger = booleanEvent.castTo(Trigger::new);
+  ```
 
-    Trigger trigger = booleanEvent.castTo(Trigger::new);
-
-  .. code-block:: c++
-
-    frc2::Trigger trigger = booleanEvent.CastTo<frc2::Trigger>();
+  ```c++
+  frc2::Trigger trigger = booleanEvent.CastTo<frc2::Trigger>();
+  ```
 
 .. note:: In Java, the parameter expects a method reference to a constructor accepting an ``EventLoop`` instance and a ``BooleanSupplier``. Due to the lack of method references, this parameter is defaulted in C++ as long as a constructor of the form ``Type(frc::EventLoop*, std::function<bool()>)`` exists.
diff --git a/source/docs/software/convenience-features/index.rst b/source/docs/software/convenience-features/index.rst
index 70a11e23da..eb2b68194d 100644
--- a/source/docs/software/convenience-features/index.rst
+++ b/source/docs/software/convenience-features/index.rst
@@ -1,5 +1,4 @@
-Convenience Features
-====================
+# Convenience Features
 This section covers some general convenience features that be used with other advanced programming features.
 
 .. toctree::
diff --git a/source/docs/software/convenience-features/scheduling-functions.rst b/source/docs/software/convenience-features/scheduling-functions.rst
index 301e02b89a..3fbfd53644 100644
--- a/source/docs/software/convenience-features/scheduling-functions.rst
+++ b/source/docs/software/convenience-features/scheduling-functions.rst
@@ -1,5 +1,4 @@
-Scheduling Functions at Custom Frequencies
-==========================================
+# Scheduling Functions at Custom Frequencies
 ``TimedRobot``'s ``addPeriodic()`` method allows one to run custom methods at a rate faster than the default ``TimedRobot`` periodic update rate (20 ms). Previously, teams had to make a ``Notifier`` to run feedback controllers more often than the ``TimedRobot`` loop period of 20 ms (running ``TimedRobot`` more often than this is not advised). Now, users can run feedback controllers more often than the main robot loop, but synchronously with the ``TimedRobot`` periodic functions, eliminating potential thread safety issues.
 
 The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda (the function to run), along with the requested period and an optional offset from the common starting time. The optional third argument is useful for scheduling a function in a different timeslot relative to the other ``TimedRobot`` periodic methods.
@@ -11,68 +10,63 @@ The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda
     .. tab-item:: Java
       :sync: Java
 
-        .. code-block:: java
-
-            public class Robot extends TimedRobot {
-                private Joystick m_joystick = new Joystick(0);
-                private Encoder m_encoder = new Encoder(1, 2);
-                private Spark m_motor = new Spark(1);
-                private PIDController m_controller = new PIDController(1.0, 0.0, 0.5, 0.01);
-
-                public Robot() {
-                    addPeriodic(() -> {
-                        m_motor.set(m_controller.calculate(m_encoder.getRate()));
-                    }, 0.01, 0.005);
-                }
-
-                @Override
-                public teleopPeriodic() {
-                    if (m_joystick.getRawButtonPressed(1)) {
-                        if (m_controller.getSetpoint() == 0.0) {
-                            m_controller.setSetpoint(30.0);
-                        } else {
-                            m_controller.setSetpoint(0.0);
-                        }
+        ```java
+        public class Robot extends TimedRobot {
+            private Joystick m_joystick = new Joystick(0);
+            private Encoder m_encoder = new Encoder(1, 2);
+            private Spark m_motor = new Spark(1);
+            private PIDController m_controller = new PIDController(1.0, 0.0, 0.5, 0.01);
+            public Robot() {
+                addPeriodic(() -> {
+                    m_motor.set(m_controller.calculate(m_encoder.getRate()));
+                }, 0.01, 0.005);
+            }
+            @Override
+            public teleopPeriodic() {
+                if (m_joystick.getRawButtonPressed(1)) {
+                    if (m_controller.getSetpoint() == 0.0) {
+                        m_controller.setSetpoint(30.0);
+                    } else {
+                        m_controller.setSetpoint(0.0);
                     }
                 }
-              }
+            }
+        }
+        ```
 
     .. tab-item:: C++ (Header)
        :sync: C++ (Header)
 
-        .. code-block:: cpp
-
-            class Robot : public frc::TimedRobot {
-             private:
-              frc::Joystick m_joystick{0};
-              frc::Encoder m_encoder{1, 2};
-              frc::Spark m_motor{1};
-              frc::PIDController m_controller{1.0, 0.0, 0.5, 10_ms};
-
-              Robot();
-
-              void TeleopPeriodic() override;
-            };
+        ```c++
+        class Robot : public frc::TimedRobot {
+         private:
+          frc::Joystick m_joystick{0};
+          frc::Encoder m_encoder{1, 2};
+          frc::Spark m_motor{1};
+          frc::PIDController m_controller{1.0, 0.0, 0.5, 10_ms};
+          Robot();
+          void TeleopPeriodic() override;
+        };
+        ```
 
     .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-        .. code-block:: cpp
-
-            void Robot::Robot() {
-              AddPeriodic([&] {
-                m_motor.Set(m_controller.Calculate(m_encoder.GetRate()));
-              }, 10_ms, 5_ms);
-            }
-
-            void Robot::TeleopPeriodic() {
-              if (m_joystick.GetRawButtonPressed(1)) {
-                if (m_controller.GetSetpoint() == 0.0) {
-                  m_controller.SetSetpoint(30.0);
-                } else {
-                  m_controller.SetSetpoint(0.0);
-                }
-              }
+        ```c++
+        void Robot::Robot() {
+          AddPeriodic([&] {
+            m_motor.Set(m_controller.Calculate(m_encoder.GetRate()));
+          }, 10_ms, 5_ms);
+        }
+        void Robot::TeleopPeriodic() {
+          if (m_joystick.GetRawButtonPressed(1)) {
+            if (m_controller.GetSetpoint() == 0.0) {
+              m_controller.SetSetpoint(30.0);
+            } else {
+              m_controller.SetSetpoint(0.0);
             }
+          }
+        }
+        ```
 
 The ``teleopPeriodic()`` method in this example runs every 20 ms, and the controller update is run every 10 ms with an offset of 5 ms from when ``teleopPeriodic()`` runs so that their timeslots don't conflict (e.g., ``teleopPeriodic()`` runs at 0 ms, 20 ms, 40 ms, etc.; the controller runs at 5 ms, 15 ms, 25 ms, etc.).
diff --git a/source/docs/software/dashboards/advantagescope.rst b/source/docs/software/dashboards/advantagescope.rst
new file mode 100644
index 0000000000..23b0cdd265
--- /dev/null
+++ b/source/docs/software/dashboards/advantagescope.rst
@@ -0,0 +1,19 @@
+# AdvantageScope
+
+AdvantageScope is a data visualization tool for :ref:`NetworkTables <docs/software/networktables/networktables-intro:What is NetworkTables>`, :ref:`WPILib data logs <docs/software/telemetry/datalog:On-Robot Telemetry Recording Into Data Logs>`, and :ref:`Driver Station logs <docs/software/driverstation/driver-station-log-viewer:Driver Station Log File Viewer>`. It is a programmer's tool (rather than a competition dashboard) and can be used to debug real or simulated robot code from a log file or live over the network.
+
+In Visual Studio Code, press :kbd:`Ctrl+Shift+P` and type ``WPILib`` or click the WPILib logo in the top right to launch the WPILib Command Palette. Select :guilabel:`Start Tool`, then select :guilabel:`AdvantageScope`. You can also open any supported log file in AdvantageScope using a standard file browser.
+
+.. note:: Detailed documentation for AdvantageScope can be found [here](https://docs.advantagescope.org). It is also available offline by clicking the book icon in the tab bar.
+
+The capabilities of AdvantageScope include:
+
+- Display of numeric, textual, and boolean data in graphs and tables
+- Visualization of pose and mechanism data in 2D and 3D, including custom 3D robot models
+- Automatic synchronization of data sources, including log files, match videos, and [Zebra MotionWorks](https://www.firstinspires.org/robotics/frc/blog/2023-zebra-motionworks-for-first-robotics-competition-at-the-first-championship) tracking
+- Specialized displays for joysticks, swerve module states, and console text
+- Analysis of numeric fields using histograms and statistical measures
+- Multiple export options, including CSV and WPILib data logs
+
+.. image:: images/advantagescope.png
+   :alt: Screenshot of an AdvantageScope window displaying a line graph, a list of fields, and a series of miscellaneous tabs.
diff --git a/source/docs/software/dashboards/dashboard-intro.rst b/source/docs/software/dashboards/dashboard-intro.rst
new file mode 100644
index 0000000000..a5df1e3738
--- /dev/null
+++ b/source/docs/software/dashboards/dashboard-intro.rst
@@ -0,0 +1,35 @@
+# Choosing a Dashboard
+
+A dashboard is a program used to retrieve and display information about the operation of your robot.  There are two main types of dashboards that teams may need: driver and programmer dashboards.  Some dashboards will try to accommodate both purposes.
+
+## Driver Dashboard
+
+During competition the drive team will use this dashboard to get information from the robot.  It should focus on conveying key information instantly.  This is often best accomplished by using large, colorful, and easy to understand visual elements.  Most teams will also use this dashboard to select their autonomous routine.
+
+Take caution to carefully consider what *needs* to be on this dashboard and if there is another better way of communicating that information.  Any members of the drive team (especially the driver) looking at the dashboard takes their focus away from the match.  Using :ref:`LEDs <docs/software/hardware-apis/misc/addressable-leds:Addressable LEDs>` to indicate the state of your robot is a good example of a way to communicate useful information to the driver without having to take their eyes off the robot.
+
+## Programming Dashboard
+
+This dashboard is designed for debugging code and analyzing data from the robot. It supports the monitoring of a wide variety of information simultaneously, prioritizing function and utility over simplicity or ease of use. This functionality often includes complex data visualization and graphing across extended periods. In scenarios where there is an overwhelming amount of data to review, real-time analysis becomes challenging. The capability to examine past data and replay it proves to be extremely beneficial. While some dashboards may log data transmitted to them, :ref:`on-robot telemetry <docs/software/telemetry/datalog:On-Robot Telemetry Recording Into Data Logs>` using the ``DataLog`` class simplifies the process.
+
+## Specific Dashboards (oldest to newest)
+
+.. note:: SmartDashboard and Shuffleboard have a long history of aiding FRC teams. However, they do not have a person to maintain them so are not receiving bug fixes or improvements. Notably, Shuffleboard may experience performance issues on some machines under certain scenarios.  PRs from external contributors will be reviewed.
+
+:ref:`LabVIEW Dashboard <docs/software/dashboards/labview-dashboard/index:LabVIEW Dashboard>` (Driver / Programming) - easy to use and provides a lot of features straight out of the box like: camera streams, autonomous selection, and joystick feedback.  It can be customized using LabVIEW by creating a new Dashboard project.  While it :ref:`can be used <docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code:Using the LabVIEW Dashboard with C++, Java, or Python Code>` by Java or C++ teams, they generally prefer SmartDashboard or Shuffleboard which can be customized in their respective language.
+
+:ref:`SmartDashboard <docs/software/dashboards/smartdashboard/index:SmartDashboard>` (Driver) - simple and efficient dashboard that uses relatively few computer resources.  It does not have the fancy look or some of the features Shuffleboard has, but it displays network tables data with a variety of widgets without bogging down the driver station computer.
+
+:ref:`Shuffleboard <docs/software/dashboards/shuffleboard/index:Shuffleboard>` (Driver) - straightforward and easily customizable dashboard. It displays network tables data using a variety of widgets that can be positioned and controlled with robot code. It includes many extra features like: tabs, recording / playback, and advanced custom widgets.
+
+:ref:`Glass <docs/software/dashboards/glass/index:Glass>` (Programming) - robot data visualization tool. Its GUI is extremely similar to that of the :ref:`Simulation GUI <docs/software/wpilib-tools/robot-simulation/simulation-gui:Simulation Specific User Interface Elements>`. In its current state, it is meant to be used as a programmer's tool rather than a proper dashboard in a competition environment, with a focus on high performance real time plotting.
+
+:ref:`AdvantageScope <docs/software/dashboards/advantagescope:AdvantageScope>` (Programming) - robot diagnostics, log review/analysis, and data visualization application.  It reads the WPILib Data Log (``.wpilog``) and Driver Station Log (``.dslog`` / ``.dsevents``) file formats, plus live robot data viewing.
+
+## Third Party Dashboards
+
+[FRC Web Components](https://github.com/frc-web-components/frc-web-components) (Driver) - A web-based dashboard that can be installed as a standalone application, or as a JavaScript package for custom dashboard solutions.
+
+[Elastic](https://github.com/Gold872/elastic-dashboard) (Driver) - simple and modern Shuffleboard alternative made by Team 353. It is meant to serve as a dashboard for competition but can also be used for testing.  It features draggable and resizable card widgets.
+
+[QFRCDashboard](https://github.com/Q-FRC/Dashboard) (Driver) - described as reliable, high-performance, low-footprint dashboard.  QFRCDashboard has been specifically designed to use as few resources as possible.
diff --git a/source/docs/software/dashboards/glass/command-based-widgets.rst b/source/docs/software/dashboards/glass/command-based-widgets.rst
index fca51f5113..c1ecfcd5cb 100644
--- a/source/docs/software/dashboards/glass/command-based-widgets.rst
+++ b/source/docs/software/dashboards/glass/command-based-widgets.rst
@@ -1,27 +1,29 @@
-Widgets for the Command-Based Framework
-=======================================
+# Widgets for the Command-Based Framework
 
 Glass also has several widgets that are specific to the :ref:`command-based framework <docs/software/commandbased/index:Command-Based Programming>`. These include widgets to schedule commands, view actively running commands on a specific subsystem, or view the state of the :ref:`command scheduler <docs/software/commandbased/command-scheduler:The Command Scheduler>`.
 
-Command Selector Widget
------------------------
+## Command Selector Widget
 
 The :guilabel:`Command Selector`  widget allows you to start and cancel a specific instance of a command (sent over NetworkTables) from Glass. For example, you can create an instance of ``MyCommand`` and send it to SmartDashboard:
 
 .. tab-set-code::
-   .. code-block:: java
-
-      MyCommand command = new MyCommand(...);
-      SmartDashboard.putData("My Command", command);
-
-   .. code-block:: c++
-
-      #include <frc/smartdashboard/SmartDashboard.h>
-
-      ...
-
-      MyCommand command{...};
-      frc::SmartDashboard::PutData("My Command", &command);
+   ```java
+   MyCommand command = new MyCommand(...);
+   SmartDashboard.putData("My Command", command);
+   ```
+
+   ```c++
+   #include <frc/smartdashboard/SmartDashboard.h>
+   ...
+   MyCommand command{...};
+   frc::SmartDashboard::PutData("My Command", &command);
+   ```
+
+   ```python
+   from wpilib import SmartDashboard
+   command = MyCommand(...)
+   SmartDashboard.putData("My Command", command)
+   ```
 
 .. note:: The ``MyCommand`` instance can also be sent using a lower-level NetworkTables API or using the :ref:`Shuffleboard API <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data:Displaying data from your robot>`. In this case, the ``SmartDashboard`` API was used, meaning that the :guilabel:`Command Selector` widget will appear under the ``SmartDashboard`` table name.
 
@@ -30,16 +32,14 @@ The :guilabel:`Command Selector`  widget allows you to start and cancel a specif
 
 The widget has two states. When the command is not running, a :guilabel:`Run` button will appear -- clicking it will schedule the command. When the command is running, a :guilabel:`Cancel` button, accompanied by :guilabel:`Running...` text, will appear (as shown above). This will cancel the command.
 
-Subsystem Widget
-----------------
+## Subsystem Widget
 
 The :guilabel:`Subsystem` widget can be used to see the default command and the currently scheduled command on a specific subsystem. If you are using the ``SubsystemBase`` base class, your subsystem will be automatically sent to NetworkTables over LiveWindow. To view this widget, look under the :guilabel:`LiveWindow` main table name in the :guilabel:`NetworkTables` menu.
 
 .. image:: images/subsystem.png
    :alt: Subsystem widget showing the state of "DriveSubsystem". Default Command: "DefaultDrive". Current Command: "DriveDistance"
 
-Command Scheduler Widget
-------------------------
+## Command Scheduler Widget
 
 The :guilabel:`Command Scheduler` widget allows you to see all currently scheduled commands. In addition, any of these commands can be canceled from the GUI.
 
diff --git a/source/docs/software/dashboards/glass/field2d-widget.rst b/source/docs/software/dashboards/glass/field2d-widget.rst
index f678193e72..de60c1e074 100644
--- a/source/docs/software/dashboards/glass/field2d-widget.rst
+++ b/source/docs/software/dashboards/glass/field2d-widget.rst
@@ -1,82 +1,73 @@
-The Field2d Widget
-==================
+# The Field2d Widget
 
 Glass supports displaying your robot's position on the field using the :guilabel:`Field2d` widget. An instance of the ``Field2d`` class should be created, sent over NetworkTables, and updated periodically with the latest robot pose in your robot code.
 
-Sending Robot Pose from User Code
----------------------------------
+## Sending Robot Pose from User Code
 
 To send your robot's position (usually obtained by :ref:`odometry <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:What is odometry?>` or a pose estimator), a ``Field2d`` instance must be created in robot code and sent over NetworkTables. The instance must then be updated periodically with the latest robot pose.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      private final Field2d m_field = new Field2d();
-
-      public Drivetrain() {
-        ...
-        SmartDashboard.putData("Field", m_field);
-      }
-
-      ...
-
-      public void periodic() {
-        ...
-        m_field.setRobotPose(m_odometry.getPoseMeters());
-      }
-
-   .. code-block:: c++
-
-      #include <frc/smartdashboard/Field2d.h>
-      #include <frc/smartdashboard/SmartDashboard.h>
-
-      frc::Field2d m_field;
-
-      Drivetrain() {
-        ...
-        frc::SmartDashboard::PutData("Field", &m_field);
-      }
-
-      ...
-
-      void Periodic() {
-        ...
-        m_field.SetRobotPose(m_odometry.GetPose());
-      }
+   ```java
+   private final Field2d m_field = new Field2d();
+   // Do this in either robot or subsystem init
+   SmartDashboard.putData("Field", m_field);
+   // Do this in either robot periodic or subsystem periodic
+   m_field.setRobotPose(m_odometry.getPoseMeters());
+   ```
+
+   ```c++
+   #include <frc/smartdashboard/Field2d.h>
+   #include <frc/smartdashboard/SmartDashboard.h>
+   frc::Field2d m_field;
+   // Do this in either robot or subsystem init
+   frc::SmartDashboard::PutData("Field", &m_field);
+   // Do this in either robot periodic or subsystem periodic
+   m_field.SetRobotPose(m_odometry.GetPose());
+   ```
+
+   ```python
+   from wpilib import SmartDashboard, Field2d
+   self.field = Field2d()
+   # Do this in either robot or subsystem init
+   SmartDashboard.putData("Field", self.field)
+   # Do this in either robot periodic or subsystem periodic
+   self.field.setRobotPose(self.odometry.getPose())
+   ```
 
 .. note:: The ``Field2d`` instance can also be sent using a lower-level NetworkTables API or using the :ref:`Shuffleboard API <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data:Displaying data from your robot>`. In this case, the ``SmartDashboard`` API was used, meaning that the :guilabel:`Field2d` widget will appear under the ``SmartDashboard`` table name.
 
-Sending Trajectories to Field2d
--------------------------------
+## Sending Trajectories to Field2d
 
 Visualizing your trajectory is a great debugging step for verifying that your trajectories are created as intended. Trajectories can be easily visualized in :ref:`Field2d <docs/software/dashboards/glass/field2d-widget:The Field2d Widget>` using the ``setTrajectory()``/``SetTrajectory()`` functions.
 
 .. tab-set-code::
 
-   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
       :language: java
       :lines: 44-61
       :linenos:
       :lineno-start: 44
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
+      :language: c++
       :lines: 18-30
       :linenos:
       :lineno-start: 18
 
-Viewing Trajectories with Glass
--------------------------------
+   .. rli:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/RamseteController/robot.py
+      :language: python
+      :lines: 19,26-39,46-53
+
+## Viewing Trajectories with Glass
 
 The sent trajectory can be viewed with :ref:`Glass <docs/software/dashboards/glass/index:Glass>` through the dropdown :guilabel:`NetworkTables` -> :guilabel:`SmartDashboard` -> :guilabel:`Field2d`.
 
 .. image:: images/sent-trajectory.png
    :alt: Picture containing Field2d and the generated trajectory
 
-.. note:: The above example which uses the `RamseteController (Java) <https://github.com/wpilibsuite/allwpilib/blob/a610379965680a8f9214d5f0db3a8e1bc20d4712/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java>`__/`RamseteController (C++) <https://github.com/wpilibsuite/allwpilib/blob/a610379965680a8f9214d5f0db3a8e1bc20d4712/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp>`__ will not show the sent trajectory until autonomous is enabled at least once.
+.. note:: The above example which uses the RamseteController ([Java](https://github.com/wpilibsuite/allwpilib/blob/a610379965680a8f9214d5f0db3a8e1bc20d4712/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java) / [C++](https://github.com/wpilibsuite/allwpilib/blob/a610379965680a8f9214d5f0db3a8e1bc20d4712/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp) / [Python](https://github.com/robotpy/examples/tree/2024.0.0b4/RamseteController)) will not show the sent trajectory until autonomous is enabled at least once.
 
-Viewing the Robot Pose in Glass
--------------------------------
+## Viewing the Robot Pose in Glass
 
 After sending the ``Field2d`` instance over NetworkTables, the :guilabel:`Field2d` widget can be added to Glass by selecting :guilabel:`NetworkTables` in the menu bar, choosing the table name that the instance was sent over, and then clicking on the :guilabel:`Field` button.
 
@@ -86,12 +77,11 @@ Once the widget appears, you can resize and place it on the Glass workspace as y
 
 You can choose from an existing field layout using the :guilabel:`Image` drop-down. Or you can select a custom file by setting the :guilabel:`Image` to ``Custom`` and selecting :guilabel:`Choose image...`. You can choose to either select an image file or a PathWeaver JSON file as long as the image file is in the same directory.  Choosing the JSON file will automatically import the correct location of the field in the image and the correct size of the field.
 
-.. note:: You can retrieve the latest field image and JSON files from `here <https://github.com/wpilibsuite/allwpilib/tree/main/fieldImages/src/main/native/resources/edu/wpi/first/fields>`__. This is the same image and JSON that are used when generating paths using :ref:`PathWeaver <docs/software/pathplanning/pathweaver/introduction:Introduction to PathWeaver>`.
+.. note:: You can retrieve the latest field image and JSON files from [here](https://github.com/wpilibsuite/allwpilib/tree/main/fieldImages/src/main/native/resources/edu/wpi/first/fields). This is the same image and JSON that are used when generating paths using :ref:`PathWeaver <docs/software/pathplanning/pathweaver/introduction:Introduction to PathWeaver>`.
 
 .. image:: images/field2d-options.png
 
-Modifying Pose Style
---------------------
+## Modifying Pose Style
 
 Poses can be customized in a plethora of ways by right clicking on the Field2d menu bar. Examples of customization are: line width, line weight, style, arrow width, arrow weight, color, etc.
 
@@ -107,3 +97,10 @@ Now, uncheck the :guilabel:`Arrows` checkbox. This will cause our trajectory to
 
 .. image:: images/unchecked-arrow-trajectory.png
    :alt: Unchecked arrows checkbox to showcase fluid line.
+
+## Viewing Pose Data with AdvantageScope
+
+:ref:`AdvantageScope <docs/software/dashboards/advantagescope:AdvantageScope>` is an alternative option for viewing pose data from a ``Field2d`` object, including data recorded to a log file using :ref:`WPILib data logs <docs/software/telemetry/datalog:On-Robot Telemetry Recording Into Data Logs>`. Both 2D and 3D visualizations are supported. See the documentation for the [odometry](https://docs.advantagescope.org/tab-reference/odometry) and [3D field](https://docs.advantagescope.org/tab-reference/3d-field) tabs for more details.
+
+.. image:: images/advantagescope-field2d.png
+   :alt: Screenshot of an AdvantageScope window displaying a robot and trajectory on a 3D field.
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diff --git a/source/docs/software/dashboards/glass/images/vs-code-glass-launch.png b/source/docs/software/dashboards/glass/images/vs-code-glass-launch.png
index 3875f0483a..2ff70b8731 100644
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diff --git a/source/docs/software/dashboards/glass/index.rst b/source/docs/software/dashboards/glass/index.rst
index 6bb981d77c..6d99b89d80 100644
--- a/source/docs/software/dashboards/glass/index.rst
+++ b/source/docs/software/dashboards/glass/index.rst
@@ -1,5 +1,4 @@
-Glass
-=====
+# Glass
 
 Glass is a new dashboard and robot data visualization tool. Its GUI is extremely similar to that of the :ref:`Simulation GUI <docs/software/wpilib-tools/robot-simulation/simulation-gui:Simulation Specific User Interface Elements>`. In its current state, it is meant to be used as a programmer's tool rather than a proper dashboard in a competition environment.
 
diff --git a/source/docs/software/dashboards/glass/introduction.rst b/source/docs/software/dashboards/glass/introduction.rst
index d05916fbee..4968ee82fb 100644
--- a/source/docs/software/dashboards/glass/introduction.rst
+++ b/source/docs/software/dashboards/glass/introduction.rst
@@ -1,10 +1,8 @@
-Introduction to Glass
-=====================
+# Introduction to Glass
 
 Glass is a new dashboard and robot data visualization tool. It supports many of the same :ref:`widgets <docs/software/wpilib-tools/robot-simulation/simulation-gui:Learning the Layout>` that the Simulation GUI supports, including robot pose visualization and advanced plotting. In its current state, it is meant to be used as a programmer's tool for debugging and not as a dashboard for competition use.
 
-Opening Glass
--------------
+## Opening Glass
 
 Glass can be launched by selecting the ellipsis menu (:guilabel:`...`) in VS Code, clicking on :guilabel:`Start Tool` and then choosing :guilabel:`Glass`.
 
@@ -12,8 +10,7 @@ Glass can be launched by selecting the ellipsis menu (:guilabel:`...`) in VS Cod
 
 .. note:: You can also launch Glass directly by navigating to ``~/wpilib/YYYY/tools`` and running ``Glass.py`` (Linux and macOS) or by using the shortcut inside the WPILib Tools desktop folder (Windows).
 
-Changing View Settings
-----------------------
+## Changing View Settings
 
 The :guilabel:`View` menu item contains :guilabel:`Zoom` and :guilabel:`Style` settings that can be customized. The :guilabel:`Zoom` option dictates the size of the text in the application whereas the :guilabel:`Style` option allows you to select between the ``Classic``, ``Light``, and ``Dark`` modes.
 
@@ -21,8 +18,7 @@ An example of the ``Dark`` style setting is below:
 
 .. image:: images/glass-dark-mode.png
 
-Clearing Application Data
--------------------------
+## Clearing Application Data
 
 Application data for Glass, including widget sizes and positions as well as other custom information for widgets is stored in a ``glass.ini`` file. The location of this file varies based on your operating system:
 
diff --git a/source/docs/software/dashboards/glass/mech2d-widget.rst b/source/docs/software/dashboards/glass/mech2d-widget.rst
index 3a93c7706f..2454cab1de 100644
--- a/source/docs/software/dashboards/glass/mech2d-widget.rst
+++ b/source/docs/software/dashboards/glass/mech2d-widget.rst
@@ -1,83 +1,104 @@
-The Mechanism2d Widget
-======================
+# The Mechanism2d Widget
 
 Glass supports displaying stick-figure representations of your robot's mechanisms using the :guilabel:`Mechanism2d` widget. It supports combinations of ligaments that can rotate and / or extend or retract, such as arms and elevators and they can be combined for more complicated mechanisms. An instance of the ``Mechanism2d`` class should be created and populated, sent over NetworkTables, and updated periodically with the latest mechanism states in your robot code. It can also be used with the :doc:`Physics Simulation </docs/software/wpilib-tools/robot-simulation/physics-sim>` to visualize and program your robot's mechanisms before the robot is built.
 
-Creating and Configuring the Mechanism2d Instance
--------------------------------------------------
+## Creating and Configuring the Mechanism2d Instance
 
 The ``Mechanism2d`` object is the "canvas" where the mechanism is drawn. The root node is where the mechanism is anchored to ``Mechanism2d``. For a single jointed arm this would the pivot point. For an elevator, this would be where it's attached to the robot's base. To get a root node (represented by a ``MechanismRoot2d`` object), call ``getRoot(name, x, y)`` on the container ``Mechanism2d`` object. The name is used to name the root within NetworkTables, and should be unique, but otherwise isn't important. The ``x / y`` coordinate system follows the same orientation as ``Field2d`` - ``(0,0)`` is bottom left.
 
-In the examples below, an elevator is drawn, with a rotational wrist on top of the elevator. The full Mechanism2d example is available in `Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java>`__ / `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp>`__
+In the examples below, an elevator is drawn, with a rotational wrist on top of the elevator. The full Mechanism2d example is available in [Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java) / [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp)
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
       :language: java
       :lines: 43-46
       :linenos:
       :lineno-start: 43
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
-      :language: cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+      :language: c++
       :lines: 59-62
       :linenos:
       :lineno-start: 59
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/Mechanism2d/robot.py
+      :language: python
+      :lines: 32-35
+      :linenos:
+      :lineno-start: 32
+
 
 Each ``MechanismLigament2d`` object represents a stage of the mechanism. It has a three required parameters, a name, an initial length to draw (relative to the size of the ``Mechanism2d`` object), and an initial angle to draw the ligament in degrees. Ligament angles are relative to the parent ligament, and follow math notation - the same as :ref:`Rotation2d <docs/software/advanced-controls/geometry/pose:Rotation>` (counterclockwise-positive). A ligament based on the root with an angle of zero will point right. Two optional parameters let you change the width (also relative to the size of the Mechanism2d object) and the color. Call ``append()``/``Append()`` on a root node or ligament node to add another node to the figure. In Java, pass a constructed ``MechanismLigament2d`` object to add it. In C++, pass the construction parameters in order to construct and add a ligament.
 
 .. tab-set-code::
 
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
       :language: java
       :lines: 48-53
       :linenos:
       :lineno-start: 48
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
-      :language: cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+      :language: c++
       :lines: 63-69
       :linenos:
       :lineno-start: 63
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/Mechanism2d/robot.py
+         :language: python
+         :lines: 37-44
+         :linenos:
+         :lineno-start: 37
+
 Then, publish the ``Mechanism2d`` object to NetworkTables:
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
       :language: java
       :lines: 55-56
       :linenos:
       :lineno-start: 55
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
-      :language: cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+      :language: c++
       :lines: 36-37
       :linenos:
       :lineno-start: 36
 
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/Mechanism2d/robot.py
+      :language: python
+      :lines: 46-47
+      :linenos:
+      :lineno-start: 46
+
 .. note:: The ``Mechanism2d`` instance can also be sent using a lower-level NetworkTables API or using the :ref:`Shuffleboard API <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data:Displaying data from your robot>`. In this case, the ``SmartDashboard`` API was used, meaning that the :guilabel:`Mechanism2d` widget will appear under the ``SmartDashboard`` table name.
 
 To manipulate a ligament angle or length, call ``setLength()`` or ``setAngle()`` on the ``MechanismLigament2d`` object. When manipulating ligament length based off of sensor measurements, make sure to add the minimum length to prevent 0-length (and therefore invisible) ligaments.
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
       :language: java
       :lines: 59-64
       :linenos:
       :lineno-start: 59
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
-      :language: cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+      :language: c++
       :lines: 40-45
       :linenos:
       :lineno-start: 40
 
-Viewing the Mechanism2d in Glass
---------------------------------
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/Mechanism2d/robot.py
+      :language: python
+      :lines: 49-54
+      :linenos:
+      :lineno-start: 49
+
+## Viewing the Mechanism2d in Glass
 
 After sending the ``Mechanism2d`` instance over NetworkTables, the :guilabel:`Mechanism2d` widget can be added to Glass by selecting :guilabel:`NetworkTables` in the menu bar, choosing the table name that the instance was sent over, and then clicking on the :guilabel:`Field` button.
 
@@ -87,7 +108,14 @@ Once the widget appears as shown below, you can resize and place it on the Glass
 
 .. image:: images/mechanism2d-widget.png
 
-Next Steps
-----------
+## Viewing the Mechanism2d in AdvantageScope
+
+:ref:`AdvantageScope <docs/software/dashboards/advantagescope:AdvantageScope>` is an alternative option for viewing a ``Mechanism2d`` object, including data recorded to a log file using :ref:`WPILib data logs <docs/software/telemetry/datalog:On-Robot Telemetry Recording Into Data Logs>`. Both 2D and 3D visualizations are supported. See the documentation for the [mechanism](https://docs.advantagescope.org/tab-reference/mechanism) and [3D field](https://docs.advantagescope.org/tab-reference/3d-field) tabs for more details.
+
+.. image:: images/advantagescope-mechanism.png
+   :alt: Screenshot of an AdvantageScope window displaying a robot and mechanism in 3D.
+   :height: 500
+
+## Next Steps
 
-As mentioned above, the Mechanism2d visualization can be combined with :doc:`Physics Simulation </docs/software/wpilib-tools/robot-simulation/physics-sim>` to help you program mechanisms before your robot is built. The ArmSimulation (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java>`__ / `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp>`__) and ElevatorSimulation (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java>`__ / `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp>`__) examples combine physics simulation and Mechanism2d visualization so that you can practice programming a single jointed arm and elevator without a robot.
+As mentioned above, the Mechanism2d visualization can be combined with :doc:`Physics Simulation </docs/software/wpilib-tools/robot-simulation/physics-sim>` to help you program mechanisms before your robot is built. The ArmSimulation ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java) / [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp) / [Python](https://github.com/robotpy/examples/blob/2024.0.0b4/ArmSimulation/robot.py)) and ElevatorSimulation ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java) / [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp) / [Python](https://github.com/robotpy/examples/blob/2024.0.0b4/ElevatorSimulation/robot.py)) examples combine physics simulation and Mechanism2d visualization so that you can practice programming a single jointed arm and elevator without a robot.
diff --git a/source/docs/software/dashboards/glass/networktables-connection.rst b/source/docs/software/dashboards/glass/networktables-connection.rst
index f4d4985089..c82626b8be 100644
--- a/source/docs/software/dashboards/glass/networktables-connection.rst
+++ b/source/docs/software/dashboards/glass/networktables-connection.rst
@@ -1,10 +1,8 @@
-Establishing NetworkTables Connections
-======================================
+# Establishing NetworkTables Connections
 
 Glass uses the :ref:`NetworkTables <docs/software/networktables/networktables-intro:What is NetworkTables>` protocol to establish a connection with your robot program. It is also used to transmit and receive data to and from the robot.
 
-Connecting to a Robot
----------------------
+## Connecting to a Robot
 
 When Glass is first launched, you will see two widgets -- :guilabel:`NetworkTables Settings` and :guilabel:`NetworkTables`. To connect to a robot, select :guilabel:`Client` under :guilabel:`Mode` in the :guilabel:`NetworkTables Settings` widget, enter your team number and click on :guilabel:`Apply`.
 
@@ -16,8 +14,7 @@ You can also connect to a robot that is running in simulation on your computer (
 
 .. important:: The NetworkTables connection status is always visible on the title bar of the Glass application.
 
-Viewing NetworkTables Entries
------------------------------
+## Viewing NetworkTables Entries
 
 The :guilabel:`NetworkTables` widget can be used to view all entries that are being sent over NetworkTables. These entries are hierarchically arranged by main table, sub-table, and so on.
 
diff --git a/source/docs/software/dashboards/glass/plots.rst b/source/docs/software/dashboards/glass/plots.rst
index aa773018f7..a2b9d60f74 100644
--- a/source/docs/software/dashboards/glass/plots.rst
+++ b/source/docs/software/dashboards/glass/plots.rst
@@ -1,17 +1,14 @@
-Plots
-=====
+# Plots
 
 Glass excels at high-performance, comprehensive plotting of data from NetworkTables. Some features include resizable plots, plots with multiple y axes and the ability to pause, examine, and resume plots.
 
-Creating a Plot
----------------
+## Creating a Plot
 
 A new plot widget can be created by selecting the :guilabel:`Plot` button on the main menu bar and then clicking on :guilabel:`New Plot Window`. Several individual plots can be added to each plot window. To add a plot within a plot window, click the :guilabel:`Add plot` button inside the widget. Then you can drag various sources from the :guilabel:`NetworkTables` widget into the plot:
 
 .. image:: images/drag-plot.png
 
-Manipulating Plots
-------------------
+## Manipulating Plots
 
 You can click and drag on the plot to move around and scroll on top of the plot to zoom the y axes in and out. Double clicking on the graph will autoscale it so that the zoom and axis limits fit all of the data it is plotting.  Furthermore, right-clicking on the plot will present you with a plethora of options, including whether you want to display secondary and tertiary y axes, if you wish to lock certain axes, etc.
 
@@ -24,3 +21,10 @@ If you choose to make secondary and tertiary y axes available, you can drag data
 Then, you can lock certain axes so that their range always remains constant, regardless of panning. In this example, the secondary axis range (with the ``/SmartDashboard/Kp`` entry) was locked between 9 and 12.
 
 .. image:: images/locked-axis.png
+
+## Plotting with AdvantageScope
+
+:ref:`AdvantageScope <docs/software/dashboards/advantagescope:AdvantageScope>` is an alternative option for creating plots, including from data recorded to a log file using :ref:`WPILib data logs <docs/software/telemetry/datalog:On-Robot Telemetry Recording Into Data Logs>`. See the documentation for the [line graph](https://docs.advantagescope.org/tab-reference/line-graph) tab for more details.
+
+.. image:: images/advantagescope-plot.png
+   :alt: Screenshot of an AdvantageScope window displaying a line graph with several numeric and discrete fields.
diff --git a/source/docs/software/dashboards/glass/widgets.rst b/source/docs/software/dashboards/glass/widgets.rst
index 1cb3a5fe10..fd1dc84433 100644
--- a/source/docs/software/dashboards/glass/widgets.rst
+++ b/source/docs/software/dashboards/glass/widgets.rst
@@ -1,5 +1,4 @@
-Glass Widgets
-=============
+# Glass Widgets
 
 Specialized widgets are available for certain types that exist in robot code. These include objects that are manually sent over NetworkTables such as ``SendableChooser`` instances, or hardware that is automatically sent over :ref:`LiveWindow <docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values:Displaying LiveWindow Values>`.
 
@@ -7,8 +6,7 @@ Specialized widgets are available for certain types that exist in robot code. Th
 
 .. note:: A widget can be renamed by right-clicking on its header and specifying a new name.
 
-Hardware Widgets
-----------------
+## Hardware Widgets
 
 Widgets for specific hardware (such as motor controllers) are usually available via LiveWindow. These can be accessed by selecting the :guilabel:`NetworkTables` menu option, clicking on :guilabel:`LiveWindow` and choosing the desired widget.
 
@@ -26,19 +24,23 @@ Here is an example of the widget for gyroscopes:
  .. image:: images/gyro.png
     :alt: Gyro widget with both text and dial visualizations of the current gyro angle. Current Gyro Angle in degrees is -60.9704.
 
-Sendable Chooser Widget
------------------------
+## Sendable Chooser Widget
 
 The :guilabel:`Sendable Chooser` widget represents a ``SendableChooser`` instance from robot code. It is often used to select autonomous modes. Like other dashboards, your ``SendableChooser`` instance simply needs to be sent using a NetworkTables API. The simplest is to use something like ``SmartDashboard``:
 
 .. tab-set-code::
-   .. code-block:: java
+   ```java
+   SmartDashboard.putData("Auto Selector", m_selector);
+   ```
 
-      SmartDashboard.putData("Auto Selector", m_selector);
+   ```c++
+   frc::SmartDashboard::PutData("Auto Selector", &m_selector);
+   ```
 
-   .. code-block:: c++
-
-      frc::SmartDashboard::PutData("Auto Selector", &m_selector);
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putData("Auto Selector", selector)
+   ```
 
 .. note:: For more information on creating a ``SendableChooser``, please see :ref:`this document <docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard:Setting up SendableChooser>`.
 
@@ -46,28 +48,31 @@ The :guilabel:`Sendable Chooser` widget will appear in the :guilabel:`NetworkTab
 
  .. image:: images/sendable-chooser.png
 
-PID Controller Widget
----------------------
+## PID Controller Widget
 
 The :guilabel:`PID Controller` widget allows you to quickly tune PID values for a certain controller. A ``PIDController`` instance must be sent using a NetworkTables API. The simplest is to use something like ``SmartDashboard``:
 
 .. tab-set-code::
-   .. code-block:: java
-
-      SmartDashboard.putData("Elevator PID Controller", m_elevatorPIDController);
+   ```java
+   SmartDashboard.putData("Elevator PID Controller", m_elevatorPIDController);
+   ```
 
-   .. code-block:: c++
+   ```c++
+   frc::SmartDashboard::PutData("Elevator PID Controller", &m_elevatorPIDController);
+   ```
 
-      frc::SmartDashboard::PutData("Elevator PID Controller", &m_elevatorPIDController);
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putData("Elevator PID Controller", elevatorPIDController)
+   ```
 
 This allows you to quickly tune P, I, and D values for various setpoints.
 
 .. image:: images/pid.png
    :alt: PID widget for the Elevator PID Controller. P = 3.0, I = 0.001, D = 0.050, Setpoint = 0.0.
 
-FMSInfo Widget
---------------
+## FMSInfo Widget
 
-The :guilabel:`FMSInfo` widget is created by default when Glass connects to a robot. This widget displays basic information about the robot's enabled state, whether a Driver Station is connected, whether an FMS is connected, the game-specific data, etc. It can be viewed by selecting the :guilabel:`NetworkTables` menu item and clicking on :guilabel:`FMSInfo`.
+The :guilabel:`FMSInfo` widget is created by default when Glass connects to a robot. This widget displays basic information about the robot's enabled state, whether a Driver Station is connected, whether an :term:`FMS` is connected, the game-specific data, etc. It can be viewed by selecting the :guilabel:`NetworkTables` menu item and clicking on :guilabel:`FMSInfo`.
 
 .. image:: images/fms-info.png
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diff --git a/source/docs/software/dashboards/index.rst b/source/docs/software/dashboards/index.rst
index e0e630dc31..a6d22fa5a5 100644
--- a/source/docs/software/dashboards/index.rst
+++ b/source/docs/software/dashboards/index.rst
@@ -1,12 +1,12 @@
-Dashboards
-==========
-
-Click on each dashboard below to get a description of its advantages and disadvantages.
+# Dashboards
 
 .. toctree::
    :maxdepth: 1
 
+   dashboard-intro
    shuffleboard/index
    smartdashboard/index
    glass/index
+   advantagescope.rst
    labview-dashboard/index
+   troubleshooting-dashboard-connectivity.rst
diff --git a/source/docs/software/dashboards/labview-dashboard/driver-station-labview-dashboard.rst b/source/docs/software/dashboards/labview-dashboard/driver-station-labview-dashboard.rst
index 13e287ba66..e85db145a4 100644
--- a/source/docs/software/dashboards/labview-dashboard/driver-station-labview-dashboard.rst
+++ b/source/docs/software/dashboards/labview-dashboard/driver-station-labview-dashboard.rst
@@ -1,12 +1,10 @@
 .. include:: <isonum.txt>
 
-FRC LabVIEW Dashboard
-=====================
+# FRC LabVIEW Dashboard
 
 The Dashboard application installed and launched by the FRC\ |reg| Driver Station is a LabVIEW program designed to provide teams with basic feedback from their robot, with the ability to expand and customize the information to suit their needs. This Dashboard application uses :term:`NetworkTables` and contains a variety of tools that teams may find useful.
 
-LabVIEW Dashboard
------------------
+## LabVIEW Dashboard
 
 .. image:: images/driver-station-labview-dashboard/labview-dashboard.png
    :alt: Default screen of the LabVIEW Dashboard.
@@ -24,8 +22,7 @@ The Dashboard is broken into two main sections. The left pane is for displaying
 
 The LabVIEW Dashboard also includes Record/Playback functionality, located in the bottom right. More detail about this feature is included below under `Record/Playback`_.
 
-Camera Image and Controls
--------------------------
+## Camera Image and Controls
 
 .. image:: images/driver-station-labview-dashboard/camera-image-and-controls.png
    :alt: Shows the main camera image on the left pane of the dashboard.
@@ -33,15 +30,14 @@ Camera Image and Controls
 The left pane is used to display a video feed from acamera located on the robot. There are also some controls and indicators related to the camera below the tab area:
 
 1. Camera Image Display
-2. Mode Selector - This drop-down allows you to select the type of camera display to use. The choices are Camera Off, USB Camera SW (software compression), USB Camera HW (hardware compression) and IP Camera (Axis camera). Note that the IP Camera setting will not work when your PC is connected to the roboRIO over USB.
+2. Mode Selector - This drop-down allows you to select the type of camera display to use. The choices are Camera Off, USB Camera SW (software compression), USB Camera HW (hardware compression) and IP Camera. Note that the IP Camera setting will not work when your PC is connected to the roboRIO over USB.
 3. Camera Settings - This control allows you to change the resolution, framerate and compression of the image stream to the dashboard, click the control to pop-up the configuration.
 4. Bandwidth Indicator - Indicates approximate bandwidth usage of the image stream. The indicator will display green for "safe" bandwidth usage, yellow when teams should use caution and red if the stream bandwidth is beyond levels that will work on the competition field.
 5. Framerate - Indicates the approximate received framerate of the image stream.
 
 .. tip:: The bandwidth indicator indicates the combined bandwidth for all camera streams open.
 
-Drive
------
+## Drive
 
 .. image:: images/driver-station-labview-dashboard/drive.png
    :alt: The "Drive" tab is the first on the right side.
@@ -56,8 +52,7 @@ The center pane contains a section that provides feedback on the joysticks and d
 
 These indicators (other than the Gyro) are hooked up to appropriate values by default when using the LabVIEW framework. For information on using them with C++/Java code see :doc:`using-the-labview-dashboard-with-c++-java-code`.
 
-Camera
-------
+## Camera
 
 .. tip:: The left pane can only display a single camera output, so use the camera tab on the right pane to display a second camera output if needed.
 
@@ -67,79 +62,70 @@ Camera
 The camera tab is used to display a video feed from a camera located on the robot. There are also some controls and indicators related to the camera below the tab area:
 
 1. Camera Image Display
-2. Mode Selector - This drop-down allows you to select the type of camera display to use. The choices are Camera Off, USB Camera SW (software compression), USB Camera HW (hardware compression) and IP Camera (Axis camera). Note that the IP Camera setting will not work when your PC is connected to the roboRIO over USB.
+2. Mode Selector - This drop-down allows you to select the type of camera display to use. The choices are Camera Off, USB Camera SW (software compression), USB Camera HW (hardware compression) and IP Camera. Note that the IP Camera setting will not work when your PC is connected to the roboRIO over USB.
 3. Camera Settings - This control allows you to change the resolution, framerate and compression of the image stream to the dashboard, click the control to pop-up the configuration.
 4. Bandwidth Indicator - Indicates approximate bandwidth usage of the image stream. The indicator will display green for "safe" bandwidth usage, yellow when teams should use caution and red if the stream bandwidth is beyond levels that will work on the competition field.
 5. Framerate - Indicates the approximate received framerate of the image stream.
 
 .. tip:: The bandwidth indicator indicates the combined bandwidth for all camera streams open.
 
-Basic
------
+## Basic
 
 .. image:: images/driver-station-labview-dashboard/basic.png
    :alt: The "Basic" tab is the third on the right side.
 
 The Basic tab contains a variety of pre-populated bi-directional controls/indicators which can be used to control the robot or display information from the robot. The SmartDashboard key names associated with each item are labeled next to the indicator with the exception of the Strings which follow the same naming pattern and increment from DB/String 0 to DB/String 4 on the left and DB/String 5 to DB/String 9 on the right. The LabVIEW framework contains an example of reading from the Buttons and Sliders in Teleop. It also contains an example of customizing the labels in Begin. For more detail on using this tab with C++\Java code, see :doc:`using-the-labview-dashboard-with-c++-java-code`.
 
-Custom
-------
+## Custom
 
 .. image:: images/driver-station-labview-dashboard/custom.png
    :alt: The "Custom" tab is the fourth on the right side.
 
 The Custom tab allows you to add additional controls/indicators to the dashboard using LabVIEW without removing any existing functionality. To customize this tab you will need to create a Dashboard project in LabVIEW.
 
-Test
-----
+## Test
 
 .. image:: images/driver-station-labview-dashboard/test.png
    :alt: The "Test" tab is the fifth on the right side.
 
 The Test tab is for use with Test mode for teams using LabVIEW (Java and C++ teams should use SmartDashboard or Shuffleboard when using Test Mode). For many items in the libraries, Input/Output info will be populated here automatically. All items which have ** next to them are outputs that can be controlled by the dashboard. To control an output, click on it to select it, drag the slider to set the value then press and hold the green button to enable the output. As soon as the green button is released, the output will be disabled. This tab can also be used to run and monitor tests on the robot. An example test is provided in the LabVIEW framework. Selecting this test from the dropdown box will show the status of the test in place of the slider and enable controls.
 
-Commands
---------
+## Commands
 
 .. image:: images/driver-station-labview-dashboard/commands.png
    :alt: The "Commands" tab is the sixth on the right side.
 
 The Commands tab can be used with the Robot in Test mode to see which commands are running and to manually run commands for test purposes.
 
-Checklist
----------
+## Checklist
 
 .. image:: images/driver-station-labview-dashboard/checklist.png
    :alt: The "Checklist" tab is the seventh on the right side.
 
 The Checklist tab can be used by teams to create a list of tasks to perform before or between matches. Instructions for using the Checklist tab are pre-populated in the default checklist file.
 
-Variables
----------
+## Variables
 
 .. image:: images/driver-station-labview-dashboard/variables.png
    :alt: The "Variables" tab is the eighth on the right side.
 
 The Variables tab of the left pane shows all NetworkTables variables in a tree display. The Variable Name (Key), Value and data type are shown for each variable. Information about the NetworkTables bandwidth usage is also displayed in this tab. Entries will be shown with black diamonds if they are not currently synced with the robot.
 
-Record/Playback
----------------
+## Record/Playback
 
 .. image:: images/driver-station-labview-dashboard/record-playback.png
    :alt: Highlights the green triangle, red circle, and red square that control dashboard playback.
 
 The LabVIEW Dashboard includes a Record/Playback feature that allows you to record video and NetworkTables data (such as the state of your Dashboard indicators) and play it back later.
 
-Recording
-^^^^^^^^^
+### Recording
 
 .. image:: images/driver-station-labview-dashboard/recording.png
    :alt: After hitting the red circle record button the bottom bar becomes red to indicate it is recording.
 
 To begin recording, click the red circular Record button. The background of the right pane will turn red to indicate you are recording. To stop recording, press the red square Stop button.
 
-Playback
-^^^^^^^^
+### Playback
 
 .. image:: images/driver-station-labview-dashboard/playback.png
    :alt: The green triangle will start playback which turns the bottom bar green.
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diff --git a/source/docs/software/dashboards/labview-dashboard/index.rst b/source/docs/software/dashboards/labview-dashboard/index.rst
index 75cc6d466f..9a73507f7c 100644
--- a/source/docs/software/dashboards/labview-dashboard/index.rst
+++ b/source/docs/software/dashboards/labview-dashboard/index.rst
@@ -1,11 +1,10 @@
-LabVIEW Dashboard
-=================
+# LabVIEW Dashboard
 
-The LabVIEW Dashboard is easy to use and provides a lot of features straight out of the box like: camera streams, autonomous selection, and joystick feedback.  It can be customized using LabVIEW by creating a new Dashboard project.  While it :ref:`can be used <docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code:Using the LabVIEW Dashboard with C++/Java Code>` by Java or C++ teams, they generally prefer SmartDashboard or Shuffleboard which can be customized in their respective language.
+The LabVIEW Dashboard is easy to use and provides a lot of features straight out of the box like: camera streams, autonomous selection, and joystick feedback.  It can be customized using LabVIEW by creating a new Dashboard project.  While it :ref:`can be used <docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code:Using the LabVIEW Dashboard with C++, Java, or Python Code>` by Java, C++, or Python teams, they generally prefer SmartDashboard or Shuffleboard which can be customized in their respective language.
 
 .. toctree::
    :maxdepth: 1
 
    driver-station-labview-dashboard
    using-the-labview-dashboard-with-c++-java-code
-   troubleshooting-dashboard-connectivity
+   ../troubleshooting-dashboard-connectivity
diff --git a/source/docs/software/dashboards/labview-dashboard/troubleshooting-dashboard-connectivity.rst b/source/docs/software/dashboards/labview-dashboard/troubleshooting-dashboard-connectivity.rst
deleted file mode 100644
index 7910922e42..0000000000
--- a/source/docs/software/dashboards/labview-dashboard/troubleshooting-dashboard-connectivity.rst
+++ /dev/null
@@ -1,64 +0,0 @@
-Troubleshooting Dashboard Connectivity
-======================================
-
-We have received a number of reports of Dashboard connectivity issues from events. This document will help explain how to recognize if the Dashboard is not connected to your robot, steps to troubleshoot this condition and a code modification you can make.
-
-LabVIEW Dashboard
------------------
-
-This section discusses connectivity between the robot and LabVIEW dashboard
-
-Recognizing LabVIEW Dashboard Connectivity
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. image:: images/troubleshooting-dashboard-connectivity/black-diamonds.png
-   :alt: Highlights black diamonds next to the variables indicating they are not synced to the robot.
-
-If you have an indicator on your dashboard that you expect to be changing it may be fairly trivial to recognize if the Dashboard is connected. If not, there is a way to check without making any changes to your robot code. On the Variables tab of the Dashboard, the variables are shown with a black diamond when they are not synced with the robot. Once the Dashboard connects to the robot and these variables are synced, the diamond will disappear.
-
-Troubleshooting LabVIEW Dashboard Connectivity
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-If the Dashboard does not connect to the Robot (after the Driver Station has connected to the robot) the recommended troubleshooting steps are:
-
-1. Close the Driver Station and Dashboard, then re-open the Driver Station (which should launch the Dashboard).
-
-2. If that doesn't work, restart the Robot Code using the Restart Robot Code button on the Diagnostics tab of the Driver Station
-
-Recognizing Connectivity
-------------------------
-
-This section discusses connectivity between the robot and SmartDashboard
-
-Recognizing SmartDashboard Connectivity
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. image:: images/troubleshooting-dashboard-connectivity/connection-indicator.png
-   :alt: Click "View" then "Add..." then Connection indicator to place one on the SmartDashboard.
-
-The typical way to recognize connectivity with the SmartDashboard is to add a Connection Indicator widget and to make sure your code is writing at least one key during initialization or disabled to trigger the connection indicator. The connection indicator can be moved or re-sized if the Editable checkbox is checked.
-
-Recognizing Shuffleboard Connectivity
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. image:: images/troubleshooting-dashboard-connectivity/shuffleboard-connection.png
-
-Shuffleboard indicates if it is connected or not in the bottom right corner of the application as shown in the image above.
-
-Recognizing Glass Connectivity
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. image:: images/troubleshooting-dashboard-connectivity/glass-connection.png
-
-Glass displays if it is connected or not in the bar across the top.  See this :ref:`page <docs/software/dashboards/glass/networktables-connection:Establishing NetworkTables Connections>` for more on configuring the connection.
-
-Troubleshooting Connectivity
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-If the Dashboard does not connect to the Robot (after the Driver Station has connected to the robot) the recommended troubleshooting steps are:
-
-1. Restart the Dashboard (there is no need to restart the Driver Station software)
-
-2. If that doesn't work, restart the Robot Code using the Restart Robot Code button on the Diagnostics tab of the Driver Station
-
-3. If it still doesn't connect, verify that the Team Number / Server is set properly in the Dashboard and that your Robot Code writes a value during initialization or disabled
diff --git a/source/docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code.rst b/source/docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code.rst
index fbb371cf00..36eaf71ef2 100644
--- a/source/docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code.rst
+++ b/source/docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code.rst
@@ -1,10 +1,8 @@
-Using the LabVIEW Dashboard with C++/Java Code
-==============================================
+# Using the LabVIEW Dashboard with C++, Java, or Python Code
 
-The default LabVIEW Dashboard utilizes :term:`NetworkTables` to pass values and is therefore compatible with C++ and Java robot programs. This article covers the keys and value ranges to use to work with the Dashboard.
+The default LabVIEW Dashboard utilizes :term:`NetworkTables` to pass values and is therefore compatible with C++, Java, and Python robot programs. This article covers the keys and value ranges to use to work with the Dashboard.
 
-Drive Tab
----------
+## Drive Tab
 
 .. image:: images/using-the-labview-dashboard-with-c++-java-code/drive-tab.png
 
@@ -12,69 +10,89 @@ The :guilabel:`Select Autonomous...` dropdown can be used so show the available
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-       SmartDashboard.putStringArray("Auto List", {"Drive Forwards", "Drive Backwards", "Shoot"});
-
-       // At the beginning of auto
-       String autoName = SmartDashboard.getString("Auto Selector", "Drive Forwards") // This would make "Drive Forwards the default auto
-       switch(autoName) {
-          case "Drive Forwards":
-            // auto here
-          case "Drive Backwards":
-            // auto here
-          case "Shoot":
-            // auto here
-       }
-
-    .. code-block:: c++
-
-       frc::SmartDashboard::PutStringArray("Auto List", {"Drive Forwards", "Drive Backwards", "Shoot"});
-
-       // At the beginning of auto
-       String autoName = SmartDashboard.GetString("Auto Selector", "Drive Forwards") // This would make "Drive Forwards the default auto
-       switch(autoName) {
-          case "Drive Forwards":
-            // auto here
-          case "Drive Backwards":
-            // auto here
-          case "Shoot":
-            // auto here
-       }
+   ```java
+   SmartDashboard.putStringArray("Auto List", {"Drive Forwards", "Drive Backwards", "Shoot"});
+      // At the beginning of auto
+   String autoName = SmartDashboard.getString("Auto Selector", "Drive Forwards") // This would make "Drive Forwards the default auto
+   switch(autoName) {
+      case "Drive Forwards":
+      // auto here
+      case "Drive Backwards":
+      // auto here
+      case "Shoot":
+      // auto here
+   }
+   ```
+
+   ```c++
+   frc::SmartDashboard::PutStringArray("Auto List", {"Drive Forwards", "Drive Backwards", "Shoot"});
+      // At the beginning of auto
+   String autoName = SmartDashboard.GetString("Auto Selector", "Drive Forwards") // This would make "Drive Forwards the default auto
+   switch(autoName) {
+      case "Drive Forwards":
+      // auto here
+      case "Drive Backwards":
+      // auto here
+      case "Shoot":
+      // auto here
+   }
+   ```
+
+   ```python
+   from wpilib import SmartDashboard
+      SmartDashboard.putStringArray("Auto List", ["Drive Forwards", "Drive Backwards", "Shoot"])
+      # At the beginning of auto
+   autoName = SmartDashboard.getString("Auto Selector", "Drive Forwards") # This would make "Drive Forwards the default auto
+   match autoName:
+      case "Drive Forwards":
+         # auto here
+      case "Drive Backwards":
+         # auto here
+      case "Shoot":
+         # auto here
+   ```
 
 Sending to the "Gyro" NetworkTables entry will populate the gyro here.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-       SmartDashboard.putNumber("Gyro", drivetrain.getHeading());
+   ```java
+   SmartDashboard.putNumber("Gyro", drivetrain.getHeading());
+   ```
 
-    .. code-block:: c++
+   ```c++
+   frc::SmartDashboard::PutNumber("Gyro", Drivetrain.GetHeading());
+   ```
 
-       frc::SmartDashboard::PutNumber("Gyro", Drivetrain.GetHeading());
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putNumber("Gyro", self.drivetrain.getHeading())
+   ```
 
 There are four outputs that show the motor power to the drivetrain.  This is configured for 2 motors per side and a tank style drivetrain.  This is done by setting "RobotDrive Motors" like the example below.
 
 .. tab-set-code::
 
-    .. code-block:: java
+   ```java
+   SmartDashboard.putNumberArray("RobotDrive Motors", {drivetrain.getLeftFront(), drivetrain.getRightFront(), drivetrain.getLeftBack(), drivetrain.getRightBack()});
+   ```
 
-       SmartDashboard.putNumberArray("RobotDrive Motors", {drivetrain.getLeftFront(), drivetrain.getRightFront(), drivetrain.getLeftBack(), drivetrain.getRightBack()});
+   ```c++
+   frc::SmartDashboard::PutNumberArray("Gyro", {drivetrain.GetLeftFront(), drivetrain.GetRightFront(), drivetrain.GetLeftBack(), drivetrain.GetRightBack()});
+   ```
 
-    .. code-block:: c++
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putNumberArray("RobotDrive Motors", [self.drivetrain.getLeftFront(), self.drivetrain.getRightFront(), self.drivetrain.getLeftBack(), self.drivetrain.getRightBack()])
+   ```
 
-       frc::SmartDashboard::PutNumberArray("Gyro", {drivetrain.GetLeftFront(), drivetrain.GetRightFront(), drivetrain.GetLeftBack(), drivetrain.GetRightBack()});
-
-Basic Tab
----------
+## Basic Tab
 
 .. image:: images/using-the-labview-dashboard-with-c++-java-code/basic-tab.png
 
 The Basic tab uses a number of keys in the a "DB" sub-table to send/receive Dashboard data. The LED's are output only, the other fields are all bi-directional (send or receive).
 
-Strings
-^^^^^^^
+### Strings
 
 .. image:: images/using-the-labview-dashboard-with-c++-java-code/strings.png
 
@@ -82,28 +100,37 @@ The strings are labeled top-to-bottom, left-to-right from "DB/String 0" to "DB/S
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-       SmartDashboard.putString("DB/String 0", "My 21 Char TestString");
+   ```java
+   SmartDashboard.putString("DB/String 0", "My 21 Char TestString");
+   ```
 
-    .. code-block:: c++
+   ```c++
+   frc::SmartDashboard::PutString("DB/String 0", "My 21 Char TestString");
+   ```
 
-       frc::SmartDashboard::PutString("DB/String 0", "My 21 Char TestString");
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putString("DB/String 0", "My 21 Char TestString")
+   ```
 
 To read string data entered on the Dashboard:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-       String dashData = SmartDashboard.getString("DB/String 0", "myDefaultData");
+   ```java
+   String dashData = SmartDashboard.getString("DB/String 0", "myDefaultData");
+   ```
 
-    .. code-block:: c++
+   ```c++
+   std::string dashData = frc::SmartDashboard::GetString("DB/String 0", "myDefaultData");
+   ```
 
-       std::string dashData = frc::SmartDashboard::GetString("DB/String 0", "myDefaultData");
+   ```python
+   from wpilib import SmartDashboard
+   dashData = SmartDashboard.getString("DB/String 0", "myDefaultData")
+   ```
 
-Buttons and LEDs
-^^^^^^^^^^^^^^^^
+### Buttons and LEDs
 
 .. image:: images/using-the-labview-dashboard-with-c++-java-code/buttons-and-leds.png
 
@@ -111,28 +138,37 @@ The Buttons and LEDs are boolean values and are labeled top-to-bottom from "DB/B
 
 .. tab-set-code::
 
-    .. code-block:: java
+   ```java
+   SmartDashboard.putBoolean("DB/Button 0", true);
+   ```
 
-       SmartDashboard.putBoolean("DB/Button 0", true);
+   ```c++
+   frc::SmartDashboard::PutBoolean("DB/Button 0", true);
+   ```
 
-    .. code-block:: c++
-
-       frc::SmartDashboard::PutBoolean("DB/Button 0", true);
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putBoolean("DB/Button 0", true)
+   ```
 
 To read from the Buttons: (default value is false)
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-       boolean buttonValue = SmartDashboard.getBoolean("DB/Button 0", false);
+   ```java
+   boolean buttonValue = SmartDashboard.getBoolean("DB/Button 0", false);
+   ```
 
-    .. code-block:: c++
+   ```c++
+   bool buttonValue = frc::SmartDashboard::GetBoolean("DB/Button 0", false);
+   ```
 
-       bool buttonValue = frc::SmartDashboard::GetBoolean("DB/Button 0", false);
+   ```python
+   from wpilib import SmartDashboard
+   buttonValue = SmartDashboard.getBoolean("DB/Button 0", false)
+   ```
 
-Sliders
-^^^^^^^
+### Sliders
 
 .. image:: images/using-the-labview-dashboard-with-c++-java-code/sliders.png
 
@@ -140,22 +176,33 @@ The Sliders are bi-directional analog (double) controls/indicators with a range
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-       SmartDashboard.putNumber("DB/Slider 0", 2.58);
+   ```java
+   SmartDashboard.putNumber("DB/Slider 0", 2.58);
+   ```
 
-    .. code-block:: c++
+   ```c++
+   frc::SmartDashboard::PutNumber("DB/Slider 0", 2.58);
+   ```
 
-       frc::SmartDashboard::PutNumber("DB/Slider 0", 2.58);
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putNumber("DB/Slider 0", 2.58)
+   ```
 
 To read values from the Dashboard into the robot program: (default value of 0.0)
 
 .. tab-set-code::
 
-    .. code-block:: java
+   ```java
+   double dashData = SmartDashboard.getNumber("DB/Slider 0", 0.0);
+   ```
 
-       double dashData = SmartDashboard.getNumber("DB/Slider 0", 0.0);
+   ```c++
+   double dashData = frc::SmartDashboard::GetNumber("DB/Slider 0", 0.0);
+   ```
 
-    .. code-block:: c++
+   ```python
+   from wpilib import SmartDashboard
+   dashData = SmartDashboard.getNumber("DB/Slider 0", 0.0)
+   ```
 
-       double dashData = frc::SmartDashboard::GetNumber("DB/Slider 0", 0.0);
diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/images/commands-subsystems-1.png b/source/docs/software/dashboards/shuffleboard/advanced-usage/images/commands-subsystems-1.png
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diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/images/shuffleboard-hierarchies/smartdashboard-widget.png b/source/docs/software/dashboards/shuffleboard/advanced-usage/images/shuffleboard-hierarchies/smartdashboard-widget.png
index ee80ffe8e0..2c3da5c5f9 100644
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diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/images/shuffleboard-tuning-pid/pid-subsystem.png b/source/docs/software/dashboards/shuffleboard/advanced-usage/images/shuffleboard-tuning-pid/pid-subsystem.png
index d0b015ffac..9c29ca04e5 100644
Binary files a/source/docs/software/dashboards/shuffleboard/advanced-usage/images/shuffleboard-tuning-pid/pid-subsystem.png and b/source/docs/software/dashboards/shuffleboard/advanced-usage/images/shuffleboard-tuning-pid/pid-subsystem.png differ
diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/index.rst b/source/docs/software/dashboards/shuffleboard/advanced-usage/index.rst
index efff674d02..c9216bee6b 100644
--- a/source/docs/software/dashboards/shuffleboard/advanced-usage/index.rst
+++ b/source/docs/software/dashboards/shuffleboard/advanced-usage/index.rst
@@ -1,5 +1,4 @@
-Shuffleboard - Advanced Usage
-=============================
+# Shuffleboard - Advanced Usage
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.rst b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.rst
index eb72869e76..2786243911 100644
--- a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.rst
+++ b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.rst
@@ -1,29 +1,31 @@
-Commands and Subsystems
-=======================
+# Commands and Subsystems
 
 When using the command-based framework Shuffleboard makes it easier to understand what the robot is doing by displaying the state of various commands and subsystems in real-time.
 
-Displaying Subsystems
----------------------
+## Displaying Subsystems
 
 To see the status of a subsystem while the robot is operating in either autonomous or teleoperated modes, that is what its default command is and what command is currently using that subsystem, send a subsystem instance to Shuffleboard:
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   SmartDashboard.putData(subsystem-reference);
+   ```
 
-      SmartDashboard.putData(subsystem-reference);
+   ```c++
+   SmartDashboard::PutData(subsystem-pointer);
+   ```
 
-   .. code-block:: cpp
-
-      SmartDashboard::PutData(subsystem-pointer);
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putData(subsystem-reference)
+   ```
 
 Shuffleboard will display the subsystem name, the default command associated with this subsystem, and the currently running command. In this example the default command for the Elevator subsystem is called ``AutonomousCommand`` and it is also the current command that is using the Elevator subsystem.
 
 .. image:: images/commands-subsystems-1.png
 
-Subsystems in Test Mode
------------------------
+## Subsystems in Test Mode
 
 In Test mode (Test/Enabled in the driver station) subsystems may be displayed in the LiveWindow tab with the sensors and actuators of the subsystem. This is ideal for verifying of sensors are working by seeing the values that they are returning. In addition, actuators can be operated. For example, motors can be operated using sliders to set their commanded speed and direction. For PIDSubsystems the P, I, D, and F constants are displayed along with the setpoint and an enable control. This is useful for tuning PIDSubsystems by adjusting the constants, putting in a setpoint, and enabling the embedded PIDController. Then the mechanism's response can be observed. This cycle (change parameters, enable, and observe) can be repeated until a reasonable set of parameters is found.
 
@@ -33,24 +35,28 @@ In Test mode (Test/Enabled in the driver station) subsystems may be displayed in
 
 More information on tuning PIDSubsystems can be found :doc:`here <shuffleboard-tuning-pid>`. Using RobotBuilder will automatically generate the code to get the subsystem displayed in Test mode. The code that is necessary to have subsystems displayed is shown below where subsystem-name is a string containing the name of the subsystem:
 
-.. code-block:: java
-
-   setName(subsystem-name);
+```java
+setName(subsystem-name);
+```
 
-Displaying Commands
--------------------
+## Displaying Commands
 
 Using commands and subsystems makes very modular robot programs that can easily be tested and modified. Part of this is because commands can be written completely independently of other commands and can therefore be easily run from Shuffleboard. To write a command to Shuffleboard use the ``SmartDashboard.putData`` method as shown here:
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      SmartDashboard.putData("ElevatorMove: up", new ElevatorMove(2.7));
+   ```java
+   SmartDashboard.putData("ElevatorMove: up", new ElevatorMove(2.7));
+   ```
 
-   .. code-block:: cpp
+   ```c++
+   SmartDashboard::PutData("ElevatorMove: up", new ElevatorMove(2.7));
+   ```
 
-      SmartDashboard::PutData("ElevatorMove: up", new ElevatorMove(2.7));
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putData("ElevatorMove: up", ElevatorMove(2.7))
+   ```
 
 Shuffleboard will display the command name and a button to execute the command. In this way individual commands and command groups can easily be tested without needing special test code in a robot program. In the image below there are a number of commands contained in a Shuffleboard list. Pressing the button once runs the command and pressing it again stops the command. To use this feature the robot must be enabled in teleop mode.
 
diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-hierarchies.rst b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-hierarchies.rst
index 235b38b28d..f473035c35 100644
--- a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-hierarchies.rst
+++ b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-hierarchies.rst
@@ -1,5 +1,4 @@
-Viewing Hierarchies of Data
-===========================
+# Viewing Hierarchies of Data
 
 Dragging a key with other keys below it (deeper in the hierarchy) displays the hierarchy in a tree, similar to the NetworkTables sources on the left.
 
diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst
index 56f583ed2b..a4d0e44922 100644
--- a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst
+++ b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst
@@ -1,7 +1,6 @@
-Testing and Tuning PID Loops
-============================
+# Testing and Tuning PID Loops
 
-One challenge in using sensors to control mechanisms is to have a good algorithm to drive the motors to the proper position or speed. The most commonly used control algorithm is called PID control.  There is a `good set of videos <https://wp.wpi.edu/wpilib/robotics-videos/>`__ (look for the robot controls playlist) that explain the control algorithms described here. The PID algorithm converts sensor values into motor speeds by:
+One challenge in using sensors to control mechanisms is to have a good algorithm to drive the motors to the proper position or speed. The most commonly used control algorithm is called PID control.  There is a [good set of videos](https://wp.wpi.edu/wpilib/robotics-videos/) (look for the robot controls playlist) that explain the control algorithms described here. The PID algorithm converts sensor values into motor speeds by:
 
 1. Reading sensor values to determine how far the robot or mechanism from the desired setpoint. The setpoint is the sensor value that corresponds to the expected goal. For example, a robot arm with a wrist joint should be able to move to a specified angle very quickly and stop at that angle as indicated by a sensor. A potentiometer is a sensor that can measure. rotational angle. By connecting it to an analog input, the program can get a voltage measurement that is directly proportional to the angle.
 2. Compute an error (the difference between the sensor value and the desired value). The sign of the error value indicates which side of the setpoint the wrist is on. For example negative values might indicate that the measured wrist angle is larger than the desired wrist angle. The magnitude of the error is how far the measured wrist angle is from the actual wrist angle. If the error is zero, then the measured angle exactly matches the desired angle. The error can be used as an input to the PID algorithm to compute a motor speed.
@@ -13,8 +12,7 @@ WPILib has a PIDController class that implements the PID algorithm and accepts c
 2. I (integral) - this term is the sum of successive errors. The longer the error exists the larger the integral contribution will be. It is simply a sum of all the errors over time. If the wrist isn't quite getting to the setpoint because of a large load it is trying to move, the integral term will continue to increase (sum of the errors) until it contributes enough to the motor speed to get it to move to the setpoint. The sum of the errors is multiplied by a constant (Ki) to scale the integral term for the system.
 3. D (differential) - this value is the rate of change of the errors. It is used to slow down the motor speed if it's moving too fast. It's computed by taking the difference between the current error value and the previous error value. It is also multiplied by a constant (kd) to scale it to match the rest of the system.
 
-Tuning the PID Controller
--------------------------
+## Tuning the PID Controller
 
 Tuning the PID controller consists of adjusting constants for accurate results. Shuffleboard helps this process by displaying the details of a PID subsystem with a user interface for setting constant values and testing how well it operates. This is displayed while the robot is operating in test mode (done by setting "Test" in the driver station).
 
@@ -31,41 +29,50 @@ This is the test mode picture of a wrist subsystem that has a potentiometer as t
 
 Try various PID gains to get the desired motor performance. You can look at the video linked to at the beginning of this article or other sources on the internet to get the desired performance.
 
-.. important:: The enable option does not affect the `PIDController <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/PIDController.html>`__ introduced in 2020, as the controller is updated every robot loop. See the example below on how to retain this functionality.
+.. important:: The enable option does not affect the [PIDController](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/PIDController.html) introduced in 2020, as the controller is updated every robot loop. See the example below on how to retain this functionality.
 
-Enable Functionality in the New PIDController
----------------------------------------------
+## Enable Functionality in the New PIDController
 
 The following example demonstrates how to create a button on your dashboard that will enable/disable the PIDController.
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  ShuffleboardTab tab = Shuffleboard.getTab("Shooter");
+  GenericEntry shooterEnable = tab.add("Shooter Enable", false).getEntry();
+  // Command Example assumed to be in a PIDSubsystem
+  new NetworkButton(shooterEnable).onTrue(new InstantCommand(m_shooter::enable));
+  // Timed Robot Example
+  if (shooterEnable.getBoolean()) {
+    // Calculates the output of the PID algorithm based on the sensor reading
+    // and sends it to a motor
+    motor.set(pid.calculate(encoder.getDistance(), setpoint));
+  }
+  ```
+
+  ```c++
+  frc::ShuffleboardTab& tab = frc::Shuffleboard::GetTab("Shooter");
+  nt::GenericEntry& shooterEnable = *tab.Add("Shooter Enable", false).GetEntry();
+  // Command-based assumed to be in a PIDSubsystem
+  frc2::NetworkButton(shooterEnable).OnTrue(frc2::InstantCommand([&] { m_shooter.Enable(); }));
+  // Timed Robot Example
+  if (shooterEnable.GetBoolean()) {
+    // Calculates the output of the PID algorithm based on the sensor reading
+    // and sends it to a motor
+    motor.Set(pid.Calculate(encoder.GetDistance(), setpoint));
+  }
+  ```
+
+  ```python
+  from wpilib.shuffleboard import Shuffleboard
+  tab = Shuffleboard.getTab("Shooter")
+  shooterEnable = tab.add("Shooter Enable", false).getEntry()
+  # Command Example assumed to be in a PIDSubsystem
+  NetworkButton(shooterEnable).onTrue(InstantCommand(m_shooter.enable()))
+  # Timed Robot Example
+  if (shooterEnable.getBoolean()):
+    # Calculates the output of the PID algorithm based on the sensor reading
+    # and sends it to a motor
+    motor.set(pid.calculate(encoder.getDistance(), setpoint))
+  ```
 
-    ShuffleboardTab tab = Shuffleboard.getTab("Shooter");
-    NetworkTableEntry shooterEnable = tab.add("Shooter Enable", false).getEntry();
-
-    // Command Example assumed to be in a PIDSubsystem
-    new NetworkButton(shooterEnable).onTrue(new InstantCommand(m_shooter::enable));
-
-    // Timed Robot Example
-    if (shooterEnable.getBoolean()) {
-      // Calculates the output of the PID algorithm based on the sensor reading
-      // and sends it to a motor
-      motor.set(pid.calculate(encoder.getDistance(), setpoint));
-    }
-
-  .. code-block:: c++
-
-    frc::ShuffleboardTab& tab = frc::Shuffleboard::GetTab("Shooter");
-    nt::NetworkTableEntry shooterEnable = tab.Add("Shooter Enable", false).GetEntry();
-
-    // Command-based assumed to be in a PIDSubsystem
-    frc2::NetworkButton(shooterEnable).OnTrue(frc2::InstantCommand([&] { m_shooter.Enable(); }));
-
-    // Timed Robot Example
-    if (shooterEnable.GetBoolean()) {
-      // Calculates the output of the PID algorithm based on the sensor reading
-      // and sends it to a motor
-      motor.Set(pid.Calculate(encoder.GetDistance(), setpoint));
-    }
diff --git a/source/docs/software/dashboards/shuffleboard/custom-widgets/builtin-plugins.rst b/source/docs/software/dashboards/shuffleboard/custom-widgets/builtin-plugins.rst
index 12818d4d18..7106ce7554 100644
--- a/source/docs/software/dashboards/shuffleboard/custom-widgets/builtin-plugins.rst
+++ b/source/docs/software/dashboards/shuffleboard/custom-widgets/builtin-plugins.rst
@@ -1,25 +1,21 @@
 .. include:: <isonum.txt>
 
-Built-in Plugins
-================
+# Built-in Plugins
 
 Shuffleboard provides a number of built-in plugins that handle common tasks for FRC\ |reg| use, such as camera streams, all widgets, and :term:`NetworkTables` connections.
 
-Base Plugin
------------
+## Base Plugin
 
 The base plugin defines all the data types, widgets, and layouts necessary for FRC use. It does *not* define any of the source types, or any special data types or widgets for those source types. Those are handled by the `NetworkTables Plugin`_ and the `CameraServer Plugin`_. This separation of concerns makes it easier for teams to create plugins for custom source types or protocols (eg HTTP, ZeroMQ) for the FRC data types without needing a NetworkTables client.
 
 
-CameraServer Plugin
--------------------
+## CameraServer Plugin
 
 The camera server plugin provides sources and widgets for viewing camerastreams from the ``CameraServer`` WPILib class.
 
 This plugin depends on the `NetworkTables Plugin`_ in order to discover the available camera streams.
 
-Stream discovery
-^^^^^^^^^^^^^^^^
+### Stream discovery
 
 CameraServer sources are automatically discovered by looking at the
 ``/CameraPublisher`` NetworkTable.
@@ -41,8 +37,7 @@ For example, a camera named "Camera" with a server at
 
 This setup will automatically discover all camera streams hosted on a roboRIO by the CameraServer class in WPILib. Any non-WPILib projects that want to have camera streams appear in shuffleboard will have to set the streams entry for the camera server.
 
-NetworkTables Plugin
---------------------
+## NetworkTables Plugin
 
 The NetworkTables plugin provides data sources backed by ntcore. Since the ``LiveWindow``, ``SmartDashboard``, and ``Shuffleboard`` classes in WPILib use NetworkTables to send the data to the driver station, this plugin will need to be loaded in order to use those classes.
 
diff --git a/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-a-new-widget.rst b/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-a-new-widget.rst
index e38a06af4c..307c0dc9e8 100644
--- a/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-a-new-widget.rst
+++ b/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-a-new-widget.rst
@@ -1,15 +1,13 @@
-Creating A Widget
-=================
+# Creating A Widget
 Widgets allow us to view, change, and interact with data published through different data sources. The CameraServer, NetworkTables, and Base plugins provide the widgets to control basic data types (including FRC-specific data types). However, custom widgets allow us to control our custom data types we made in the previous sections or Java Objects.
 
 The basic ``Widget`` interface inherits from the ``Component`` and ``Sourced`` interfaces. ``Component`` is the most basic building block of components that be displayed in Shuffleboard. ``Sourced`` is an interface for things that can handle and interface with data sources to display or modify data. Widgets that don't support data bindings but simply have child nodes would not use the ``Sourced`` interface but simply the ``Component`` interface. Both are basic building blocks towards making widgets and allows us to modify and display data.
 
 A good widget allows the end-user to customize the widget to suit their needs. An example could be to allow the user to control the range of the number slider, that is, its maximum and minimum or the orientation of the slider itself. The view of the widget or how it looks is defined using FXML. ``FXML`` is an XML based language that is useful for defining the static layout of the widget (Panes, Labels and Controls).
 
-More about FXML can be found `here <https://openjfx.io/javadoc/11/javafx.fxml/javafx/fxml/doc-files/introduction_to_fxml.html>`_.
+More about FXML can be found [here](https://openjfx.io/javadoc/11/javafx.fxml/javafx/fxml/doc-files/introduction_to_fxml.html).
 
-Defining a Widget's FXML
-------------------------
+## Defining a Widget's FXML
 In this example, we will create two sliders to help us control the X and Y coordinates of our Point2D data type we created in previous sections. It is helpful to place the FXML file in the same package as the Java class.
 
 In order to create an empty, blank window for our widget, we need to create a ``Pane``. A Pane is a parent node that contains other child nodes, in this case, 2 sliders.
@@ -31,182 +29,157 @@ There are many different types of Pane, they are as noted:
 
    - Anchor Panes allow child elements to be placed in the top, bottom, left side, right side, or center of the pane.
 
-Layout panes are also extremely useful for placing child nodes in one horizontal row using a `HBox <https://openjfx.io/javadoc/11/javafx.graphics/javafx/scene/layout/HBox.html>`_ or one vertical column using a `VBox <https://openjfx.io/javadoc/11/javafx.graphics/javafx/scene/layout/VBox.html>`_.
+Layout panes are also extremely useful for placing child nodes in one horizontal row using a [HBox](https://openjfx.io/javadoc/11/javafx.graphics/javafx/scene/layout/HBox.html) or one vertical column using a [VBox](https://openjfx.io/javadoc/11/javafx.graphics/javafx/scene/layout/VBox.html).
 
 The basic syntax for defining a Pane using FXML would be as the following:
 
-.. code-block:: xml
-
-   <?import javafx.scene.layout.*?>
-   <StackPane xmlns:fx="http://javafx.com/fxml/1" fx:controller="/path/to/widget/class" fx:id="root">
-      ...
-   </StackPane>
+```xml
+<?import javafx.scene.layout.*?>
+<StackPane xmlns:fx="http://javafx.com/fxml/1" fx:controller="/path/to/widget/class" fx:id="root">
+   ...
+</StackPane>
+```
 
 The ``fx:controller`` attribute contains the name of the widget class. An instance of this class is created when the FXML file is loaded. For this to work, the controller class must have a no-argument constructor.
 
-Creating A Widget Class
------------------------
+## Creating A Widget Class
 
 Now that we have a Pane, we can now add child elements to that pane. In this example, we can add two slider objects. Remember to add an ``fx:id`` to each element so they can be referenced in our Java class we will make later on. We will use a ``VBox`` to position our slider on top of each other.
 
-.. code-block:: xml
-
-   <?import javafx.scene.layout.*?>
-   <StackPane xmlns:fx="http://javafx.com/fxml/1" fx:controller="/path/to/widget/class" fx:id="root">
-
-      <VBox>
-         <Slider fx:id = "xSlider"/>
-         <Slider fx:id = "ySlider"/>
-      </VBox>
-
-   </StackPane>
+```xml
+<?import javafx.scene.layout.*?>
+<StackPane xmlns:fx="http://javafx.com/fxml/1" fx:controller="/path/to/widget/class" fx:id="root">
+   <VBox>
+      <Slider fx:id = "xSlider"/>
+      <Slider fx:id = "ySlider"/>
+   </VBox>
+</StackPane>
+```
 
 Now that we have finished creating our FXML file, we can now create a widget class. The widget class should include a ``@Description`` annotation that states the supported data types of the widget and the name of the widget. If a ``@Description`` annotation is not present, the plugin class must implement the ``get()`` method to return its widgets.
 
 It also must include a ``@ParametrizedController`` annotation that points to the FXML file containing the layout of the widget. If the class that only supports one data source it must extend the ``SimpleAnnotatedWidget`` class. If the class supports multiple data sources, it must extend the ``ComplexAnnotatedWidget`` class. For more information, see :doc:`widget-types`.
 
-.. code-block:: java
-
-   import edu.wpi.first.shuffleboard.api.widget.Description;
-   import edu.wpi.first.shuffleboard.api.widget.ParametrizedController;
-   import edu.wpi.first.shuffleboard.api.widget.SimpleAnnotatedWidget;
-
-   /*
-    * If the FXML file and Java file are in the same package, that is the Java file is in src/main/java and the
-    * FXML file is under src/main/resources or your code equivalent package, the relative path will work
-    * However, if they are in different packages, an absolute path will be required.
-   */
-
-   @Description(name = "MyPoint2D", dataTypes = MyPoint2D.class)
-   @ParametrizedController("Point2DWidget.fxml")
-   public final class Point2DWidget extends SimpleAnnotatedWidget<MyPoint2D> {
-
-   }
+```java
+import edu.wpi.first.shuffleboard.api.widget.Description;
+import edu.wpi.first.shuffleboard.api.widget.ParametrizedController;
+import edu.wpi.first.shuffleboard.api.widget.SimpleAnnotatedWidget;
+/*
+ * If the FXML file and Java file are in the same package, that is the Java file is in src/main/java and the
+ * FXML file is under src/main/resources or your code equivalent package, the relative path will work
+ * However, if they are in different packages, an absolute path will be required.
+*/
+@Description(name = "MyPoint2D", dataTypes = MyPoint2D.class)
+@ParametrizedController("Point2DWidget.fxml")
+public final class Point2DWidget extends SimpleAnnotatedWidget<MyPoint2D> {
+}
+```
 
 If you are not using a custom data type, you can reference any Java data type (ie. ``Double.class``), or if the widget does not need data binding you can pass ``NoneType.class``.
 
 Now that we have created our class we can create fields for the widgets we declared in our FXML file using the ``@FXML`` annotation. For our two sliders, an example would be:
 
-.. code-block:: java
-
-   import edu.wpi.first.shuffleboard.api.widget.Description;
-   import edu.wpi.first.shuffleboard.api.widget.ParametrizedController;
-   import edu.wpi.first.shuffleboard.api.widget.SimpleAnnotatedWidget;
-   import javafx.fxml.FXML;
-
-   @Description(name = "MyPoint2D", dataTypes = MyPoint2D.class)
-   @ParametrizedController("Point2DWidget.fxml")
-   public final class Point2DWidget extends SimpleAnnotatedWidget<MyPoint2D> {
-
-      @FXML
-      private Pane root;
-
-      @FXML
-      private Slider xSlider;
-
-      @FXML
-      private Slider ySlider;
-   }
+```java
+import edu.wpi.first.shuffleboard.api.widget.Description;
+import edu.wpi.first.shuffleboard.api.widget.ParametrizedController;
+import edu.wpi.first.shuffleboard.api.widget.SimpleAnnotatedWidget;
+import javafx.fxml.FXML;
+@Description(name = "MyPoint2D", dataTypes = MyPoint2D.class)
+@ParametrizedController("Point2DWidget.fxml")
+public final class Point2DWidget extends SimpleAnnotatedWidget<MyPoint2D> {
+   @FXML
+   private Pane root;
+   @FXML
+   private Slider xSlider;
+   @FXML
+   private Slider ySlider;
+}
+```
 
 In order to display our pane on our custom widget we need to override the ``getView()`` method and return our ``StackPane``.
 
-.. code-block:: java
-
-   import edu.wpi.first.shuffleboard.api.widget.Description;
-   import edu.wpi.first.shuffleboard.api.widget.ParametrizedController;
-   import edu.wpi.first.shuffleboard.api.widget.SimpleAnnotatedWidget;
-   import javafx.fxml.FXML;
-
-   @Description(name = "MyPoint2D", dataTypes = MyPoint2D.class)
-   @ParametrizedController("Point2DWidget.fxml")
-   public final class Point2DWidget extends SimpleAnnotatedWidget<MyPoint2D> {
-
-      @FXML
-      private StackPane root;
-
-      @FXML
-      private Slider xSlider;
-
-      @FXML
-      private Slider ySlider;
-
-      @Override
-      public Pane getView() {
-         return root;
-      }
-
+```java
+import edu.wpi.first.shuffleboard.api.widget.Description;
+import edu.wpi.first.shuffleboard.api.widget.ParametrizedController;
+import edu.wpi.first.shuffleboard.api.widget.SimpleAnnotatedWidget;
+import javafx.fxml.FXML;
+@Description(name = "MyPoint2D", dataTypes = MyPoint2D.class)
+@ParametrizedController("Point2DWidget.fxml")
+public final class Point2DWidget extends SimpleAnnotatedWidget<MyPoint2D> {
+   @FXML
+   private StackPane root;
+   @FXML
+   private Slider xSlider;
+   @FXML
+   private Slider ySlider;
+   @Override
+   public Pane getView() {
+      return root;
    }
+}
+```
 
-Binding Elements and Adding Listeners
--------------------------------------
+## Binding Elements and Adding Listeners
 Binding is a mechanism that allows JavaFX widgets to express direct relationships with the data source. For example, changing a widget will change its related NetworkTableEntry and vice versa.
 
 An example, in this case, would be changing the X and Y coordinate of our 2D point by changing the values of xSlider and ySlider respectively.
 
 A good practice is to set bindings in the ``initialize()`` method tagged with the ``@FXML`` annotation which is required to call the method from FXML if the method is not ``public``.
 
-.. code-block:: java
-
-   import edu.wpi.first.shuffleboard.api.widget.Description;
-   import edu.wpi.first.shuffleboard.api.widget.ParametrizedController;
-   import edu.wpi.first.shuffleboard.api.widget.SimpleAnnotatedWidget;
-   import javafx.fxml.FXML;
-
-   @Description(name = "MyPoint2D", dataTypes = MyPoint2D.class)
-   @ParametrizedController("Point2DWidget.fxml")
-   public final class Point2DWidget extends SimpleAnnotatedWidget<MyPoint2D> {
-
-      @FXML
-      private StackPane root;
-
-      @FXML
-      private Slider xSlider;
-
-      @FXML
-      private Slider ySlider;
-
-      @FXML
-      private void initialize() {
-         xSlider.valueProperty().bind(dataOrDefault.map(MyPoint2D::getX));
-         ySlider.valueProperty().bind(dataOrDefault.map(MyPoint2D::getY));
-      }
-
-      @Override
-      public Pane getView() {
-         return root;
-      }
-
-    }
+```java
+import edu.wpi.first.shuffleboard.api.widget.Description;
+import edu.wpi.first.shuffleboard.api.widget.ParametrizedController;
+import edu.wpi.first.shuffleboard.api.widget.SimpleAnnotatedWidget;
+import javafx.fxml.FXML;
+@Description(name = "MyPoint2D", dataTypes = MyPoint2D.class)
+@ParametrizedController("Point2DWidget.fxml")
+public final class Point2DWidget extends SimpleAnnotatedWidget<MyPoint2D> {
+   @FXML
+   private StackPane root;
+   @FXML
+   private Slider xSlider;
+   @FXML
+   private Slider ySlider;
+   @FXML
+   private void initialize() {
+      xSlider.valueProperty().bind(dataOrDefault.map(MyPoint2D::getX));
+      ySlider.valueProperty().bind(dataOrDefault.map(MyPoint2D::getY));
+   }
+   @Override
+   public Pane getView() {
+      return root;
+   }
+ }
+```
 
 The above ``initialize`` method binds the slider's value property to the ``MyPoint2D`` data class' corresponding X and Y value. Meaning, changing the slider will change the coordinate and vice versa.
 The ``dataOrDefault.map()`` method will get the data source's value, or, if no source is present, will return the default value.
 
 Using a listener is another way to change values when the slider or data source has changed. For example a listener for our slider would be:
 
-.. code-block:: java
-
-   xSlider.valueProperty().addListener((observable, oldValue, newValue) -> setData(getData().withX(newValue));
+```java
+xSlider.valueProperty().addListener((observable, oldValue, newValue) -> setData(getData().withX(newValue));
+```
 
 In this case, the ``setData()`` method sets the value in the data source of the widget to the ``newValue``.
 
-Exploring Custom Components
----------------------------
+## Exploring Custom Components
 Widgets are not automatically discovered when loading plugins; the defining plugin must explicitly export it for it to be usable. This approach is taken to allow multiple plugins to be defined in the same JAR.
 
-.. code-block:: java
+```java
+@Override
+public List<ComponentType> getComponents() {
+  return List.of(WidgetType.forAnnotatedWidget(Point2DWidget.class));
+}
+```
 
-   @Override
-   public List<ComponentType> getComponents() {
-     return List.of(WidgetType.forAnnotatedWidget(Point2DWidget.class));
-   }
-
-Set Default Widget For Data type
---------------------------------
+## Set Default Widget For Data type
 In order to set your widget as default for your custom data type, you can override the ``getDefaultComponents()`` in your plugin class that stores a Map for all default widgets as noted below:
 
-.. code-block:: java
+```java
+@Override
+public Map<DataType, ComponentType> getDefaultComponents() {
+   return Map.of(Point2DType.Instance, WidgetType.forAnnotatedWidget(Point2DWidget.class));
+}
+```
 
-   @Override
-   public Map<DataType, ComponentType> getDefaultComponents() {
-      return Map.of(Point2DType.Instance, WidgetType.forAnnotatedWidget(Point2DWidget.class));
-   }
diff --git a/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-custom-data-types.rst b/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-custom-data-types.rst
index 82ebcdbda9..d8ee6c6cef 100644
--- a/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-custom-data-types.rst
+++ b/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-custom-data-types.rst
@@ -1,142 +1,118 @@
-Creating Custom Data Types
-==========================
+# Creating Custom Data Types
 Widgets allow us to control and visualize different types of data. This data could be integers and doubles or even Java Objects. In order to display these types of data using widgets, it is helpful to create a container class for them. It is not necessary to create your own Data Class if the widget will handle single fielded data types such as doubles, arrays, or strings.
 
-Creating The Data Class
------------------------
-In this example, we will create a custom data type for a 2D Point and its x and y coordinates. In order to create a custom data type class, it must extend the abstract class `ComplexData <https://github.com/wpilibsuite/shuffleboard/blob/main/api/src/main/java/edu/wpi/first/shuffleboard/api/data/ComplexData.java>`_.
+## Creating The Data Class
+In this example, we will create a custom data type for a 2D Point and its x and y coordinates. In order to create a custom data type class, it must extend the abstract class [ComplexData](https://github.com/wpilibsuite/shuffleboard/blob/main/api/src/main/java/edu/wpi/first/shuffleboard/api/data/ComplexData.java).
 Your custom data class must also implement the ``asMap()`` method that returns the represented data as a simple map as noted below with the ``@Override`` annotation:
 
-.. code-block:: java
-
-   import edu.wpi.first.shuffleboard.api.data.ComplexData;
-
-   import java.util.Map;
-
-   public class MyPoint2D extends ComplexData<MyPoint2D> {
-
-      private final double x;
-      private final double y;
-
-      //Constructor should take all the different fields needed and assign them their corresponding instance variables.
-      public MyPoint2D(double x, double y) {
-         this.x = x;
-         this.y = y;
-      }
-
-      @Override
-      public Map<String, Object> asMap() {
-         return Map.of("x", x, "y", y);
-      }
+```java
+import edu.wpi.first.shuffleboard.api.data.ComplexData;
+import java.util.Map;
+public class MyPoint2D extends ComplexData<MyPoint2D> {
+   private final double x;
+   private final double y;
+   //Constructor should take all the different fields needed and assign them their corresponding instance variables.
+   public MyPoint2D(double x, double y) {
+      this.x = x;
+      this.y = y;
+   }
+   @Override
+   public Map<String, Object> asMap() {
+      return Map.of("x", x, "y", y);
    }
+}
+```
 
 It is also good practice to override the default ``equals`` and ``hashcode`` methods to ensure that different objects are considered equivalent when their fields are the same.
 The ``asMap()`` method should return the data represented in a simple Map object as it will be mapped to the NetworkTables entry it corresponds to. In this case, we can represent the point as its X and Y coordinates and return a ``Map`` containing them.
 
-.. code-block:: java
-
-   import edu.wpi.first.shuffleboard.api.data.ComplexData;
-
-   import java.util.Map;
-
-   public final class MyPoint2D extends ComplexData<MyPoint2D> {
-
-      private final double x;
-      private final double y;
-
-      // Constructor should take all the different fields needed and assign them to their corresponding instance variables.
-      public Point(double x, double y) {
-         this.x = x;
-         this.y = y;
-      }
-
-      @Override
-      public Map<String, Object> asMap() {
-         return Map.of("x", this.x, "y", this.y);
-      }
-    }
+```java
+import edu.wpi.first.shuffleboard.api.data.ComplexData;
+import java.util.Map;
+public final class MyPoint2D extends ComplexData<MyPoint2D> {
+   private final double x;
+   private final double y;
+   // Constructor should take all the different fields needed and assign them to their corresponding instance variables.
+   public Point(double x, double y) {
+      this.x = x;
+      this.y = y;
+   }
+   @Override
+   public Map<String, Object> asMap() {
+      return Map.of("x", this.x, "y", this.y);
+   }
+ }
+```
 
 Other methods can be added to retrieve or edit fields and instance variables, however, it is good practice to make these classes immutable to prevent changing the source data objects. Instead, you can make a new copy object instead of manipulating the existing object. For example, if we wanted to change the y coordinate of our point, we can define the following method:
 
-.. code-block:: java
-
-   public MyPoint2D withY(double newY) {
-      return new MyPoint2D(this.x, newY);
-   }
+```java
+public MyPoint2D withY(double newY) {
+   return new MyPoint2D(this.x, newY);
+}
+```
 
 This creates a new ``MyPoint2D`` object and returns it with the new y-coordinate. Same can be done for changing the x coordinate.
 
-Creating a Data Type
----------------------
+## Creating a Data Type
 There are two different data types that can be made: Simple data types that have only one field (ie. a single number or string), and Complex data types that have multiple data fields (ie. multiple strings, multiple numbers).
 
 In order to define a simple data type, the class must extend the ``SimpleDataType<DataType>`` class with the data type needed and implement the ``getDefaultValue()`` method. In this example, we will use a double as our simple data type.
 
-.. code-block:: java
-
-   public final class MyDoubleDataType extends SimpleDataType<Double> {
-
-      private static final String NAME = "Double";
-
-      private MyDataType() {
-         super(NAME, Double.class);
-      }
-
-      @Override
-      public Double getDefaultValue() {
-         return 0.0;
-      }
-
+```java
+public final class MyDoubleDataType extends SimpleDataType<Double> {
+   private static final String NAME = "Double";
+   private MyDataType() {
+      super(NAME, Double.class);
+   }
+   @Override
+   public Double getDefaultValue() {
+      return 0.0;
    }
+}
+```
 
 The class constructor is set to private to ensure that only a single instance of the data type will exist.
 
 In order to define a complex data type, the class must extend the ``ComplexDataType`` class and override the ``fromMap()`` and ``getDefaultValue()`` methods.
 We will use our MyPoint2D class as an example to see what a complex data type class would look like.
 
-.. code-block:: java
-
-   public final class PointDataType extends ComplexDataType<MyPoint2D> {
-
-      private static final String NAME = "MyPoint2D";
-      public static final PointDataType Instance = new PointDataType();
-
-      private PointDataType() {
-         super(NAME, MyPoint2D.class);
-      }
-
-      @Override
-      public Function<Map<String, Object>, MyPoint2D> fromMap() {
-         return map -> {
-            return new MyPoint2D((double) map.getOrDefault("x", 0.0), (double) map.getOrDefault("y", 0.0));
-         };
-      }
-
-      @Override
-      public MyPoint2D getDefaultValue() {
-         // use default values of 0 for X and Y coordinates
-         return new MyPoint2D(0, 0);
-      }
-
+```java
+public final class PointDataType extends ComplexDataType<MyPoint2D> {
+   private static final String NAME = "MyPoint2D";
+   public static final PointDataType Instance = new PointDataType();
+   private PointDataType() {
+      super(NAME, MyPoint2D.class);
+   }
+   @Override
+   public Function<Map<String, Object>, MyPoint2D> fromMap() {
+      return map -> {
+         return new MyPoint2D((double) map.getOrDefault("x", 0.0), (double) map.getOrDefault("y", 0.0));
+      };
+   }
+   @Override
+   public MyPoint2D getDefaultValue() {
+      // use default values of 0 for X and Y coordinates
+      return new MyPoint2D(0, 0);
    }
+}
+```
 
 The following code above works as noted:
 
 The ``fromMap()`` method creates a new MyPoint2D using the values in the NetworkTables entry it is bound to.
 The ``getOrDefault`` method will return 0.0 if it cannot get the entry values. The ``getDefaultValue`` will return a new ``MyPoint2D`` object if no source is present.
 
-Exporting Data Type To Plugin
------------------------------
+## Exporting Data Type To Plugin
 In order to have the data type be recognized by Shuffleboard, the plugin must export them by overriding the ``getDataTypes`` method.
 For example,
 
-.. code-block:: java
-
-   public class MyPlugin extends Plugin {
-
-      @Override
-      public List<DataType> getDataTypes() {
-         return List.of(PointDataType.Instance);
-      }
-
+```java
+public class MyPlugin extends Plugin {
+   @Override
+   public List<DataType> getDataTypes() {
+      return List.of(PointDataType.Instance);
    }
+}
+```
+
diff --git a/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst b/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst
index 70ac97edb8..f204cfd5a6 100644
--- a/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst
+++ b/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst
@@ -1,43 +1,37 @@
 .. include:: <isonum.txt>
 
-Creating a Plugin
-=================
+# Creating a Plugin
 
-Overview
---------
+## Overview
 Plugins provide the ability to create custom widgets, layouts, data sources/types, and custom themes. Shuffleboard provides the following :ref:`built-in plugins <docs/software/dashboards/shuffleboard/custom-widgets/builtin-plugins:Built-in Plugins>`.
 
 - NetworkTables Plugin: To connect to data published over NetworkTables
 - Base Plugin: To display custom FRC\ |reg| data types in custom widgets
 - CameraServer Plugin: To view streams from the CameraServer
 
-.. tip:: An example custom Shuffleboard plugin which creates a custom data type and a simple widget for displaying it can be found `here <https://github.com/wpilibsuite/shuffleboard/tree/main/example-plugins/custom-data-and-widget>`__.
+.. tip:: An example custom Shuffleboard plugin which creates a custom data type and a simple widget for displaying it can be found [here](https://github.com/wpilibsuite/shuffleboard/tree/main/example-plugins/custom-data-and-widget).
 
-Create a Custom Plugin
-----------------------
-In order to define a plugin, the plugin class must be a subclass of `edu.wpi.first.shuffleboard.api.Plugin <https://github.com/wpilibsuite/shuffleboard/blob/main/api/src/main/java/edu/wpi/first/shuffleboard/api/plugin/Plugin.java>`_ or one of its subclasses. An example of a plugin class would be as following.
+## Create a Custom Plugin
+In order to define a plugin, the plugin class must be a subclass of [edu.wpi.first.shuffleboard.api.Plugin](https://github.com/wpilibsuite/shuffleboard/blob/main/api/src/main/java/edu/wpi/first/shuffleboard/api/plugin/Plugin.java) or one of its subclasses. An example of a plugin class would be as following.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      import edu.wpi.first.shuffleboard.api.plugin.Description;
-      import edu.wpi.first.shuffleboard.api.plugin.Plugin;
-
-      @Description(group = "com.example", name = "MyPlugin", version = "1.2.3", summary = "An example plugin")
-      public class MyPlugin extends Plugin {
-
-      }
+   ```java
+   import edu.wpi.first.shuffleboard.api.plugin.Description;
+   import edu.wpi.first.shuffleboard.api.plugin.Plugin;
+   @Description(group = "com.example", name = "MyPlugin", version = "1.2.3", summary = "An example plugin")
+   public class MyPlugin extends Plugin {
+   }
+   ```
 
-Additional explanations on how these attributes are used, including version numbers can be found `here <https://semver.org/>`_.
+Additional explanations on how these attributes are used, including version numbers can be found [here](https://semver.org/).
 
 Note the ``@Description`` annotation is needed to tell the plugin loader the properties of the custom plugin class.
 Plugin classes are permitted to have a default constructor but it cannot take any arguments.
 
-Building plugin
----------------
+## Building plugin
 
-The easiest way to build plugins is to utlize the `example-plugins` folder in the shufflebloard source tree. Clone Shuffleboard with ``git clone https://github.com/wpilibsuite/shuffleboard.git``, and checkout the version that corresponds to the WPILib version you have installed (e.g. 2023.2.1). ``git checkout v2023.2.1``
+The easiest way to build plugins is to utilize the `example-plugins` folder in the shufflebloard source tree. Clone Shuffleboard with ``git clone https://github.com/wpilibsuite/shuffleboard.git``, and checkout the version that corresponds to the WPILib version you have installed (e.g. 2023.2.1). ``git checkout v2023.2.1``
 
 Put your plugin in the ``example-plugins\PLUGIN-NAME`` directory.
 Copy the ``custom-data-and-widget.gradle`` from ``example-plugins\custom-data-and-widget`` and rename to match your plugin name.
@@ -47,26 +41,23 @@ Edit ``settings.gradle`` in the shuffleboard root directory to add ``include "ex
 
 Plugins are allowed to have dependencies on other plugins and libraries, however, they must be included correctly in the maven or gradle build file. When a plugin depends on other plugins, it is good practice to define those dependencies so the plugin does not load when the dependencies do not load as well. This can be done using the ``@Requires`` annotation as shown below:
 
-.. code-block:: java
-
-   @Requires(group = "com.example", name = "Good Plugin", minVersion = "1.2.3")
-   @Requires(group = "edu.wpi.first.shuffleboard", name = "Base", minVersion = "1.0.0")
-   @Description(group = "com.example", name = "MyPlugin", version = "1.2.3", summary = "An example plugin")
-   public class MyPlugin extends Plugin {
-
-   }
+```java
+@Requires(group = "com.example", name = "Good Plugin", minVersion = "1.2.3")
+@Requires(group = "edu.wpi.first.shuffleboard", name = "Base", minVersion = "1.0.0")
+@Description(group = "com.example", name = "MyPlugin", version = "1.2.3", summary = "An example plugin")
+public class MyPlugin extends Plugin {
+}
+```
 
 The ``minVersion`` specifies the minimum allowable version of the plugin that can be loaded. For example, if the ``minVersion`` is 1.4.5, and the plugin with the version 1.4.7 is loaded, it will be allowed to do so. However, if the plugin with the version 1.2.4 is loaded, it will not be allowed to since it is less than the ``minVersion``.
 
-Deploying Plugin To Shuffleboard
---------------------------------
+## Deploying Plugin To Shuffleboard
 In order to load a plugin in Shuffleboard, you will need to generate a jar file of the plugin and put it in the ``~/Shuffleboard/plugins`` folder. This can be done automatically
 by running from the shuffleboard root ``gradlew :example-plugins:PLUGIN-NAME:installPlugin``
 
 After deploying, Shuffleboard will cache the path of the plugin so it can be automatically loaded the next time Shuffleboard loads. It may be necessary to click on ``Clear Cache`` under the plugins menu to remove a plugin or reload a plugin into Shuffleboard.
 
-Manually Adding Plugin
-----------------------
+## Manually Adding Plugin
 The other way to add a plugin to Shuffleboard is to compile it to a jar file and add it from Shuffleboard. The jar file is located in ``example-plugins\PLUGIN-NAME\build\libs`` after running ``gradlew build`` in the shuffleboard root
 Open Shuffleboard, click on the file tab in the top left, and choose Plugins from the drop down menu.
 
diff --git a/source/docs/software/dashboards/shuffleboard/custom-widgets/custom-themes.rst b/source/docs/software/dashboards/shuffleboard/custom-widgets/custom-themes.rst
index 8140c24631..3b696599f4 100644
--- a/source/docs/software/dashboards/shuffleboard/custom-widgets/custom-themes.rst
+++ b/source/docs/software/dashboards/shuffleboard/custom-widgets/custom-themes.rst
@@ -1,7 +1,6 @@
-Custom Themes
-=============
+# Custom Themes
 
-Since shuffleboard is a JavaFX application, it has support for custom themes via Cascading Stylesheets (**CSS** for short). These are commonly used on webpages for making HTML look nice, but JavaFX also has support, albeit for a different language subset (see `here <https://openjfx.io/javadoc/11/javafx.graphics/javafx/scene/doc-files/cssref.html>`_ for documentation on how to use it).
+Since shuffleboard is a JavaFX application, it has support for custom themes via Cascading Stylesheets (**CSS** for short). These are commonly used on webpages for making HTML look nice, but JavaFX also has support, albeit for a different language subset (see [here](https://openjfx.io/javadoc/11/javafx.graphics/javafx/scene/doc-files/cssref.html) for documentation on how to use it).
 
 Shuffleboard comes with three themes by default: Material Light, Material Dark, and Midnight. These are color variations on the same material design stylesheet. In addition, they inherit from a ``base.css`` stylesheet that defines styles for the custom components ,defined in shuffleboard or libraries that it uses; the base material design stylesheet only applies to the UI components built into JavaFX.
 
@@ -14,8 +13,7 @@ There are two ways to define a custom theme: place the stylesheets in a director
 All the stylesheets in the directory will be treated as part of the
 theme.
 
-Loading Themes via Plugins
---------------------------
+## Loading Themes via Plugins
 
 Custom themes can also be defined by plugins. This makes them easier to share and bundle with custom widgets, but are slightly more difficult to define. The theme object will need a reference to a class defined in the plugin so that the plugin loader can determine where the stylesheets are located. If a class is passed that is *not* present in the JAR that the plugin is in, the theme will not be able to be used.
 
@@ -33,8 +31,7 @@ Custom themes can also be defined by plugins. This makes them easier to share an
 
    }
 
-Modifying or Extending Shuffleboard’s Default Themes
-----------------------------------------------------
+## Modifying or Extending Shuffleboard’s Default Themes
 
 Shuffleboard’s Material Light and Material Dark themes provide a lot of the framework for light and dark themes, respectively, as well as many styles specific to shuffleboard, ControlsFX, and Medusa UI components to fit with the material-style design.
 
@@ -50,8 +47,7 @@ Themes that want to modify these themes need to add ``import`` statements for th
 
 Note that ``base.css`` internally imports ``material.css``, and ``light.css``, ``dark.css``, and ``midnight.css`` all import ``base.css``, so importing ``light.css`` will implicitly import both ``base.css`` and ``material.css`` as well.
 
-Source Code for the CSS Files
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Source Code for the CSS Files
 
 -  _material.css: https://github.com/wpilibsuite/shuffleboard/blob/main/api/src/main/resources/edu/wpi/first/shuffleboard/api/material.css
 -  _base.css: https://github.com/wpilibsuite/shuffleboard/blob/main/api/src/main/resources/edu/wpi/first/shuffleboard/api/base.css
@@ -59,18 +55,15 @@ Source Code for the CSS Files
 -  _dark.css: https://github.com/wpilibsuite/shuffleboard/blob/main/app/src/main/resources/edu/wpi/first/shuffleboard/app/dark.css
 -  _midnight.css: https://github.com/wpilibsuite/shuffleboard/blob/main/app/src/main/resources/edu/wpi/first/shuffleboard/app/midnight.css
 
-Material Design Color Swatches
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Material Design Color Swatches
 
 The material design CSS uses color swatch variables for almost everything. These variables can be set from custom CSS files, reducing the amount of custom code needed.
 
 The ``-swatch-<100|200|300|400|500>`` variables define progressively darker shades of the same primary color. The light theme uses the default shades of blue set in ``material.css``, but the dark theme overrides these with shades of red. ``-swatch-<|light|dark>-gray`` defines three levels of gray to use for various background or text colors.
 
-Overriding the Swatch Colors
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Overriding the Swatch Colors
 
-Replacing blue with red (light)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Replacing blue with red (light)
 
 ::
 
@@ -84,8 +77,7 @@ Replacing blue with red (light)
        -swatch-500: hsb(0, 80%, 58%);
    }
 
-Replacing red with blue (dark)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Replacing red with blue (dark)
 
 ::
 
diff --git a/source/docs/software/dashboards/shuffleboard/custom-widgets/images/loading-plugin.png b/source/docs/software/dashboards/shuffleboard/custom-widgets/images/loading-plugin.png
index 20e6a1d589..8a70366661 100644
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diff --git a/source/docs/software/dashboards/shuffleboard/custom-widgets/index.rst b/source/docs/software/dashboards/shuffleboard/custom-widgets/index.rst
index ae5411e634..054711a69b 100644
--- a/source/docs/software/dashboards/shuffleboard/custom-widgets/index.rst
+++ b/source/docs/software/dashboards/shuffleboard/custom-widgets/index.rst
@@ -1,5 +1,4 @@
-Shuffleboard - Custom Widgets
-=============================
+# Shuffleboard - Custom Widgets
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/dashboards/shuffleboard/custom-widgets/widget-types.rst b/source/docs/software/dashboards/shuffleboard/custom-widgets/widget-types.rst
index 289d48ca5e..4376aad4d0 100644
--- a/source/docs/software/dashboards/shuffleboard/custom-widgets/widget-types.rst
+++ b/source/docs/software/dashboards/shuffleboard/custom-widgets/widget-types.rst
@@ -1,5 +1,4 @@
-Widget Types
-============
+# Widget Types
 
 While ``Widget`` is pretty straightforward as far as the interface is concerned, there are several intermediate implementations to make it easier to define the widget.
 
@@ -41,18 +40,15 @@ There are also two annotations to help define widgets:
 |                                   | types be defined in a single line |
 +-----------------------------------+-----------------------------------+
 
-AbstractWidget
---------------
+## AbstractWidget
 
-This class implements ``getProperties()``, ``getSources()``, ``addSource()``, and ``titleProperty()``. It also defines a method ``exportProperties(Property<?>...)`` method so subclasses can easy add custom widget properties, or properties for the JavaFX components in the widget. Most of the `widgets in the base plugin <https://github.com/wpilibsuite/shuffleboard/tree/main/plugins/base/src/main/java/edu/wpi/first/shuffleboard/plugin/base/widget>`_ use this.
+This class implements ``getProperties()``, ``getSources()``, ``addSource()``, and ``titleProperty()``. It also defines a method ``exportProperties(Property<?>...)`` method so subclasses can easy add custom widget properties, or properties for the JavaFX components in the widget. Most of the [widgets in the base plugin](https://github.com/wpilibsuite/shuffleboard/tree/main/plugins/base/src/main/java/edu/wpi/first/shuffleboard/plugin/base/widget) use this.
 
-SingleTypeWidget
-----------------
+## SingleTypeWidget
 
 A type of widget that only supports a single data type. This interface is parametrized and has methods for setting or getting the data, as well as a method for getting the (single) data type of the widget.
 
-AnnotatedWidget
----------------
+## AnnotatedWidget
 
 This interface implements ``getDataTypes()`` and ``getName()`` by looking at the ``@Description`` annotation on the implementing class. This *requires* the annotation to be present, or the widget will not be able to be loaded and used.
 
@@ -70,18 +66,15 @@ This interface implements ``getDataTypes()`` and ``getName()`` by looking at the
      // ...
    }
 
-SingleSourceWidget
-------------------
+## SingleSourceWidget
 
 A type of widget that only uses a single source.
 
-SimpleAnnotatedWidget
----------------------
+## SimpleAnnotatedWidget
 
 A combination of ``SingleTypeWidget<T>``, ``AnnotatedWidget``, and ``SingleSourceWidget``. Most widgets in the base plugin extend from this class. This also has a ``protected`` field called ``dataOrDefault`` that lets subclasses use a default data value if the widget doesn’t have a source, or if the source is providing ``null``.
 
-@ParametrizedController
------------------------
+## @ParametrizedController
 
 This annotation can be placed on a widget class to let shuffleboard know that it’s an FXML controller for a JavaFX view defined via FXML. The annotation takes a single parameter that defines where the FXML file *in relation to the class on which it is placed*. For example, a widget in the directory ``src/main/java/com/acme`` that is an FXML controller for a FXML file in ``src/main/resources/com/acme`` can use the annotation as either
 
@@ -95,7 +88,6 @@ or as
 
    @ParametrizedController("/com/acme/MyWidget.fxml")
 
-@Description
-------------
+## @Description
 
 This allows widgets to have their name and supported data types defined by a single annotation, when used alongside `AnnotatedWidget`_.
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index 3f89b0cf27..f9af5440a3 100644
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diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/index.rst b/source/docs/software/dashboards/shuffleboard/getting-started/index.rst
index 4fd2c2c4cb..550fef1a3c 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/index.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/index.rst
@@ -1,5 +1,4 @@
-Shuffleboard - Getting Started
-==============================
+# Shuffleboard - Getting Started
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-camera.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-camera.rst
index 872953ca5b..ad4241788c 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-camera.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-camera.rst
@@ -1,10 +1,8 @@
-Displaying Camera Streams
-=========================
+# Displaying Camera Streams
 
 Camera streams from the robot can be viewed on a tab in Shuffleboard. This is useful for viewing what the robot is seeing to give a less obstructed view for operators or helping visualize the output from a vision algorithm running on the driver station computer or a coprocessor on the robot. Any stream that is running using the CameraServer API can be viewed in a camera stream widget.
 
-Adding a Camera Stream
-----------------------
+## Adding a Camera Stream
 
 To add a camera to your dashboard select "Sources" and view the "CameraServer" source in the left side panel in the Shuffleboard window as shown in the example below. A list of camera streams will be shown, in this case there is only one camera called "Robot Front Camera". Drag that to the tab where it should be displayed. Alternatively the stream can also be placed on the dashboard by right-clicking on the stream in the Sources list and selecting "Show as: Camera Stream".
 
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data.rst
index b4078d481b..a555a1df5a 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data.rst
@@ -1,5 +1,4 @@
-Displaying data from your robot
-===============================
+# Displaying data from your robot
 
 Your robot can display data in regular operating modes like Teleop and Autonomous modes but you can also display the status and operate all the robot subsystems when the robot is switched to Test mode. By default you'll see two tabs when you start Shuffleboard, one for Teleop/Autonomous and another for Test mode. The currently selected tab is underlined as can be seen in the picture below.
 
@@ -8,23 +7,45 @@ Your robot can display data in regular operating modes like Teleop and Autonomou
 
 Often debugging or monitoring the status of a robot involves writing a number of values to the console and watching them stream by. With Shuffleboard you can put values to a GUI that is automatically constructed based on your program. As values are updated, the corresponding GUI element changes value - there is no need to try to catch numbers streaming by on the screen.
 
-Displaying values in normal operating mode (autonomous or teleop)
------------------------------------------------------------------
+## Displaying values in normal operating mode (autonomous or teleop)
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        protected void execute() {
-            SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge());
-            SmartDashboard.putNumber("Bridge Angle", bridgeTipper.getPosition());
-            SmartDashboard.putNumber("Swerve Angle", drivetrain.getSwerveAngle());
-            SmartDashboard.putNumber("Left Drive Encoder", drivetrain.getLeftEncoder());
-            SmartDashboard.putNumber("Right Drive Encoder", drivetrain.getRightEncoder());
-            SmartDashboard.putNumber("Turret Pot", turret.getCurrentAngle());
-            SmartDashboard.putNumber("Turret Pot Voltage", turret.getAverageVoltage());
-            SmartDashboard.putNumber("RPM", shooter.getRPM());
-        }
+   ```java
+   protected void execute() {
+      SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge());
+      SmartDashboard.putNumber("Bridge Angle", bridgeTipper.getPosition());
+      SmartDashboard.putNumber("Swerve Angle", drivetrain.getSwerveAngle());
+      SmartDashboard.putNumber("Left Drive Encoder", drivetrain.getLeftEncoder());
+      SmartDashboard.putNumber("Right Drive Encoder", drivetrain.getRightEncoder());
+      SmartDashboard.putNumber("Turret Pot", turret.getCurrentAngle());
+      SmartDashboard.putNumber("Turret Pot Voltage", turret.getAverageVoltage());
+      SmartDashboard.putNumber("RPM", shooter.getRPM());
+   }
+   ```
+
+   ```c++
+   frc::SmartDashboard::PutBoolean("Bridge Limit", bridgeTipper.AtBridge());
+   frc::SmartDashboard::PutNumber("Bridge Angle", bridgeTipper.GetPosition());
+   frc::SmartDashboard::PutNumber("Swerve Angle", drivetrain.GetSwerveAngle());
+   frc::SmartDashboard::PutNumber("Left Drive Encoder", drivetrain.GetLeftEncoder());
+   frc::SmartDashboard::PutNumber("Right Drive Encoder", drivetrain.GetRightEncoder());
+   frc::SmartDashboard::PutNumber("Turret Pot", turret.GetCurrentAngle());
+   frc::SmartDashboard::PutNumber("Turret Pot Voltage", turret.GetAverageVoltage());
+   frc::SmartDashboard::PutNumber("RPM", shooter.GetRPM());
+   ```
+
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge())
+   SmartDashboard.putNumber("Bridge Angle", bridgeTipper.getPosition())
+   SmartDashboard.putNumber("Swerve Angle", drivetrain.getSwerveAngle())
+   SmartDashboard.putNumber("Left Drive Encoder", drivetrain.getLeftEncoder())
+   SmartDashboard.putNumber("Right Drive Encoder", drivetrain.getRightEncoder())
+   SmartDashboard.putNumber("Turret Pot", turret.getCurrentAngle())
+   SmartDashboard.putNumber("Turret Pot Voltage", turret.getAverageVoltage())
+   SmartDashboard.putNumber("RPM", shooter.getRPM())
+   ```
 
 .. figure:: images/display-code-result.png
    :alt:
@@ -35,29 +56,25 @@ You can write Boolean, Numeric, or String values to Shuffleboard by simply calli
 -  String types call SmartDashboard.putString("dashboard-name", value)
 -  Boolean types call SmartDashboard.putBoolean("dashboard-name", value)
 
-Changing the display type of data
----------------------------------
+## Changing the display type of data
 
 Depending on the data type of the values being sent to Shuffleboard you can often change the display format. In the previous example you can see that number values were displayed as either decimal numbers, a dial to better represent angles, and as a voltage view for the turret potentiometer. To set the display type right-click on the tile and select "Show as...". You can choose display types from the list in the popup menu.
 
 .. figure:: images/configuring-data.png
    :alt:
 
-Displaying data in Test mode
-----------------------------
+## Displaying data in Test mode
 
 You may add code to your program to display values for your sensors and actuators while the robot is in Test mode. This can be selected from the Driver Station whenever the robot is not on the field. The code to display these values is automatically generated by RobotBuilder or manually added to your program and is described in the next article. Test mode is designed to verify the correct operation of the sensors and actuators on a robot. In addition it can be used for obtaining setpoints from sensors such as potentiometers and for tuning PID loops in your code.
 
-Setting test mode
-~~~~~~~~~~~~~~~~~
+#### Setting test mode
 
 .. figure:: images/driverstation-test-mode.png
    :alt:
 
 Enable Test Mode in the Driver Station by clicking on the "Test" button and setting "Enable" on the robot. When doing this, Shuffleboard will display the status of any actuators and sensors used by your program organized by subsystem.
 
-Getting data from the Sources view
-----------------------------------
+## Getting data from the Sources view
 
 Normally :term:`NetworkTables` data automatically appears on one of the tabs and you just rearrange and use that data. Sometimes you might want to recover a value that was accidentally deleted from the tab or display a value that is not part of the SmartDashboard / NetworkTables key. For these cases the values can be dragged onto a pane from NetworkTables view under Sources on the left side of the window. Choose the value that you want to display and just drag it to the pane and it will be automatically created with the default type of widget for the data type.
 
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-faq.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-faq.rst
index f13e9211bf..e7efb1ca4a 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-faq.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-faq.rst
@@ -1,23 +1,18 @@
-Shuffleboard FAQ, issues, and bugs
-==================================
+# Shuffleboard FAQ, issues, and bugs
 
 .. warning:: Shuffleboard as well as most of the other control system components were developed with Java 11 and will not work with Java 8. Be sure before reporting problems that your computer has Java 11 installed and is set as the default Java Environment.
 
-Frequently Asked Questions
---------------------------
+## Frequently Asked Questions
 
-How do I report issues, bugs or feature requests with Shuffleboard?
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### How do I report issues, bugs or feature requests with Shuffleboard?
 
-Bugs, issues, and feature requests can be added on the Shuffleboard GitHub page by creating an issue. We will try to address them as they are entered into the system. Please try to look at existing issues before creating new ones to make sure you aren't duplicating something that has already been reported or work that is planned. You can find the issues on the `Shuffleboard GitHub page <https://github.com/wpilibsuite/shuffleboard>`__.
+There is no active maintainer of Shuffleboard, but we are accepting pull requests. Bugs, issues, and feature requests can be added on the Shuffleboard GitHub page by creating an issue. Please try to look at existing issues before creating new ones to make sure you aren't duplicating something that has already been reported or work that is planned. You can find the issues on the [Shuffleboard GitHub page](https://github.com/wpilibsuite/shuffleboard).
 
-How can I add my own widgets or other extensions to Shuffleboard?
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### How can I add my own widgets or other extensions to Shuffleboard?
 
-:doc:`Custom Widgets</docs/software/dashboards/shuffleboard/custom-widgets/index>` has a large amount of documentation on extending the program with custom plugins. Sample plugin projects that can be used for additional custom widgets and themes can be found on the `Shuffleboard GitHub page <https://github.com/wpilibsuite/shuffleboard/tree/main/example-plugins>`__.
+:doc:`Custom Widgets </docs/software/dashboards/shuffleboard/custom-widgets/index>` has a large amount of documentation on extending the program with custom plugins. Sample plugin projects that can be used for additional custom widgets and themes can be found on the [Shuffleboard GitHub page](https://github.com/wpilibsuite/shuffleboard/tree/main/example-plugins).
 
-How can I build Shuffleboard from the source code?
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### How can I build Shuffleboard from the source code?
 
 You can get the source code by downloading, cloning, or forking the repository on the GitHub site. To build and run Shuffleboard from the source, make sure that the current directory is the top level source code and use one of these commands:
 
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-graphs.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-graphs.rst
index f3ce5d921d..191cf524c6 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-graphs.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-graphs.rst
@@ -1,5 +1,4 @@
-Working with Graphs
-===================
+# Working with Graphs
 
 With Shuffleboard you can graph numeric values over time. Graphs are very useful to see how sensor or motor values are changing as your robot is operating. For example the sensor value can be graphed in a PID loop to see how it is responding during tuning.
 
@@ -13,8 +12,7 @@ The graph widget shows line plots of the value that you selected. It will automa
 .. image:: images/shuffleboard-graphs/time-interval.png
    :alt: The standard time interval is 30 seconds.
 
-Adding Additional Data Values
------------------------------
+## Adding Additional Data Values
 
 For related values it is often desirable to show multiple values on the same graph. To do that, simply drag additional values from the NetworkTables source view (left side of the Shuffleboard window) and drop it onto the graph and that value will be added as shown below. You can continue to drag additional values onto the graph.
 
@@ -26,8 +24,7 @@ You can resize the graph vertically to view the legend if it is not displayed as
 .. image:: images/shuffleboard-graphs/graph-legend.png
    :alt: When the graph is resized vertically it will show a legend indicating what color goes with what plot.
 
-Setting Graph Properties
-------------------------
+## Setting Graph Properties
 
 You can set the number of seconds that are shown in the graph by changing the "Visible time" in the graph widget properties. To access the properties, right-click on the graph and select "Edit properties".
 
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-lists.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-lists.rst
index 1b1ef9e57f..25ac751aad 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-lists.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-lists.rst
@@ -1,5 +1,4 @@
-Working with Lists
-==================
+# Working with Lists
 
 Lists in Shuffleboard are sets of tiles grouped together in a vertical layout, making it visually obvious that those tiles are related. In addition, tiles in lists take up less screen space than individual tiles:
 
@@ -9,8 +8,7 @@ Lists in Shuffleboard are sets of tiles grouped together in a vertical layout, m
 .. figure:: images/list-1.png
    :alt:
 
-Creating a list
----------------
+## Creating a list
 
 .. figure:: images/list-2.png
    :alt:
@@ -23,8 +21,7 @@ A list can be created as follows:
 
 Note that tiles in lists do not have header labels; their label is at the bottom of their list entry.
 
-Adding tiles to/removing tiles from a list
-------------------------------------------
+## Adding tiles to/removing tiles from a list
 
 A tile can be **added** to an existing list as follows:
 
@@ -41,8 +38,7 @@ A tile can be **removed** from a list by following the process in reverse:
 .. figure:: images/list-3.png
    :alt:
 
-Rearranging tiles in a list
----------------------------
+## Rearranging tiles in a list
 
 .. figure:: images/list-4.png
    :alt:
@@ -59,8 +55,7 @@ Tiles in a list can be rearranged by right-clicking on the tile and selecting:
    - The **bottom** :guilabel:`Remove` button (below the pinline; section of dropdown with grayed-out *list* label) **deletes** the *list and all tiles inside it* from the Shuffleboard layout.
    - If you want to take an entry out of a list without deleting it, see `Adding tiles to/removing tiles from a list`_.
 
-Renaming a list
----------------
+## Renaming a list
 
 You can rename a list by double-clicking on the list label and changing the name. Click outside the label to save changes.
 
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-preferences.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-preferences.rst
index c8993e7b28..4d97a96a15 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-preferences.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-preferences.rst
@@ -1,34 +1,29 @@
-Setting global preferences for Shuffleboard
-===========================================
+# Setting global preferences for Shuffleboard
 
 There are a number of settings that set the way Shuffleboard looks and behaves. Those are on the Shuffleboard Preferences pane that can be accessed from the File menu.
 
-Setting the theme
------------------
+## Setting the theme
 
 Shuffleboard supports two themes, Material Dark and Material Light and the setting depends on your preferences. This uses css styles that apply to the entire application and can be changed any time.
 
 .. figure:: images/preferences-1.png
    :alt:
 
-Setting the default tile size
------------------------------
+## Setting the default tile size
 
 Shuffleboard positions tiles on a grid when you are adding or moving them yourself or when they are auto-populated. You can set the default tile size when for each tab or it can be set globally for all the tabs created after the default setting is changed. Finer resolution in the grid results in finer control over placement of tiles. This can be set in the Shuffleboard Preferences window as shown below.
 
 .. figure:: images/preferences-2.png
    :alt:
 
-Working with the layout save files
-----------------------------------
+## Working with the layout save files
 
 You can save your layout using the File / Save and File / Save as... menu options. The preferences window has options to cause the previous layout to be automatically applied when Shuffleboard starts. In addition, Shuffleboard will display a "Save layout" window to remind you to save the layout on exit, if the layout has changed. You can choose to turn off the automatic prompt on exit, but be sure to save the layout manually in this case so you don't loose your changes.
 
 .. figure:: images/preferences-3.png
    :alt:
 
-Setting the team number
------------------------
+## Setting the team number
 
 .. figure:: images/preferences-4.png
    :alt:
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-recording.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-recording.rst
index f944a5ec47..04bb3d4d69 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-recording.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-recording.rst
@@ -1,18 +1,15 @@
-Recording and Playback
-======================
+# Recording and Playback
 
 Shuffleboard can log all widget updates during a session. Later the log file can be "played back" to see what happened during a match or a practice run. This is especially useful if something doesn't operate as intended during a match and you want to see what happened. Each recording is captured in a recording file.
 
-Creating a Recording
---------------------
+## Creating a Recording
 
 When shuffleboard starts it begins recording to all the NetworkTables values are recorded and continues until stopped by hitting the record/stop button in the recorder controls as shown below. If a new recording is desired, such as when a new piece of code or mechanical system is being tested, stop the current recording if it is running, and click the record button. Click the button again to stop recording and close the recording file. If the button is round (as shown) then click it to start a recording. If the button is a square, then a recoding is currently running so click it to stop the recording.
 
 .. image:: images/shuffleboard-recording/record.png
    :alt: Highlights the record button with a filled in circle on it.
 
-Playing a Recording
--------------------
+## Playing a Recording
 
 Previous recordings can be played back by:
 
@@ -22,8 +19,7 @@ Previous recordings can be played back by:
 .. image:: images/shuffleboard-recording/playback.png
    :alt: Choose "Recording" then "Load Playback" to select the file and start playback of the recording.
 
-Controlling the Playback
-------------------------
+## Controlling the Playback
 
 Selecting the recoding file will begin playback of that file. While the recording is playing the recording controls will show the current time within the recording as well as the option to loop the recording while watching it. When the recording is being played back the "transport" controls will allow the playback to be controlled.
 
@@ -40,8 +36,7 @@ The controls work as follows:
 6. The loop switch turns on playback looping, that is, the playback will run over and over until stopped
 7. The time shows the current point within the recording and the total time of the recording
 
-Converting to Different File Formats
-------------------------------------
+## Converting to Different File Formats
 
 .. image:: images/shuffleboard-recording/convert.png
    :alt: To convert recordings to another format choose "Recording" then "Convert recodings"
@@ -57,7 +52,6 @@ Converted recordings will be generated in the ``~/Shuffleboard/recordings`` dire
 
 Different converters can be selected with the dropdown in the top right. By default, only the CSV converter is available. Custom converters from plugins will appear as options in the dropdown.
 
-Additional Notes
-----------------
+## Additional Notes
 
 Graphs won't display properly while scrubbing the timeline but if it is playing through where the graph history can be captured by the graph then they will display as in the original run.
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tabs.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tabs.rst
index 9d7689a0fe..abba087100 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tabs.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tabs.rst
@@ -1,10 +1,8 @@
-Creating and manipulating tabs
-==============================
+# Creating and manipulating tabs
 
 The tabbed layout the Shuffleboard uses help separate different "views" of your robot data and make the displays more useful. You might have a tab the has the display for helping debug the robot program and a different tab for use in competitions. There are a number of options that make tabs very powerful. You can control which data from NetworkTables or other sources appears in each of your tabs using the auto-populate options described later in this article.
 
-Default tabs
-------------
+## Default tabs
 
 When you open Shuffleboard for the first time there are two tabs, labeled SmartDashboard and LiveWindow. These correspond to the two views that SmartDashboard had depending on whether your robot is running in Autonomous/Teleop or Test mode. In shuffleboard both of these views are available any time.
 
@@ -13,13 +11,11 @@ When you open Shuffleboard for the first time there are two tabs, labeled SmartD
 
 On the SmartDashboard tab all the values that are written using the SmartDashboard.putType() set of methods. On the LiveWindow tab all the autogenerated debugging values are shown.
 
-Switching between tabs
-----------------------
+## Switching between tabs
 
 You can switch between tabs clicking on the tab label at the top of the window. In the case above, simply click on SmartDashboard or LiveWindow to see the values that are associated with each tab.
 
-Adding and Hiding Tabs
-----------------------
+## Adding and Hiding Tabs
 
 You can add additional tabs by clicking on the plus(+) symbol just to the right of the last tab. Once you create a new tab you can set the label by double-clicking on the label in the tab and editing it. You can also right-click on the tab or use the Tab menu to bring up the tab preferences and from that window you can change the name by editing the Title field.
 
@@ -31,17 +27,14 @@ You can hide tabs by clicking the minus(-) symbol to the left of the selected ta
 .. image:: images/shuffleboard-tab-deletion.png
    :alt: Deleting a Shuffleboard Tab
 
-Setting the tab to auto-populate
---------------------------------
+## Setting the tab to auto-populate
 
 One of the most powerful features with tabs is to have them automatically populate new values based on a source prefix that is supplied in the tab Preferences pane. In the above example the Preferences pane has a Source prefix of "SmartDashboard/Shooter" and Auto populate is turned on. Any values that are written using the SmartDashboard class that specifies a sub-key of Shooter will automatically appear on that tab. Note: keys that match more than one Source prefix will appear in both tabs. Because those keys also start with SmartDashboard/ and that's the Source prefix for the default SmartDashboard tab, those widgets will appear in both panes. To only have values appear in one pane, you can use NetworkTables to write labels and values and use a different path that is not under SmartDashboard. Alternatively you could let everything appear in the SmartDashboard tab making it very cluttered, but have specific tabs for your needs that will be better filtered.
 
-Using the tab grid and spacing
-------------------------------
+## Using the tab grid and spacing
 
 Each tab can have it's own Tile size (number of pixels per large square). So some tabs might have coarser resolution for easier layout and others might have a fine grid. The Tile size in the Tab preferences overrides any global settings in the Shuffleboard preferences. In addition, you can specify the padding between the drawing in the widget and the edge of the of the widget. If you program user interfaces these parameters are usually referred to as horizontal and vertical gap (hgap, vgap).
 
-Moving widgets between tabs
----------------------------
+## Moving widgets between tabs
 
 Currently there is no way to easily move widgets between tabs without deleting it from one tab and dragging the field from the sources hierarchy on the left into the new pane. We hope to have that capability in a subsequent update soon.
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst
index e43e031928..894301312d 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst
@@ -1,9 +1,8 @@
 .. include:: <isonum.txt>
 
-Tour of Shuffleboard
-====================
+# Tour of Shuffleboard
 
-Shuffleboard is a dashboard for FRC\ |reg| based on newer technologies such as JavaFX that are available to Java programs. It is designed to be used for creating dashboards for C++ and Java programs. If you've used SmartDashboard in the past then you are already familiar with many of the features of Shuffleboard since they fundamentally work the same way. But Shuffleboard has many features that aren't in SmartDashboard. Here are some of the highlights:
+Shuffleboard is a dashboard for FRC\ |reg| based on newer technologies such as JavaFX that are available to Java programs. It is designed to be used for creating dashboards for C++, Java, and Python programs. If you've used SmartDashboard in the past then you are already familiar with many of the features of Shuffleboard since they fundamentally work the same way. But Shuffleboard has many features that aren't in SmartDashboard. Here are some of the highlights:
 
 -  Graphics is based on **JavaFX**, the Java graphics standard. Each of the components has an associated style sheet so it becomes possible to have different "skins" or "themes" for Shuffleboard. We supply default light and dark themes.
 -  Shuffleboard supports **multiple sheets for the display of your data**. In fact you can create a new sheet (shown as a tab in the Shuffleboard window) and indicate if and which data should be autopopulated on it. By default there is a Test tab and a SmartDashboard tab that are autopopulated as data arrives. Other tabs might be for robot debugging vs. driving.
@@ -20,8 +19,7 @@ Shuffleboard is a dashboard for FRC\ |reg| based on newer technologies such as J
 2. **Tab panes:** This is where you data is displayed from the robot or other sources. In this example it is Test-mode subsystems that are shown here in the LiveWindow tab. This area can show any number of tabbed windows, and each window has it's own set of properties like grid size and auto-populate.
 3. **Record/playback controls:** set of media-like controls where you can playback the current session to see historical data
 
-Starting Shuffleboard
----------------------
+## Starting Shuffleboard
 
 .. figure:: images/shuffleboard-driverstation.png
    :alt:
@@ -36,16 +34,24 @@ You can start Shuffleboard in one of four ways:
 
 .. note:: The ``.vbs`` (Windows) and ``.py`` (macOS/Linux) scripts help launch the tools using the correct JDK.
 
-Getting robot data onto the dashboard
--------------------------------------
+## Getting robot data onto the dashboard
 
-The easiest way to get data displayed on the dashboard is simply to use methods in the SmartDashboard class. For example to write a number to Shuffleboard write:
+The easiest way to get data displayed on the dashboard is simply to use methods in the ``SmartDashboard`` class. For example to write a number to Shuffleboard write:
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   SmartDashboard.putNumber("Joystick X value", joystick1.getX());
+   ```
 
-        SmartDashboard.putNumber("Joystick X value", joystick1.getX());
+   ```c++
+   frc::SmartDashboard::PutNumber("Joystick X value", joystick1.getX());
+   ```
+
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putNumber("Joystick X value", joystick1.getX())
+   ```
 
 to see a field displayed with the label "Joystick X value" and a value of the X value of the joystick. Each time this line of code is executed, a new joystick value will be sent to Shuffleboard. Remember: you must write the joystick value whenever you want to see an updated value. Executing this line once at the start of the program will only display the value once at the time the line of code was executed.
 
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-widgets.rst b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-widgets.rst
index 5753c80b78..075804118c 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-widgets.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-widgets.rst
@@ -1,39 +1,33 @@
-Working with widgets
-====================
+# Working with widgets
 
 The visual displays that you manipulate on the screen in Shuffleboard are called widgets. Widgets are generally automatically displayed from values that the robot program publishes with NetworkTables.
 
-Moving widgets
---------------
+## Moving widgets
 
 Widgets can be moved simply with drag and drop. Just move the cursor over the widget, left-click and drag it to the new position. When dragging you can only place widgets on grid squares and the size of the grid will effect the resolution of your display. When dragging a red or green outline will be displayed. Green generally means that there is enough room at the current location to drop the widget and red generally means that it will overlap or be too big to drop. In the example below a widget is being moved to a location where it doesn't fit.
 
 .. figure:: images/widgets-1.png
    :alt:
 
-Resizing widgets
-----------------
+## Resizing widgets
 
 Widgets can be resized by clicking and dragging the edge or corner of the widget image. The cursor will change to a resize-cursor when it is in the right position to resize the widget. As with moving widgets, a green or red outline will be drawn indicating that the widget can be resized or not. The example below shows a widget being resized to a larger area with the green outline indicating that there is no overlap with surrounding widgets.
 
 .. figure:: images/widgets-2.png
    :alt:
 
-Changing the display type of widgets
-------------------------------------
+## Changing the display type of widgets
 
 Shuffleboard is very rich in display types depending on the data published from the robot. It will automatically choose a default display type, but you might want to change it depending on the application. To see what the possible displays are for any widget, right-click on the widget and select the "Show as..." and from the popup menu, choose the desired type. In the example below are two data values, one a number and the other a boolean. You can see the different types of display options that are available to each. The boolean value has only two possible values (true/false) it can be shown as a boolean box (the red/green color), or text, or a toggle button or toggle switch. The. number value can be displayed as a graph, number bar, number slider, dial, text, or a voltage view depending on the context of the value.
 
 .. figure:: images/widgets-3.png
    :alt:
 
-Changing the title of widgets
------------------------------
+## Changing the title of widgets
 
 You can change the title of widgets by double-clicking in their title bar and editing the title to the new value. If a widget is contained in a layout, then right-click on the widget and select the properties. From there you can change the widget title that is displayed.
 
-Changing widget properties
---------------------------
+## Changing widget properties
 
 You can change the appearance of a widget such as the range of values represented, colors or some other visual element. In cases where this is possible right-click on the widget and select "Edit properties" from the popup menu. In this boolean value widget shown below, the widget title, true color and false color can all be edited.
 
diff --git a/source/docs/software/dashboards/shuffleboard/index.rst b/source/docs/software/dashboards/shuffleboard/index.rst
index ee06acdce6..d85ee60c4d 100644
--- a/source/docs/software/dashboards/shuffleboard/index.rst
+++ b/source/docs/software/dashboards/shuffleboard/index.rst
@@ -1,7 +1,6 @@
-Shuffleboard
-============
+# Shuffleboard
 
-Shuffleboard is a modern looking driveteam focused dashboard.  It displays network tables data using a variety of widgets that can be positioned and controlled with robot code.  It includes many extra features like: tabs, recording / playback, and advanced custom widgets.
+Shuffleboard is a straightforward and easily customizable driveteam focused dashboard.  It displays network tables data using a variety of widgets that can be positioned and controlled with robot code.  It includes many extra features like: tabs, recording / playback, and advanced custom widgets.
 
 .. toctree::
    :maxdepth: 2
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/configuring-widgets.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/configuring-widgets.rst
index b1a89bbbc3..9cb86e277a 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/configuring-widgets.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/configuring-widgets.rst
@@ -1,64 +1,79 @@
-Configuring widgets
-===================
+# Configuring widgets
 
 Robot programs can specify exactly which widget to use to display a data point, as well as how that widget should be configured. As there are too many widgets to be listed here, consult the docs for details.
 
-Specifying a widget
--------------------
+## Specifying a widget
 
 Call ``withWidget`` after ``add`` in the call chain:
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-       Shuffleboard.getTab("Drive")
-        .add("Max Speed", 1)
-        .withWidget(BuiltInWidgets.kNumberSlider) // specify the widget here
-        .getEntry();
-
-   .. code-block:: cpp
-
-       frc::Shuffleboard::GetTab("Drive")
-        .Add("Max Speed", 1)
-        .WithWidget(frc::BuiltInWidgets::kNumberSlider) // specify the widget here
-        .GetEntry();
+   ```java
+   Shuffleboard.getTab("Drive")
+      .add("Max Speed", 1)
+      .withWidget(BuiltInWidgets.kNumberSlider) // specify the widget here
+      .getEntry();
+   ```
+
+   ```c++
+   frc::Shuffleboard::GetTab("Drive")
+      .Add("Max Speed", 1)
+      .WithWidget(frc::BuiltInWidgets::kNumberSlider) // specify the widget here
+      .GetEntry();
+   ```
+
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   from wpilib.shuffleboard import BuiltInWidgets
+   (Shuffleboard.getTab("Drive")
+      .add("Max Speed", 1)
+      .withWidget(BuiltInWidgets.kNumberSlider) # specify the widget here
+      .getEntry())
+   ```
 
 In this example, we configure the "Max Speed" widget to use a slider to modify the values instead of a basic text field.
 
 .. image:: images/configuring-widgets/maxspeed-negative.png
     :alt: The max speed widget is placed but it correctly goes from -1 to 1.
 
-Setting widget properties
--------------------------
+## Setting widget properties
 Since the maximum speed only makes sense to be a value from 0 to 1 (full stop to full speed), a slider from -1 to 1 can cause problems if the value drops below zero. Fortunately, we can modify that using the ``withProperties`` method
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-    Shuffleboard.getTab("Drive")
-        .add("Max Speed", 1)
-        .withWidget(BuiltInWidgets.kNumberSlider)
-        .withProperties(Map.of("min", 0, "max", 1)) // specify widget properties here
-        .getEntry();
-
-   .. code-block:: cpp
-
-    frc::Shuffleboard::GetTab("Drive")
-        .Add("Max Speed", 1)
-        .WithWidget(frc::BuiltInWidgets::kNumberSlider)
-        .WithProperties({ // specify widget properties here
-          {"min", nt::Value::MakeDouble(0)},
-          {"max", nt::Value::MakeDouble(1)}
-        })
-        .GetEntry();
+   ```java
+   Shuffleboard.getTab("Drive")
+      .add("Max Speed", 1)
+      .withWidget(BuiltInWidgets.kNumberSlider)
+      .withProperties(Map.of("min", 0, "max", 1)) // specify widget properties here
+      .getEntry();
+   ```
+
+   ```c++
+   frc::Shuffleboard::GetTab("Drive")
+      .Add("Max Speed", 1)
+      .WithWidget(frc::BuiltInWidgets::kNumberSlider)
+      .WithProperties({ // specify widget properties here
+         {"min", nt::Value::MakeDouble(0)},
+         {"max", nt::Value::MakeDouble(1)}
+      })
+      .GetEntry();
+   ```
+
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   from wpilib.shuffleboard import BuiltInWidgets
+   (Shuffleboard.getTab("Drive")
+      .add("Max Speed", 1)
+      .withWidget(BuiltInWidgets.kNumberSlider)
+      .withProperties(map("min", 0, "max", 1)) # specify widget properties here
+      .getEntry())
+   ```
 
 .. image:: images/configuring-widgets/maxspeed.png
     :alt: The max speed widget limited from 0 to 1.
 
-Notes
------
+## Notes
 Widgets can be specified by name; however, names are case- and whitespace-sensitive ("Number Slider" is different from "Number slider" and "NumberSlider"). For this reason, it is recommended to use the built in widgets class to specify the widget instead of by raw name. However, a custom widget can only be specified by name or by creating a custom ``WidgetType`` for that widget.
 
 Widget property names are neither case-sensitive nor whitespace-sensitive ("Max" and "max" are the same). Consult the documentation on the widget in the BuiltInWidgets class for details on the properties of that widget.
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/configuring-widgets/maxspeed-negative.png b/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/configuring-widgets/maxspeed-negative.png
index b7c0c06bb9..9e79694974 100644
Binary files a/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/configuring-widgets/maxspeed-negative.png and b/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/configuring-widgets/maxspeed-negative.png differ
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/configuring-widgets/maxspeed.png b/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/configuring-widgets/maxspeed.png
index 6a3c311d64..086f567df4 100644
Binary files a/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/configuring-widgets/maxspeed.png and b/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/configuring-widgets/maxspeed.png differ
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/organizing-widgets/organized.png b/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/organizing-widgets/organized.png
index d9ba1e2e8f..8aa8b9d239 100644
Binary files a/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/organizing-widgets/organized.png and b/source/docs/software/dashboards/shuffleboard/layouts-with-code/images/organizing-widgets/organized.png differ
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/index.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/index.rst
index 518fbbcb78..91f8134778 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/index.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/index.rst
@@ -1,5 +1,4 @@
-Shuffleboard - Layouts with Code
-================================
+# Shuffleboard - Layouts with Code
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/organizing-widgets.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/organizing-widgets.rst
index 5aafeb263f..d647c96963 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/organizing-widgets.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/organizing-widgets.rst
@@ -1,8 +1,6 @@
-Organizing Widgets
-==================
+# Organizing Widgets
 
-Setting Widget Size and Position
---------------------------------
+## Setting Widget Size and Position
 
 Call ``withSize`` and ``withPosition`` to set the size and position of the widget in the tab.
 
@@ -12,54 +10,67 @@ Call ``withSize`` and ``withPosition`` to set the size and position of the widge
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      Shuffleboard.getTab("Pre-round")
-        .add("Auto Mode", autoModeChooser)
-        .withSize(2, 1) // make the widget 2x1
-        .withPosition(0, 0); // place it in the top-left corner
-
-   .. code-block:: cpp
-
-      frc::Shuffleboard::GetTab("Pre-round")
-        .Add("Auto Mode", autoModeChooser)
-        .WithSize(2, 1)
-        .WithPosition(0,0);
-
-Adding Widgets to Layouts
--------------------------
+   ```java
+   Shuffleboard.getTab("Pre-round")
+     .add("Auto Mode", autoModeChooser)
+     .withSize(2, 1) // make the widget 2x1
+     .withPosition(0, 0); // place it in the top-left corner
+   ```
+
+   ```c++
+   frc::Shuffleboard::GetTab("Pre-round")
+     .Add("Auto Mode", autoModeChooser)
+     .WithSize(2, 1)
+     .WithPosition(0,0);
+   ```
+
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   (Shuffleboard.getTab("Pre-round")
+     .add("Auto Mode", autoModeChooser)
+     .withSize(2, 1) # make the widget 2x1
+     .withPosition(0, 0)) # place it in the top-left corner
+   ```
+
+## Adding Widgets to Layouts
 
 If there are many widgets in a tab with related data, it can be useful to place them into smaller subgroups instead of loose in the tab. Much like how the handle to a tab is retrieved with ``Shuffleboard.getTab``, a layout inside a tab (or even in another layout) can be retrieved with ``ShuffleboardTab.getLayout``.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      ShuffleboardLayout elevatorCommands = Shuffleboard.getTab("Commands")
-        .getLayout("Elevator", BuiltInLayouts.kList)
-        .withSize(2, 2)
-        .withProperties(Map.of("Label position", "HIDDEN")); // hide labels for commands
-
+   ```java
+   ShuffleboardLayout elevatorCommands = Shuffleboard.getTab("Commands")
+     .getLayout("Elevator", BuiltInLayouts.kList)
+     .withSize(2, 2)
+     .withProperties(Map.of("Label position", "HIDDEN")); // hide labels for commands
       elevatorCommands.add(new ElevatorDownCommand());
-      elevatorCommands.add(new ElevatorUpCommand());
-      // Similarly for the claw commands
-
-   .. code-block:: cpp
-
-      wpi::StringMap<std::shared_ptr<nt::Value>> properties{
-        std::make_pair("Label position", nt::Value::MakeString("HIDDEN"))
-      };
-
-      frc::ShuffleboardLayout& elevatorCommands = frc::Shuffleboard::GetTab("Commands")
-        .GetLayout("Elevator", frc::BuiltInLayouts::kList)
-        .WithSize(2, 2)
-        .WithProperties(properties);
-
-      ElevatorDownCommand* elevatorDown = new ElevatorDownCommand();
-      ElevatorUpCommand* elevatorUp = new ElevatorUpCommand();
-
-      elevatorCommands.Add("Elevator Down", elevatorDown);
-      elevatorCommands.Add("Elevator Up", elevatorUp);
+   elevatorCommands.add(new ElevatorUpCommand());
+   ```
+
+   ```c++
+   wpi::StringMap<std::shared_ptr<nt::Value>> properties{
+     std::make_pair("Label position", nt::Value::MakeString("HIDDEN"))
+   };
+   frc::ShuffleboardLayout& elevatorCommands = frc::Shuffleboard::GetTab("Commands")
+     .GetLayout("Elevator", frc::BuiltInLayouts::kList)
+     .WithSize(2, 2)
+     .WithProperties(properties);
+   ElevatorDownCommand* elevatorDown = new ElevatorDownCommand();
+   ElevatorUpCommand* elevatorUp = new ElevatorUpCommand();
+   elevatorCommands.Add("Elevator Down", elevatorDown);
+   elevatorCommands.Add("Elevator Up", elevatorUp);
+   ```
+
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   from wpilib.shuffleboard import BuiltInLayouts
+   (elevatorCommands = Shuffleboard.getTab("Commands")
+     .getLayout("Elevator", BuiltInLayouts.kList)
+     .withSize(2, 2)
+     .withProperties(map("Label position", "HIDDEN"))) # hide labels for commands
+      elevatorCommands.add(ElevatorDownCommand())
+   elevatorCommands.add(ElevatorUpCommand())
+   ```
 
 .. image:: images/organizing-widgets/organized.png
   :alt: Commands buttons organized by the order they are added for the Elevator and Claw subsystems.
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/retrieving-data.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/retrieving-data.rst
index fc55981af0..47a817694c 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/retrieving-data.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/retrieving-data.rst
@@ -1,24 +1,37 @@
-Retrieving data
-===============
+# Retrieving data
 Unlike ``SmartDashboard.getNumber`` and friends, retrieving data from Shuffleboard is also done through the NetworkTableEntries, which we covered in the previous article.
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   class DriveBase extends Subsystem {
+      private ShuffleboardTab tab = Shuffleboard.getTab("Drive");
+      private GenericEntry maxSpeed =
+         tab.add("Max Speed", 1)
+            .getEntry();
+      private DifferentialDrive robotDrive = ...;
+      public void drive(double left, double right) {
+         // Retrieve the maximum speed from the dashboard
+         double max = maxSpeed.getDouble(1.0);
+         robotDrive.tankDrive(left * max, right * max);
+      }
+   }
+   ```
 
-       class DriveBase extends Subsystem {
-          private ShuffleboardTab tab = Shuffleboard.getTab("Drive");
-          private NetworkTableEntry maxSpeed =
-              tab.add("Max Speed", 1)
-                 .getEntry();
-
-          private DifferentialDrive robotDrive = ...;
-
-          public void drive(double left, double right) {
-            // Retrieve the maximum speed from the dashboard
-            double max = maxSpeed.getDouble(1.0);
-            robotDrive.tankDrive(left * max, right * max);
-          }
-       }
+   ```python
+   import commands2
+   import wpilib.drive
+   from wpilib.shuffleboard import Shuffleboard
+   class DriveSubsystem(commands2.SubsystemBase):
+      def __init__(self) -> None:
+         super().__init__()
+         tab = Shuffleboard.getTab("Drive")
+         self.maxSpeed = tab.add("Max Speed", 1).getEntry()
+         this.robotDrive = ...
+      def drive(self, left: float, right: float):
+         # Retrieve the maximum speed from the dashboard
+         max = self.maxSpeed.getDouble(1.0)
+         self.robotDrive.tankDrive(left * max, right * max)
+   ```
 
 This basic example has a glaring flaw: the maximum speed can be set on the dashboard to a value outside [0, 1] - which could cause the inputs to be saturated (always at maximum speed), or even reversed! Fortunately, there is a way to avoid this problem - covered in the next article.
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst
index 8da65c6800..bc8092034a 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst
@@ -1,43 +1,54 @@
-Sending data
-============
+# Sending data
 Unlike SmartDashboard, data cannot be sent directly to Shuffleboard without first specifying what tab the data should be placed in.
 
-Sending simple data
--------------------
+## Sending simple data
 Sending simple data (numbers, strings, booleans, and arrays of these) is done by calling ``add`` on a tab. This method will set the value if not already present, but will not overwrite an existing value.
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   Shuffleboard.getTab("Numbers")
+        .add("Pi", 3.14);
+   ```
 
-       Shuffleboard.getTab("Numbers")
-            .add("Pi", 3.14);
+   ```c++
+   frc::Shuffleboard::GetTab("Numbers")
+        .Add("Pi", 3.14);
+   ```
 
-   .. code-block:: c++
-
-       frc::Shuffleboard::GetTab("Numbers")
-            .Add("Pi", 3.14);
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   Shuffleboard.getTab("Tab Title").add("Pi", 3.14)
+   ```
 
 If data needs to be updated (for example, the output of some calculation done on the robot), call ``getEntry()`` after defining the value, then update it when needed or in a ``periodic`` function
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-       class VisionCalculator {
-          private ShuffleboardTab tab = Shuffleboard.getTab("Vision");
-          private NetworkTableEntry distanceEntry =
-              tab.add("Distance to target", 0)
-                 .getEntry();
-
-          public void calculate() {
-            double distance = ...;
-            distanceEntry.setDouble(distance);
-          }
-        }
-
-Making choices persist between reboots
---------------------------------------
+   ```java
+   class VisionCalculator {
+      private ShuffleboardTab tab = Shuffleboard.getTab("Vision");
+      private GenericEntry distanceEntry =
+         tab.add("Distance to target", 0)
+            .getEntry();
+      public void calculate() {
+         double distance = ...;
+         distanceEntry.setDouble(distance);
+      }
+   }
+   ```
+
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   def robotInit(self):
+      tab = Shuffleboard.getTab("Vision")
+      self.distanceEntry = tab.add("Distance to target", 0).getEntry()
+   def teleopPeriodic(self):
+      distance = self.encoder.getDistance()
+      self.distanceEntry.setDouble(distance)
+   ```
+
+## Making choices persist between reboots
 
 When configuring a robot from the dashboard, some settings may want to persist between robot or driverstation reboots instead of having drivers remember (or forget) to configure the settings before each match.
 
@@ -47,29 +58,41 @@ Simply using `addPersistent` instead of `add` will make the value saved on the r
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-       Shuffleboard.getTab("Drive")
-            .addPersistent("Max Speed", 1.0);
+   ```java
+   Shuffleboard.getTab("Drive")
+        .addPersistent("Max Speed", 1.0);
+   ```
 
-   .. code-block:: c++
+   ```c++
+   frc::Shuffleboard::GetTab("Drive")
+        .AddPersistent("Max Speed", 1.0);
+   ```
 
-       frc::Shuffleboard::GetTab("Drive")
-            .AddPersistent("Max Speed", 1.0);
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   (Shuffleboard.getTab("Drive")
+         .addPersistent("Max Speed", 1.0))
+   ```
 
-Sending sensors, motors, etc
-----------------------------
+## Sending sensors, motors, etc
 
 Analogous to ``SmartDashboard.putData``, any ``Sendable`` object (most sensors, motor controllers, and SendableChoosers) can be added to any tab
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   Shuffleboard.getTab("Tab Title")
+        .add("Sendable Title", mySendable);
+   ```
 
-       Shuffleboard.getTab("Tab Title")
-            .add("Sendable Title", mySendable);
+   ```c++
+   frc::Shuffleboard::GetTab("Tab Title")
+        .Add("Sendable Title", mySendable);
+   ```
 
-   .. code-block:: c++
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   (Shuffleboard.getTab("Tab Title")
+         .add("Sendable Title", mySendable))
+   ```
 
-       frc::Shuffleboard::GetTab("Tab Title")
-            .Add("Sendable Title", mySendable);
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/using-tabs.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/using-tabs.rst
index b110659596..5935307b6c 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/using-tabs.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/using-tabs.rst
@@ -1,5 +1,4 @@
-Using tabs
-==========
+# Using tabs
 
 Shuffleboard is a tabbed interface. Each tab organizes widgets in a logical grouping. By default, Shuffleboard has tabs for the legacy SmartDashboard and LiveWindow - but new tabs can now be created in Shuffleboard directly from a robot program for better organization.
 
@@ -7,37 +6,43 @@ Creating a new tab
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   ShuffleboardTab tab = Shuffleboard.getTab("Tab Title");
+   ```
 
-        ShuffleboardTab tab = Shuffleboard.getTab("Tab Title");
-
-   .. code-block:: c++
-
-        ShuffleboardTab& tab = Shuffleboard::GetTab("Tab Title");
+   ```c++
+   ShuffleboardTab& tab = Shuffleboard::GetTab("Tab Title");
+   ```
 
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   tab = Shuffleboard.getTab("Tab Title")
+   ```
 
 Creating a new tab is as simple as calling a single method on the Shuffleboard class, which will create a new tab on Shuffleboard and return a handle for adding your data to the tab. Calling getTab multiple times with the same tab title will return the same handle each time.
 
-Selecting a tab
----------------
+## Selecting a tab
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-        Shuffleboard.selectTab("Tab Title");
-
-   .. code-block:: c++
+   ```java
+   Shuffleboard.selectTab("Tab Title");
+   ```
 
-        Shuffleboard::SelectTab("Tab Title");
+   ```c++
+   Shuffleboard::SelectTab("Tab Title");
+   ```
 
+   ```python
+   from wpilib.shuffleboard import Shuffleboard
+   Shuffleboard.selectTab("Tab Title")
+   ```
 
 This method lets a tab be selected by title. This is case-sensitive (so "Tab Title" and "Tab title" are two individual tabs), and only works if a tab with that title exists at the time the method is called, so calling ``selectTab("Example")``\ will only have an effect if a tab named "Example" has previously been defined.
 
 This method can be used to select any tab in Shuffleboard, not just ones created by the robot program.
 
-Caveats
--------
+## Caveats
 
 Tabs created from a robot program differ in a few important ways from normal tabs created from the dashboard:
 
diff --git a/source/docs/software/dashboards/smartdashboard/changing-display-properties.rst b/source/docs/software/dashboards/smartdashboard/changing-display-properties.rst
index d676187413..b81afb24e8 100644
--- a/source/docs/software/dashboards/smartdashboard/changing-display-properties.rst
+++ b/source/docs/software/dashboards/smartdashboard/changing-display-properties.rst
@@ -1,42 +1,36 @@
-Changing the display properties of a value
-==========================================
+# Changing the display properties of a value
 
 Each value displayed with SmartDashboard has a set of properties that effect the way it's displayed.
 
-Setting the SmartDashboard display into editing mode
-----------------------------------------------------
+## Setting the SmartDashboard display into editing mode
 
 .. image:: images/changing-display-properties/editable.png
    :alt: Select Editable from the View menu.
 
 The SmartDashboard has two modes it can operate in, display mode and edit mode. In edit mode you can move around widgets on the screen and edit their properties. To put the SmartDashboard into edit mode, click the "View" menu, then select "Editable" to turn on edit mode.
 
-Getting the properties editor of a widget
------------------------------------------
+## Getting the properties editor of a widget
 
 .. image:: images/changing-display-properties/widget-properties.png
    :alt: Right click on any widget and choose properties.
 
 Once in edit mode, you can display and edit the properties for a widget. Right-click on the widget and select "Properties...".
 
-Editing the properties on a field
----------------------------------
+## Editing the properties on a field
 
 .. image:: images/changing-display-properties/edit.png
    :alt: Edit properties from the dialog window that pops up.
 
 A dialog box will be shown in response to the "Properties..." menu item on the widgets right-click context menu.
 
-Editing the widgets background color
-------------------------------------
+## Editing the widgets background color
 
 .. image:: images/changing-display-properties/background.png
    :alt: Change the background color of the widget using a color palette.
 
 To edit a property value, say, Background color, click the background color shown (in this case grey), and choose a color from the color editor that pops up. This will be used as the widgets background color.
 
-Edit properties of other widgets
---------------------------------
+## Edit properties of other widgets
 
 .. image:: images/changing-display-properties/other-properties.png
    :alt: Each widget has unique properties.
diff --git a/source/docs/software/dashboards/smartdashboard/changing-display-widget-type.rst b/source/docs/software/dashboards/smartdashboard/changing-display-widget-type.rst
index fa4a943f4c..2b8f4caff1 100644
--- a/source/docs/software/dashboards/smartdashboard/changing-display-widget-type.rst
+++ b/source/docs/software/dashboards/smartdashboard/changing-display-widget-type.rst
@@ -1,26 +1,22 @@
-Changing the Display Widget Type for a Value
-============================================
+# Changing the Display Widget Type for a Value
 
 One can change the type of widget that displays values with the SmartDashboard. The allowable widgets depend on the type of the value being displayed.
 
-Setting Edit Mode
------------------
+## Setting Edit Mode
 
 .. image:: images/changing-display-widget-type/set-edit-mode.png
    :alt: Select Editable from the View menu.
 
 Make sure that the SmartDashboard is in edit mode. This is done by selecting ``Editable`` from the ``View menu``.
 
-Choosing Widget Type
---------------------
+## Choosing Widget Type
 
 .. image:: images/changing-display-widget-type/choose-new-widget-type.png
    :alt: When editable right click on any widget and choose "Change to...".
 
 Right-click on the widget and select ``Change to...``. Then, pick the type of widget to use for the particular value. In this case we choose ``LinePlot``.
 
-Showing New Widget Type
------------------------
+## Showing New Widget Type
 
 .. image:: images/changing-display-widget-type/new-widget-type-shown.png
    :alt: A line plot widget.
diff --git a/source/docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard.rst b/source/docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard.rst
index 54305455e4..a2623e2f3a 100644
--- a/source/docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard.rst
+++ b/source/docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard.rst
@@ -1,114 +1,147 @@
-Choosing an Autonomous Program
-==============================
+# Choosing an Autonomous Program
 
 Often teams have more than one autonomous program, either for competitive reasons or for testing new software. Programs often vary by adding things like time delays, different strategies, etc. The methods to choose the strategy to run usually involves switches, joystick buttons, knobs or other hardware based inputs.
 
 With the SmartDashboard you can simply display a widget on the screen to choose the autonomous program that you would like to run. And with command based programs, that program is encapsulated in one of several commands. This article shows how to select an autonomous program with only a few lines of code and a nice looking user interface, with examples for both TimedRobot and Command-Based Robots.
 
-TimedRobot
-----------
+## TimedRobot
 
-.. note:: The code snippets shown below are part of the TimedRobot template (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/templates/timed>`__):
+.. note:: The code snippets shown below are part of the TimedRobot template ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/templates/timed)):
 
-Creating SendableChooser Object
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Creating SendableChooser Object
 
 In ``Robot.java`` / ``Robot.h``, create a variable to hold a reference to a ``SendableChooser`` object. Two or more auto modes can be added by creating strings to send to the chooser. Using the ``SendableChooser``, one can choose between them. In this example, ``Default`` and ``My Auto`` are shown as options. You will also need a variable to store which auto has been chosen, ``m_autoSelected``.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
-      :language: java
-      :lines: 18-21
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
+         :language: Java
+         :lines: 18-21
 
-  .. tab-item:: C++
-     :sync: C++
+   .. tab-item:: C++
+      :sync: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
-      :language: c++
-      :lines: 28-31
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
+         :language: C++
+         :lines: 28-31
 
-Setting Up Options
-^^^^^^^^^^^^^^^^^^
+   .. tab-item:: Python
+      :sync: Python
+
+      ```python
+      import wpilib
+      self.defaultAuto = "Default"
+      self.customAuto = "My Auto";
+      self.chooser = wpilib.SendableChooser()
+      ```
+
+### Setting Up Options
 
 The chooser allows you to pick from a list of defined elements, in this case the strings we defined above. In ``robotInit``, add your options created as strings above using ``setDefaultOption`` or ``addOption``. ``setDefaultOption`` will be the one selected by default when the dashboard starts. The ``putData`` function will push it to the dashboard on your driver station computer.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
+         :language: java
+         :lines: 28-32
+
+   .. tab-item:: C++
+      :sync: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
-      :language: java
-      :lines: 28-32
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
+         :language: c++
+         :lines: 10-14
 
-  .. tab-item:: C++
-     :sync: C++
+   .. tab-item:: Python
+      :sync: Python
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
-      :language: c++
-      :lines: 10-14
+      ```python
+      from wpilib import SmartDashboard
+      self.chooser.setDefaultOption("Default Auto", self.defaultAuto)
+      self.chooser.addOption("My Auto", self.customAuto)
+      SmartDashboard.putData("Auto choices", self.chooser)
+      ```
 
-Running Autonomous Code
-^^^^^^^^^^^^^^^^^^^^^^^
+### Running Autonomous Code
 
 Now, in ``autonomousInit`` and ``autonomousPeriodic``, you can use the ``m_autoSelected`` variable to read which option was chosen, and change what happens during the autonomous period.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
-      :language: java
-      :lines: 54-56, 58-73
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
+         :language: Java
+         :lines: 54-56, 58-73
 
-  .. tab-item:: C++
-     :sync: C++
+   .. tab-item:: C++
+      :sync: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
-      :language: c++
-      :lines: 37-38, 41-57
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
+         :language: C++
+         :lines: 37-38, 41-57
 
+   .. tab-item:: Python
+      :sync: Python
 
-Command-Based
--------------
+      ```python
+      def autonomousInit(self):
+         self.autoSelected = self.chooser.getSelected()
+         print("Auto selected: " + self.autoSelected)
+      def autonomousPeriodic(self):
+         match self.autoSelected:
+            case self.customAuto:
+               # Put custom auto code here
+            case _:
+               # Put default auto code here
+      ```
 
-.. note:: The code snippets shown below are part of the HatchbotTraditional example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__):
+## Command-Based
 
-Creating the SendableChooser Object
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. note:: The code snippets shown below are part of the HatchbotTraditional example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional), [Python](https://github.com/robotpy/examples/tree/main/HatchbotTraditional)):
+
+### Creating the SendableChooser Object
 
 In ``RobotContainer``, create a variable to hold a reference to a ``SendableChooser`` object. Two or more commands can be created and stored in new variables. Using the ``SendableChooser``, one can choose between them. In this example, ``SimpleAuto`` and ``ComplexAuto`` are shown as options.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+         :language: Java
+         :lines: 40-49
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
-      :language: java
-      :lines: 40-49
+   .. tab-item:: C++ (using raw pointers)
+      :sync: C++ (using raw pointers)
 
-  .. tab-item:: C++ (using raw pointers)
-     :sync: C++ (using raw pointers)
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h
+         :language: C++
+         :lines: 38-44
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h
-      :language: c++
-      :lines: 38-44
+   .. tab-item:: C++ (using ``CommandPtr``)
+      :sync: C++ (using ``CommandPtr``)
 
-  .. tab-item:: C++ (using ``CommandPtr``)
-     :sync: C++ (using ``CommandPtr``)
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
+         :language: C++
+         :lines: 45-50
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
-      :language: c++
-      :lines: 45-50
+   .. tab-item:: Python
+      :sync: Python
 
-Setting up SendableChooser
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robotcontainer.py
+         :language: Python
+         :lines: 45-54
+
+### Setting up SendableChooser
 
 Imagine that you have two autonomous programs to choose between and they are encapsulated in commands ``SimpleAuto`` and ``ComplexAuto``. To choose between them:
 
@@ -116,125 +149,162 @@ In ``RobotContainer``, create a ``SendableChooser`` object and add instances of
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+         :language: java
+         :lines: 69-71
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
-      :language: java
-      :lines: 69-71
+   .. tab-item:: C++ (using raw pointers)
+      :sync: C++ (using raw pointers)
 
-  .. tab-item:: C++ (using raw pointers)
-     :sync: C++ (using raw pointers)
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+         :language: c++
+         :lines: 18-20
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 18-20
+   .. tab-item:: C++ (using ``CommandPtr``)
+      :sync: C++ (using ``CommandPtr``)
 
-  .. tab-item:: C++ (using ``CommandPtr``)
-     :sync: C++ (using ``CommandPtr``)
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+         :language: c++
+         :lines: 12-15
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 12-15
+   .. tab-item:: Python
+      :sync: Python
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robotcontainer.py
+         :language: Python
+         :lines: 56-58
 
 Then, publish the chooser to the dashboard:
 
-.. tab-set-code::
+.. tab-set::
 
-  .. code-block:: java
+   .. tab-item:: Java
+      :sync: Java
 
+      ```java
       // Put the chooser on the dashboard
       SmartDashboard.putData(m_chooser);
+      ```
 
-  .. code-block:: c++
+   .. tab-item:: C++
+      :sync: C++
 
+      ```c++
       // Put the chooser on the dashboard
       frc::SmartDashboard::PutData(&m_chooser);
+      ```
+
+   .. tab-item:: Python
+      :sync: Python
+
+      ```python
+      from wpilib import SmartDashboard
+      # Put the chooser on the dashboard
+      SmartDashboard.putData(chooser)
+      ```
 
-Starting an Autonomous Command
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Starting an Autonomous Command
 
 In ``Robot.java``, when the autonomous period starts, the ``SendableChooser`` object is polled to get the selected command and that command must be scheduled.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
-      :language: java
-      :lines: 124-126
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+         :language: java
+         :lines: 124-126
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
-      :language: java
-      :lines: 67-68,76-81
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
+         :language: java
+         :lines: 67-68,76-81
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 81-84
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+         :language: c++
+         :lines: 81-84
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
-      :language: c++
-      :lines: 46-52
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
+         :language: c++
+         :lines: 46-52
 
-Running the Scheduler during Autonomous
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+   .. tab-item:: Python
+      :sync: Python
 
-In ``Robot.java``, this will run the scheduler every driver station update period (about every 20ms) and cause the selected autonomous command to run.
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robotcontainer.py
+         :language: Python
+         :lines: 93-94
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robot.py
+         :language: Python
+         :lines: 41-46
+
+### Running the Scheduler during Autonomous
+
+In ``Robot.java``, this will run the scheduler every driver station update period (about every 20ms) and cause the selected autonomous command to run.  In Python the scheduler runs automatically when ``TimedCommandRobot`` is used.
 
 .. note:: Running the scheduler can occur in the ``autonomousPeriodic()`` function or ``robotPeriodic()``, both will function similarly in autonomous mode.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
-      :language: java
-      :lines: 49-50,55-56
-      :linenos:
-      :lineno-start: 40
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
+         :language: java
+         :lines: 49-50,55-56
+         :linenos:
+         :lineno-start: 40
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
-      :language: c++
-      :lines: 29-31
-      :linenos:
-      :lineno-start: 29
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
+         :language: c++
+         :lines: 29-31
+         :linenos:
+         :lineno-start: 29
 
-Canceling the Autonomous Command
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Canceling the Autonomous Command
 
 In ``Robot.java``, when the teleop period begins, the autonomous command will be canceled.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
+         :language: java
+         :lines: 87-96
+         :linenos:
+         :lineno-start: 78
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
-      :language: java
-      :lines: 87-96
-      :linenos:
-      :lineno-start: 78
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
+         :language: c++
+         :lines: 56-65
+         :linenos:
+         :lineno-start: 56
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
-      :language: c++
-      :lines: 56-65
-      :linenos:
-      :lineno-start: 56
+   .. tab-item:: Python
+      :sync: Python
 
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2024.0.0b4/HatchbotTraditional/robot.py
+         :language: Python
+         :lines: 51-57
+         :linenos:
+         :lineno-start: 51
 
-SmartDashboard Display
-^^^^^^^^^^^^^^^^^^^^^^
+### SmartDashboard Display
 
 .. image:: images/choosing-an-autonomous-program-from-smartdashboard/smartdashboard-display.png
   :alt: SendableChooser shows two selectable autos: Simple Auto and Complex Auto.
diff --git a/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst b/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst
index 7c002494c3..5c741e7a1f 100644
--- a/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst
+++ b/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst
@@ -1,48 +1,56 @@
-Displaying Expressions from a Robot Program
-===========================================
+# Displaying Expressions from a Robot Program
 
 .. note:: Often debugging or monitoring the status of a robot involves writing a number of values to the console and watching them stream by. With SmartDashboard you can put values to a GUI that is automatically constructed based on your program. As values are updated, the corresponding GUI element changes value - there is no need to try to catch numbers streaming by on the screen.
 
-Writing Values to SmartDashboard
-------------------------------------
+## Writing Values to SmartDashboard
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        protected void execute() {
-          SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge());
-          SmartDashboard.putNumber("Bridge Angle", bridgeTipper.getPosition());
-          SmartDashboard.putNumber("Swerve Angle", drivetrain.getSwerveAngle());
-          SmartDashboard.putNumber("Left Drive Encoder", drivetrain.getLeftEncoder());
-          SmartDashboard.putNumber("Right Drive Encoder", drivetrain.getRightEncoder());
-          SmartDashboard.putNumber("Turret Pot", turret.getCurrentAngle());
-          SmartDashboard.putNumber("Turret Pot Voltage", turret.getAverageVoltage());
-          SmartDashboard.putNumber("RPM", shooter.getRPM());
-        }
-
-    .. code-block:: cpp
-
-        void Command::Execute() {
-          frc::SmartDashboard::PutBoolean("Bridge Limit", BridgeTipper.AtBridge());
-          frc::SmartDashboard::PutNumber("Bridge Angle", BridgeTipper.GetPosition());
-          frc::SmartDashboard::PutNumber("Swerve Angle", Drivetrain.GetSwerveAngle());
-          frc::SmartDashboard::PutNumber("Left Drive Encoder", Drivetrain.GetLeftEncoder());
-          frc::SmartDashboard::PutNumber("Right Drive Encoder", Drivetrain.GetRightEncoder());
-          frc::SmartDashboard::PutNumber("Turret Pot", Turret.GetCurrentAngle());
-          frc::SmartDashboard::PutNumber("Turret Pot Voltage", Turret.GetAverageVoltage());
-          frc::SmartDashboard::PutNumber("RPM", Shooter.GetRPM());
-        }
+   ```java
+   protected void execute() {
+      SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge());
+      SmartDashboard.putNumber("Bridge Angle", bridgeTipper.getPosition());
+      SmartDashboard.putNumber("Swerve Angle", drivetrain.getSwerveAngle());
+      SmartDashboard.putNumber("Left Drive Encoder", drivetrain.getLeftEncoder());
+      SmartDashboard.putNumber("Right Drive Encoder", drivetrain.getRightEncoder());
+      SmartDashboard.putNumber("Turret Pot", turret.getCurrentAngle());
+      SmartDashboard.putNumber("Turret Pot Voltage", turret.getAverageVoltage());
+      SmartDashboard.putNumber("RPM", shooter.getRPM());
+   }
+   ```
+
+   ```c++
+   void Command::Execute() {
+      frc::SmartDashboard::PutBoolean("Bridge Limit", BridgeTipper.AtBridge());
+      frc::SmartDashboard::PutNumber("Bridge Angle", BridgeTipper.GetPosition());
+      frc::SmartDashboard::PutNumber("Swerve Angle", Drivetrain.GetSwerveAngle());
+      frc::SmartDashboard::PutNumber("Left Drive Encoder", Drivetrain.GetLeftEncoder());
+      frc::SmartDashboard::PutNumber("Right Drive Encoder", Drivetrain.GetRightEncoder());
+      frc::SmartDashboard::PutNumber("Turret Pot", Turret.GetCurrentAngle());
+      frc::SmartDashboard::PutNumber("Turret Pot Voltage", Turret.GetAverageVoltage());
+      frc::SmartDashboard::PutNumber("RPM", Shooter.GetRPM());
+   }
+   ```
+
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge())
+   SmartDashboard.putNumber("Bridge Angle", bridgeTipper.getPosition())
+   SmartDashboard.putNumber("Swerve Angle", drivetrain.getSwerveAngle())
+   SmartDashboard.putNumber("Left Drive Encoder", drivetrain.getLeftEncoder())
+   SmartDashboard.putNumber("Right Drive Encoder", drivetrain.getRightEncoder())
+   SmartDashboard.putNumber("Turret Pot", turret.getCurrentAngle())
+   SmartDashboard.putNumber("Turret Pot Voltage", turret.getAverageVoltage())
+   SmartDashboard.putNumber("RPM", shooter.getRPM())
+   ```
 
 You can write Boolean, Numeric, or String values to the SmartDashboard by simply calling the correct method for the type and including the name and the value of the data, no additional code is required. Any time in your program that you write another value with the same name, it appears in the same UI element on the screen on the driver station or development computer. As you can imagine this is a great way of debugging and getting status of your robot as it is operating.
 
-Creating Widgets on SmartDashboard
-----------------------------------
+## Creating Widgets on SmartDashboard
 
 Widgets are populated on the SmartDashboard automatically, no user intervention is required. Note that the widgets are only populated when the value is first written, you may need to enable your robot in a particular mode or trigger a particular code routine for an item to appear. To alter the appearance of the widget, see the next two sections :doc:`Changing the Display Properties of a Value <changing-display-properties>` and :doc:`Changing the Display Widget Type for a Value <changing-display-widget-type>`.
 
-Stale Data
-----------
+## Stale Data
 SmartDashboard uses :term:`NetworkTables` for communicating values between the robot and the driver station laptop. NetworkTables acts as a distributed table of name and value pairs. If a name/value pair is added to either the client (laptop) or server (robot) it is replicated to the other. If a name/value pair is deleted from, say, the robot but the SmartDashboard or OutlineViewer are still running, then when the robot is restarted, the old values will still appear in the SmartDashboard and OutlineViewer because they never stopped running and continue to have those values in their tables. When the robot restarts, those old values will be replicated to the robot.
 
 To ensure that the SmartDashboard and OutlineViewer are showing current values, it is necessary to restart the NetworkTables clients and robot at the same time. That way, old values that one is holding won't get replicated to the others.
diff --git a/source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst b/source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst
index 4a13158cff..2c628244e7 100644
--- a/source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst
+++ b/source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst
@@ -1,10 +1,8 @@
-Displaying the Status of Commands and Subsystems
-================================================
+# Displaying the Status of Commands and Subsystems
 
 If you are using the command-based programming features of WPILib, you will find that they are very well integrated with SmartDashboard. It can help diagnose what the robot is doing at any time and it gives you control and a view of what's currently running.
 
-Overview of Command and Subsystem Displays
-------------------------------------------
+## Overview of Command and Subsystem Displays
 
 .. image:: images/displaying-status-of-commands-and-subsystems/command-system-displays.png
    :alt: An exmample SmartDashboard screen showing the Scheduler and what commands are running.
@@ -18,18 +16,23 @@ With SmartDashboard you can display the status of the commands and subsystems in
 
 In the following examples, you'll see what the screen would look like when there are commands running, and the code that produces this display.
 
-Displaying the Scheduler Status
--------------------------------
+## Displaying the Scheduler Status
 
 .. tab-set-code::
 
-  .. code-block:: java
+   ```java
+   SmartDashboard.putData(CommandScheduler.getInstance());
+   ```
 
-    SmartDashboard.putData(CommandScheduler.getInstance());
+   ```c++
+   frc::SmartDashboard::PutData(frc2::CommandScheduler::GetInstance());
+   ```
 
-  .. code-block:: c++
-
-    frc::SmartDashboard::PutData(frc2::CommandScheduler::GetInstance());
+   ```python
+   from wpilib import SmartDashboard
+   from commands2 import CommandScheduler
+   SmartDashboard.putData(CommandScheduler.getInstance())
+   ```
 
 You can display the status of the Scheduler (the code that schedules your commands to run). This is easily done by adding a single line to the ``RobotInit`` method in your RobotProgram as shown here. In this example the Scheduler instance is written using the ``putData`` method to SmartDashboard. This line of code produces the display in the previous image.
 
@@ -38,18 +41,22 @@ You can display the status of the Scheduler (the code that schedules your comman
 
 This is the scheduler status when there are two commands running, ``ExampleCommand`` and ``newCommand``. This replaces the ``No commands running.`` message from the previous screen image. You can see commands displayed on the dashboard as the program runs and various commands are triggered.
 
-Displaying Subsystem Status
----------------------------
+## Displaying Subsystem Status
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    SmartDashboard.putData(exampleSubsystem);
+   ```java
+   SmartDashboard.putData(exampleSubsystem);
+   ```
 
-  .. code-block:: c++
+   ```c++
+   frc::SmartDashboard::PutData(&exampleSubsystem);
+   ```
 
-    frc::SmartDashboard::PutData(&exampleSubsystem);
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putData(exampleSubsystem)
+   ```
 
 In this example we are writing the command instance, ``exampleSubsystem`` and instance of the ``ExampleSubsystem`` class to the SmartDashboard. This causes the display shown in the previous image. The text field will either contain a few dashes, ``---`` indicating that no command is current using this subsystem, or the name of the command currently using this subsystem.
 
@@ -58,18 +65,22 @@ In this example we are writing the command instance, ``exampleSubsystem`` and in
 
 Running commands will "require" subsystems. That is the command is reserving the subsystem for its exclusive use. If you display a subsystem on SmartDashboard, it will display which command is currently using it. In this example, ``ExampleSubsystem`` is in use by ``ExampleCommand``.
 
-Activating Commands with a Button
----------------------------------
+## Activating Commands with a Button
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    SmartDashboard.putData("Autonomous Command", exampleCommand);
+   ```java
+   SmartDashboard.putData("Autonomous Command", exampleCommand);
+   ```
 
-  .. code-block:: c++
+   ```c++
+   frc::SmartDashboard::PutData("Autonomous Command", &exampleCommand);
+   ```
 
-    frc::SmartDashboard::PutData("Autonomous Command", &exampleCommand);
+   ```python
+   from wpilib import SmartDashboard
+   SmartDashboard.putData("Autonomous Command", exampleCommand)
+   ```
 
 This is the code required to create a button for the command on SmartDashboard. Pressing the button will schedule the command. While the command is running, the button label changes from ``start`` to ``cancel`` and pressing the button will cancel the command.
 
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diff --git a/source/docs/software/dashboards/smartdashboard/index.rst b/source/docs/software/dashboards/smartdashboard/index.rst
index 4160a4e285..97bb4586cc 100644
--- a/source/docs/software/dashboards/smartdashboard/index.rst
+++ b/source/docs/software/dashboards/smartdashboard/index.rst
@@ -1,5 +1,4 @@
-SmartDashboard
-==============
+# SmartDashboard
 
 SmartDashboard is a simple and efficient dashboard that uses relatively few computer resources.  It does not have the fancy look or some of the features Shuffleboard has, but it displays network tables data with a variety of widgets without bogging down the driver station computer.
 
diff --git a/source/docs/software/dashboards/smartdashboard/smartdashboard-intro.rst b/source/docs/software/dashboards/smartdashboard/smartdashboard-intro.rst
index e26b80cfda..ad8533e932 100644
--- a/source/docs/software/dashboards/smartdashboard/smartdashboard-intro.rst
+++ b/source/docs/software/dashboards/smartdashboard/smartdashboard-intro.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-SmartDashboard Introduction
-===========================
+# SmartDashboard Introduction
 
 .. image:: images/smartdashboard-intro/smartdashboard-example.png
    :alt: An example of what the SmartDashboard UI can look like.
@@ -15,16 +14,14 @@ The SmartDashboard is a Java program that will display robot data in real time.
 
 The displayed data is automatically formatted in real-time as the data is sent from the robot, but you can change the format or the display widget types and then save the new screen layouts to be used again later. And with all these options, it is still extremely simple to use. To display some data on the dashboard, simply call one of the SmartDashboard methods with the data and its name and the value will automatically appear on the dashboard screen.
 
-Installing the SmartDashboard
------------------------------
+## Installing the SmartDashboard
 
 .. image:: images/smartdashboard-intro/smartdashboard-driverstation.png
    :alt: Using the 3rd tab of the Driver Station to select SmartDashboard from the Dashboard Type dropdown so that it will be launched.
 
 The SmartDashboard is packaged with the WPILib Installer and can be launched directly from the Driver Station by selecting the **SmartDashboard** button on the Setup tab.
 
-Configuring the Team Number
----------------------------
+## Configuring the Team Number
 
 .. image:: images/smartdashboard-intro/smartdashboard-teamnumber.png
    :alt: Checking the "Team Number" property in the Preferences dialog box.
@@ -33,8 +30,7 @@ The first time you launch the SmartDashboard you should be prompted for your tea
 
 .. note:: SmartDashboard will take a moment to configure itself for the team number, do not be alarmed.
 
-Setting a Custom NetworkTables Server Location
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Setting a Custom NetworkTables Server Location
 
 By default, SmartDashboard will look for NetworkTables instances running on a connected RoboRIO, but it's sometimes useful to look for NetworkTables at a different IP address. To connect to SmartDashboard from a host other than the roboRIO, open SmartDashboard preferences under the ``File`` menu and in the ``Team Number`` field, enter the IP address or hostname of the NetworkTables host.
 
@@ -43,23 +39,20 @@ This option is incredibly useful for using SmartDashboard with :doc:`WPILib simu
 .. image:: images/smartdashboard-intro/smartdashboard-networktables.png
    :alt: Using localhost to connect to a robot simulation.
 
-Locating the Save File
-----------------------
+## Locating the Save File
 
 .. image:: images/smartdashboard-intro/smartdashboard-save.png
    :alt: In Preferences the "Save File" key shows the location of the save file.
 
 Users may wish to customize the save location of the SmartDashboard. To do this click the box next to **Save File** then browse to the folder where you would like to save the configuration. Files saved in the installation directories for the WPILib components will likely be overwritten on updates to the tools.
 
-Adding a Connection Indicator
------------------------------
+## Adding a Connection Indicator
 
 .. image:: images/smartdashboard-intro/smartdashboard-connection.png
    :alt: Select View->Add...->Connection Indicator to show when SmartDashboard is connected.
 
 It is often helpful to see if the SmartDashboard is connected to the robot. To add a connection indicator, select **View > Add > Connection Indicator**. This indicator will be red when disconnected and green when connected. To move or resize this indicator, select **View > Editable** to toggle the SmartDashboard into editable mode, then drag the center of the indicator to move it or the edges to resize. Select the **Editable** item again to lock it in place.
 
-Adding Widgets to the SmartDashboard
-------------------------------------
+## Adding Widgets to the SmartDashboard
 
 Widgets are automatically added to the SmartDashboard for each "key" sent by the robot code. For instructions on adding robot code to write to the SmartDashboard see :doc:`Displaying Expressions from Within the Robot Program <displaying-expressions>`.
diff --git a/source/docs/software/dashboards/smartdashboard/smartdashboard-namespace.rst b/source/docs/software/dashboards/smartdashboard/smartdashboard-namespace.rst
index 16a231d46e..be06aee79f 100644
--- a/source/docs/software/dashboards/smartdashboard/smartdashboard-namespace.rst
+++ b/source/docs/software/dashboards/smartdashboard/smartdashboard-namespace.rst
@@ -1,5 +1,4 @@
-SmartDashboard Namespace
-========================
+# SmartDashboard Namespace
 
 SmartDashboard uses NetworkTables to send data between the robot and the Dashboard (Driver Station) computer. NetworkTables sends data as name, value pairs, like a distributed hashtable between the robot and the computer. When a value is changed in one place, its value is automatically updated in the other place. This mechanism and a standard set of name (keys) is how data is displayed on the SmartDashboard.
 
@@ -7,70 +6,59 @@ There is a hierarchical structure in the name space creating a set of tables and
 
 For informational purposes, the names and values can be displayed using the OutlineViewer application that is installed in the same location as the SmartDashboard. It will display all the NetworkTables keys and values as they are updated.
 
-SmartDashboard Data Values
---------------------------
+## SmartDashboard Data Values
 
 .. image:: images/smartdashboard-namespace/data-values.png
   :alt: The SmartDashboard keys in NetworkTables always begin with "/SmartDashboard/*"
 
 SmartDashboard values are created with key names that begin with ``SmartDashboard/``. The above values viewed with OutlineViewer correspond to data put to the SmartDashboard with the following statements:
 
-.. code-block:: java
-
-  chooser = new SendableChooser();
-  chooser.setDefaultOption("defaultAuto", new AutonomousCommand());
-  chooser.addOption("secondAuto", new AutonomousCommand());
-  chooser.addOption("thirdAuto", new AutonomousCommand());
-  SmartDashboard.putData("Chooser", chooser);
-  SmartDashboard.putNumber("Arm position in degrees", 52.0);
-  SmartDashboard.putString("Program Version", "V1.2");
+```java
+chooser = new SendableChooser();
+chooser.setDefaultOption("defaultAuto", new AutonomousCommand());
+chooser.addOption("secondAuto", new AutonomousCommand());
+chooser.addOption("thirdAuto", new AutonomousCommand());
+SmartDashboard.putData("Chooser", chooser);
+SmartDashboard.putNumber("Arm position in degrees", 52.0);
+SmartDashboard.putString("Program Version", "V1.2");
+```
 
 The ``Arm position`` is created with the ``putNumber()`` call. The ``AutonomousCommand`` is written with a ``putData("Autonomous Command", command)`` that is not shown in the above code fragment. The chooser is created as a ``SendableChooser`` object and the string value, ``Program Version`` is created with the ``putString()`` call.
 
-View of SmartDashboard
-----------------------
+## View of SmartDashboard
 
 .. image:: images/smartdashboard-namespace/view-smartdashboard.png
   :alt: SmartDashboard display of the values generated in the code above.
 
 The code from the previous step generates the table values as shown and the SmartDashboard display as shown here. The numbers correspond to the NetworkTables variables shown in the previous step.
 
-LiveWindow Data Values
-----------------------
+## LiveWindow Data Values
 
 .. image:: images/smartdashboard-namespace/livewindow-data-values.png
   :alt: Viewing all of the LiveWindow data in SmartDashboard when in Test mode.
 
 LiveWindow data is automatically grouped by subsystem. The data is viewable in the SmartDashboard when the robot is in Test mode (set on the Driver Station). If you are not writing a command based program, you can still cause sensors and actuators to be grouped for easy viewing by specifying the subsystem name. In the above display you can see the key names and the resultant output in Test mode on the SmartDashboard. All the strings start with ``/LiveWindow`` then the Subsystem name, then a group of values that are used to display each element. The code that generates this LiveWindow display is shown below:
 
-.. code-block:: java
-
-  drivetrainLeft = new PWMVictorSPX(1);
-  drivetrainLeft.setName("Drive train", "Left");
-
-  drivetrainRight = new PWMVictorSPX(1);
-  drivetrainRight.setName("Drive train", "Right";
-
-  drivetrainRobotDrive = new DifferentialDrive(drivetrainLeft, drivetrainRight);
-  drivetrainRobotDrive.setSafetyEnabled(false);
-  drivetrainRobotDrive.setExpiration(0.1);
-
-  drivetrainUltrasonic = new AnalogInput(3);
-  drivetrainUltrasonic.setName("Drive train", "Ultrasonic");
-
-  elevatorMotor = new PWMVictorSPX(6);
-  elevatorMotor.setName("Elevator", "Motor");
-
-  elevatorPot = new AnalogInput(4);
-  elevatorPot.setName("Elevator", "Pot");
-
-  wristPot = new AnalogInput(2);
-  wristPot.setName("Wrist", "Pot");
-
-  wristMotor = new PWMVictorSPX(3);
-  wristMotor.setName("Wrist", "Motor");
-
-  clawMotor = new PWMVictorSPX(5);
-  clawMotor.setName("Claw", "Motor");
+```java
+drivetrainLeft = new PWMVictorSPX(1);
+drivetrainLeft.setName("Drive train", "Left");
+drivetrainRight = new PWMVictorSPX(1);
+drivetrainRight.setName("Drive train", "Right";
+drivetrainRobotDrive = new DifferentialDrive(drivetrainLeft, drivetrainRight);
+drivetrainRobotDrive.setSafetyEnabled(false);
+drivetrainRobotDrive.setExpiration(0.1);
+drivetrainUltrasonic = new AnalogInput(3);
+drivetrainUltrasonic.setName("Drive train", "Ultrasonic");
+elevatorMotor = new PWMVictorSPX(6);
+elevatorMotor.setName("Elevator", "Motor");
+elevatorPot = new AnalogInput(4);
+elevatorPot.setName("Elevator", "Pot");
+wristPot = new AnalogInput(2);
+wristPot.setName("Wrist", "Pot");
+wristMotor = new PWMVictorSPX(3);
+wristMotor.setName("Wrist", "Motor");
+clawMotor = new PWMVictorSPX(5);
+clawMotor.setName("Claw", "Motor");
+```
 
 Values that correspond to actuators are not only displayed, but can be set using sliders created in the SmartDashboard in Test mode.
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst
index 79fded01a1..4ece393c33 100644
--- a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst
+++ b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst
@@ -1,65 +1,76 @@
-Displaying LiveWindow Values
-============================
+# Displaying LiveWindow Values
 
 LiveWindow will automatically add your sensors and actuators for you. There is no need to do it manually. LiveWindow values may also be displayed by writing the code yourself and adding it to your robot program. This allows you to customize the names and group them in subsystems. This is a convenient method of displaying whether they are actual command based program subsystems or just a grouping that you decide to use in your program.
 
-Adding the Necessary Code to your Program
------------------------------------------
+## Adding the Necessary Code to your Program
 
 For each sensor or actuator that is created, set the subsystem name and display name by calling ``setName`` (``SetName`` in C++). When the SmartDashboard is put into LiveWindow mode, it will display the sensors and actuators.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        Ultrasonic ultrasonic = new Ultrasonic(1, 2);
-        SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic");
-
-        Jaguar elbow = new Jaguar(1);
-        SendableRegistry.setName(elbow, "Arm", "Elbow");
-
-        Victor wrist = new Victor(2);
-        SendableRegistry.setName(wrist, "Arm", "Wrist");
-
-    .. code-block:: cpp
-
-        frc::Ultrasonic ultrasonic{1, 2};
-        SendableRegistry::SetName(ultrasonic, "Arm", "Ultrasonic");
-
-        frc::Jaguar elbow{1};
-        SendableRegistry::SetName(elbow, "Arm", "Elbow");
-
-        frc::Victor wrist{2};
-        SendableRegistry::SetName(wrist, "Arm", "Wrist");
+    ```java
+    Ultrasonic ultrasonic = new Ultrasonic(1, 2);
+    SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic");
+    Jaguar elbow = new Jaguar(1);
+    SendableRegistry.setName(elbow, "Arm", "Elbow");
+    Victor wrist = new Victor(2);
+    SendableRegistry.setName(wrist, "Arm", "Wrist");
+    ```
+
+    ```c++
+    frc::Ultrasonic ultrasonic{1, 2};
+    SendableRegistry::SetName(ultrasonic, "Arm", "Ultrasonic");
+    frc::Jaguar elbow{1};
+    SendableRegistry::SetName(elbow, "Arm", "Elbow");
+    frc::Victor wrist{2};
+    SendableRegistry::SetName(wrist, "Arm", "Wrist");
+    ```
+
+    ```python
+    from wpilib import Jaguar, Ultrasonic, Victor
+    from wpiutil import SendableRegistry
+        ultrasonic = Ultrasonic(1, 2)
+    SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic")
+    elbow = Jaguar(1)
+    SendableRegistry.setName(elbow, "Arm", "Elbow")
+    wrist = Victor(2)
+    SendableRegistry.setName(wrist, "Arm", "Wrist")
+    ```
 
 If your objects are in a ``Subsystem``, this can be simplified using the addChild method of ``SubsystemBase``
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        Ultrasonic ultrasonic = new Ultrasonic(1, 2);
-        addChild("Ultrasonic", ultrasonic);
-
-        Jaguar elbow = new Jaguar(1);
-        addChild("Elbow", elbow);
-
-        Victor wrist = new Victor(2);
-        addChild("Wrist", wrist);
-
-    .. code-block:: cpp
-
-        frc::Ultrasonic ultrasonic{1, 2};
-        AddChild("Ultrasonic", ultrasonic);
-
-        frc::Jaguar elbow{1};
-        AddChild("Elbow", elbow);
-
-        frc::Victor wrist{2};
-        AddChild("Wrist", wrist);
-
-Viewing the Display in SmartDashboard
------------------------------------------
+    ```java
+    Ultrasonic ultrasonic = new Ultrasonic(1, 2);
+    addChild("Ultrasonic", ultrasonic);
+    Jaguar elbow = new Jaguar(1);
+    addChild("Elbow", elbow);
+    Victor wrist = new Victor(2);
+    addChild("Wrist", wrist);
+    ```
+
+    ```c++
+    frc::Ultrasonic ultrasonic{1, 2};
+    AddChild("Ultrasonic", ultrasonic);
+    frc::Jaguar elbow{1};
+    AddChild("Elbow", elbow);
+    frc::Victor wrist{2};
+    AddChild("Wrist", wrist);
+    ```
+
+    ```python
+    from wpilib import Jaguar, Ultrasonic, Victor
+    from commands2 import SubsystemBase
+        ultrasonic = Ultrasonic(1, 2)
+    SubsystemBase.addChild("Ultrasonic", ultrasonic)
+    elbow = Jaguar(1)
+    SubsystemBase.addChild("Elbow", elbow)
+    wrist = Victor(2)
+    SubsystemBase.addChild("Wrist", wrist)
+    ```
+
+## Viewing the Display in SmartDashboard
 
 .. image:: images/displaying-LiveWindow-values/view-display.png
     :alt: Modifying the components of a subsystem in SmartDashboard.
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode.rst b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode.rst
index e4187ceb0c..6477f9ae46 100644
--- a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode.rst
+++ b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode.rst
@@ -1,54 +1,80 @@
-Enabling Test mode (LiveWindow)
-===============================
+# Enabling Test mode (LiveWindow)
 
-You may add code to your program to display values for your sensors and actuators while the robot is in Test mode. This can be selected from the Driver Station whenever the robot is not on the field. The code to display these values is automatically generated by RobotBuilder and is described in the next article. Test mode is designed to verify the correct operation of the sensors and actuators on a robot. In addition it can be used for obtaining setpoints from sensors such as potentiometers and for tuning PID loops in your code.
+You may add code to your program to display values for your sensors and actuators while the robot is in Test mode. This can be selected from the Driver Station whenever the robot is not on the field (see :ref:`docs/software/basic-programming/using-test-mode:Enabling Test Mode` for details on how to do this). Test mode is designed to verify the correct operation of the sensors and actuators on a robot. In addition it can be used for obtaining setpoints from sensors such as potentiometers and for tuning PID loops in your code.  When the robot is enabled in Test mode, the SmartDashboard display will switch to test mode (LiveWindow) and will display the status of any actuators and sensors used by your program.
 
-Setting Test mode with the Driver Station
------------------------------------------
 
-.. image:: images/enabling-test-mode/setting-test-mode-driver-station.png
-   :alt: Selecting the "Test" button on the Driver Station and then "Enable".
+.. important:: Since 2024, LiveWindow is not enabled by default in Test mode!
 
-Enable Test Mode in the Driver Station by clicking on the "Test" button and setting "Enable" on the robot. When doing this, the SmartDashboard display will switch to test mode (LiveWindow) and will display the status of any actuators and sensors used by your program.
+## Enabling LiveWindow in Test Mode
 
-Explicitly vs. implicit test mode display
------------------------------------------
+To run LiveWindow in Test Mode, the following code is needed in the ``Robot`` class:
 
 .. tab-set-code::
 
-    .. code-block:: java
+   ```java
+   @Override
+   public void robotInit() {
+      enableLiveWindowInTest(true);
+   }
+   ```
 
-        PWMSparkMax leftDrive;
-        PWMSparkMax rightDrive;
-        PWMVictorSPX arm;
-        BuiltInAccelerometer accel;
+   ```c++
+   void Robot::RobotInit() {
+      EnableLiveWindowInTest(true);
+   }
+   ```
 
-        @Override
-        public void robotInit() {
-          leftDrive = new PWMSparkMax(0);
-          rightDrive = new PWMSparkMax(1);
-          arm = new PWMVictorSPX(2);
-          accel = new BuiltInAccelerometer();
-          SendableRegistry.setName(arm, "SomeSubsystem", "Arm");
-          SendableRegistry.setName(accel, "SomeSubsystem", "Accelerometer");
-        }
+   ```python
+   def robotInit(self) -> None:
+      enableLiveWindowInTest(true)
+   ```
 
-    .. code-block:: cpp
+## Explicitly vs. implicit test mode display
 
-        frc::PWMSparkMax leftDrive{0};
-        frc::PWMSparkMax rigthDrive{1};
-        frc::BuiltInAccelerometer accel{};
-        frc::PWMVictorSPX arm{3};
+.. tab-set-code::
 
-        void Robot::RobotInit() {
-          wpi::SendableRegistry::SetName(&arm, "SomeSubsystem", "Arm");
-          wpi::SendableRegistry::SetName(&accel, "SomeSubsystem", "Accelerometer");
-        }
+   ```java
+   PWMSparkMax leftDrive;
+   PWMSparkMax rightDrive;
+   PWMVictorSPX arm;
+   BuiltInAccelerometer accel;
+   @Override
+   public void robotInit() {
+      leftDrive = new PWMSparkMax(0);
+      rightDrive = new PWMSparkMax(1);
+      arm = new PWMVictorSPX(2);
+      accel = new BuiltInAccelerometer();
+      SendableRegistry.setName(arm, "SomeSubsystem", "Arm");
+      SendableRegistry.setName(accel, "SomeSubsystem", "Accelerometer");
+   }
+   ```
+
+   ```c++
+   frc::PWMSparkMax leftDrive{0};
+   frc::PWMSparkMax rigthDrive{1};
+   frc::BuiltInAccelerometer accel{};
+   frc::PWMVictorSPX arm{3};
+   void Robot::RobotInit() {
+      wpi::SendableRegistry::SetName(&arm, "SomeSubsystem", "Arm");
+      wpi::SendableRegistry::SetName(&accel, "SomeSubsystem", "Accelerometer");
+   }
+   ```
+
+   ```python
+   from wpilib import BuiltInAccelerometer, PWMSparkMax, PWMVictorSPX
+   from wpiutil import SendableRegistry
+   def robotInit(self) -> None:
+      leftDrive = PWMSparkMax(0)
+      rightDrive = PWMSparkMax(1)
+      arm = PWMVictorSPX(2)
+      accel = BuiltInAccelerometer()
+      SendableRegistry.setName(arm, "SomeSubsystem", "Arm")
+      SendableRegistry.setName(accel, "SomeSubsystem", "Accelerometer")
+   ```
 
 All sensors and actuators will automatically be displayed on the SmartDashboard in test mode and will be named using the object type (such as PWMSparkMax, PWMVictorSPX, BuiltInAccelerometer, etc.) with channel number with which the object was created. In addition, the program can explicitly add sensors and actuators to the test mode display, in which case programmer-defined subsystem and object names can be specified making the program clearer. This example illustrates explicitly defining those sensors and actuators.
 
-Understanding what is displayed in Test mode
---------------------------------------------
+## Understanding what is displayed in Test mode
 
 .. image:: images/enabling-test-mode/test-mode-display.png
    :alt: Highlights both ungrouped and subsystem motors displayed in test mode.
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/finding-setpoint-values.png b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/finding-setpoint-values.png
index f8fdf89387..55a94ccae3 100644
Binary files a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/finding-setpoint-values.png and b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/finding-setpoint-values.png differ
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/tuning-pid-controller.png b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/tuning-pid-controller.png
index 6431ffbe4a..a8954936cf 100644
Binary files a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/tuning-pid-controller.png and b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/tuning-pid-controller.png differ
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/viewing-pid-controller.png b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/viewing-pid-controller.png
index f15310dba5..bd0a594fda 100644
Binary files a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/viewing-pid-controller.png and b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/PID-tuning-with-SmartDashboard/viewing-pid-controller.png differ
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/displaying-LiveWindow-values/view-display.png b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/displaying-LiveWindow-values/view-display.png
index a8a399c576..f1782a5fd1 100644
Binary files a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/displaying-LiveWindow-values/view-display.png and b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/displaying-LiveWindow-values/view-display.png differ
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/enabling-test-mode/setting-test-mode-driver-station.png b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/enabling-test-mode/setting-test-mode-driver-station.png
index 02abb2c1cf..06d23f2716 100644
Binary files a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/enabling-test-mode/setting-test-mode-driver-station.png and b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/enabling-test-mode/setting-test-mode-driver-station.png differ
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/enabling-test-mode/test-mode-display.png b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/enabling-test-mode/test-mode-display.png
index 6f9d1c36dd..afdfb2ec32 100644
Binary files a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/enabling-test-mode/test-mode-display.png and b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/images/enabling-test-mode/test-mode-display.png differ
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/index.rst b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/index.rst
index f6140826ab..5c25f2e7ce 100644
--- a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/index.rst
+++ b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/index.rst
@@ -1,5 +1,4 @@
-SmartDashboard: Test Mode and Live Window
-=========================================
+# SmartDashboard: Test Mode and Live Window
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/pid-tuning-with-smartdashboard.rst b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/pid-tuning-with-smartdashboard.rst
index 9b6fa54421..eec6b238f9 100644
--- a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/pid-tuning-with-smartdashboard.rst
+++ b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/pid-tuning-with-smartdashboard.rst
@@ -1,28 +1,24 @@
-PID Tuning with SmartDashboard
-==============================
+# PID Tuning with SmartDashboard
 
 The PID (Proportional, Integral, Differential) is an algorithm for determining the motor speed based on sensor feedback to reach a setpoint as quickly as possible. For example, a robot with an elevator that moves to a predetermined position should move there as fast as possible then stop without excessive overshoot leading to oscillation. Getting the PID controller to behave this way is called "tuning". The idea is  to compute an error value that is the difference between the current value of the mechanism feedback element and the desired (setpoint) value. In the case of the arm, there might be a potentiometer connected to an analog channel that provides a voltage that is proportional to the position of the arm. The desired value is the voltage that is predetermined for the position the arm should move to, and the current value is the voltage for the actual position of the arm.
 
-Finding the setpoint values with LiveWindow
--------------------------------------------
+## Finding the setpoint values with LiveWindow
 
 .. image:: images/PID-tuning-with-SmartDashboard/finding-setpoint-values.png
    :alt: Setting a motor's speed with LiveWindow.
 
 Create a PID Subsystem for each mechanism with feedback. The PID Subsystems contain the actuator (motor) and the feedback sensor (potentiometer in this case). You can use Test mode to display the subsystem sensors and actuators. Using the slider manually adjust the actuator to each desired position. Note the sensor values (2) for each of the desired positions. These will become the setpoints for the PID controller.
 
-Viewing the PIDController in LiveWindow
----------------------------------------
+## Viewing the PIDController in LiveWindow
 
 .. image:: images/PID-tuning-with-SmartDashboard/viewing-pid-controller.png
    :alt: Controlling a PIDController in LiveWindow.
 
 In Test mode, the PID Subsystems display their P, I, and D parameters that are set in the code. The P, I, and D values are the weights applied to the computed error (P), sum of errors over time (I), and the rate of change of errors (D). Each of those terms is multiplied by the weights and added together to form the motor value. Choosing the optimal P, I, and D values can be difficult and requires some amount of experimentation. The Test mode on the robot allows the values to be modified, and the mechanism response observed.
 
-.. important:: The enable option does not affect the `PIDController <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/PIDController.html>`__ introduced in 2020, as the controller is updated every robot loop. See the example :ref:`here <docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid:Enable Functionality in the New PIDController>` on how to retain this functionality.
+.. important:: The enable option does not affect the [PIDController](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/PIDController.html) introduced in 2020, as the controller is updated every robot loop. See the example :ref:`here <docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid:Enable Functionality in the New PIDController>` on how to retain this functionality.
 
-Tuning the PIDController
-------------------------
+## Tuning the PIDController
 
 .. image:: images/PID-tuning-with-SmartDashboard/tuning-pid-controller.png
    :alt: Using the PIDController to tune the control.
diff --git a/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst b/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst
index 1271744dff..eee94956a5 100644
--- a/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst
+++ b/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst
@@ -1,8 +1,6 @@
-Verifying SmartDashboard is working
-===================================
+# Verifying SmartDashboard is working
 
-Connection Indicator
---------------------
+## Connection Indicator
 
 SmartDashboard will automatically include the connection status and IP address of the NetworkTables source in the title of the window.
 
@@ -14,63 +12,59 @@ SmartDashboard will automatically include the connection status and IP address o
   :alt: SmartDashboard connected and showing the IP address.
   :width: 350
 
-Connection Indicator Widget
----------------------------
+## Connection Indicator Widget
 
 SmartDashboard includes a connection indicator widget which will turn red or green depending on the connection to NetworkTables, usually provided by the roboRIO. For instructions to add this widget, look at :ref:`Adding a Connection Indicator <docs/software/dashboards/smartdashboard/smartdashboard-intro:Adding a Connection Indicator>` in the SmartDashboard Intro.
 
-Robot Program Example
----------------------
+## Robot Program Example
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-      public class Robot extends TimedRobot {
-        double counter = 0.0;
-
-        public void teleopPeriodic() {
-          SmartDashboard.putNumber("Counter", counter++);
-        }
-      }
-
-  .. code-block:: c++
-
-      #include "Robot.h"
-      float counter = 0.0;
-
-      void Robot::TeleopPeriodic() {
-          frc::SmartDashboard::PutNumber("Counter", counter++);
+   ```java
+   public class Robot extends TimedRobot {
+      double counter = 0.0;
+      public void teleopPeriodic() {
+         SmartDashboard.putNumber("Counter", counter++);
       }
+   }
+   ```
+
+   ```c++
+   #include "Robot.h"
+   float counter = 0.0;
+   void Robot::TeleopPeriodic() {
+      frc::SmartDashboard::PutNumber("Counter", counter++);
+   }
+   ```
+
+   ```python
+   from wpilib import SmartDashboard
+   self.counter = 0.0
+   def teleopPeriodic(self) -> None:
+      SmartDashboard.putNumber("Counter", self.counter += 1)
+   ```
 
 This is a minimal robot program that writes a value to the SmartDashboard. It simply increments a counter 50 times per second to verify that the connection is working. However, to minimize bandwidth usage, NetworkTables by default will throttle the updates to 10 times per second.
 
-SmartDashboard Output for the Sample Program
---------------------------------------------
+## SmartDashboard Output for the Sample Program
 
 .. image:: images/verifying-smartdashboard-is-working/smartdashboard-output-sample-program.png
   :alt: SmartDashboard showing the output of "counter" set up in the code above.
 
 The SmartDashboard display should look like this after about 6 seconds of the robot being enabled in Teleop mode. If it doesn't, then you need to check that the connection is correctly set up.
 
-Verifying the IP address in SmartDashboard
-------------------------------------------
+## Verifying the IP address in SmartDashboard
 
 .. image:: images/verifying-smartdashboard-is-working/verifying-ip-address.png
   :alt: Checking the "Team Number" property in the Preferences dialog box.
 
 If the display of the value is not appearing, verify that the team number is correctly set as shown in this picture. The preferences dialog can be viewed by selecting ``File``, then ``Preferences``.
 
-Verifying Program using OutlineViewer
--------------------------------------
-
-You can verify that the robot program is generating SmartDashboard values by using the OutlineViewer program. This is a Java program, ``OutlineViewer.jar``, that is located in ``~/wpilib/YYYY/tools`` (where YYYY is the year and ~ is ``C:\Users\Public`` on Windows).
-
-OutlineViewer is downloaded as part of the WPILib Offline Installer. For more information, see the :ref:`Windows/macOS/Linux installation guides <docs/zero-to-robot/step-2/wpilib-setup:WPILib Installation Guide>`. In Visual Studio Code, press :kbd:`Ctrl+Shift+P` and type "WPILib" or click the WPILib logo in the top right to launch the WPILib Command Palette.  Select :guilabel:`Start Tool`, and then select :guilabel:`OutlineViewer`.
+## Verifying Program using OutlineViewer
 
-In the "Server Location" box, enter your team number with no leading zeroes. Then, click ``Start``.
+You can verify that the robot program is generating SmartDashboard values by using the :doc:`OutlineViewer program </docs/software/wpilib-tools/outlineviewer/index>`.
 
-Look at the second row in the table, the value ``SmartDashboard/Counter`` is the variable written to the SmartDashboard via NetworkTables. As the program runs you should see the value increasing (``41.0`` in this case). If you don't see this variable in the OutlineViewer, look for something wrong with the robot program or the network configuration.
+Expand the SmartDashboard row. The value ``Counter`` is the variable written to the SmartDashboard via NetworkTables. As the program runs you should see the value increasing (``1398.0`` in this case). If you don't see this variable in the OutlineViewer, look for something wrong with the robot program or the network configuration.
 
 .. image:: /docs/software/wpilib-tools/outlineviewer/images/outlineviewer.png
   :alt: Using OutlineViewer to view the NetworkTables data used by the program.
diff --git a/source/docs/software/dashboards/troubleshooting-dashboard-connectivity.rst b/source/docs/software/dashboards/troubleshooting-dashboard-connectivity.rst
new file mode 100644
index 0000000000..11e4b3fcc0
--- /dev/null
+++ b/source/docs/software/dashboards/troubleshooting-dashboard-connectivity.rst
@@ -0,0 +1,57 @@
+# Troubleshooting Dashboard Connectivity
+
+This document will help explain how to recognize if the Dashboard is not connected to your robot, steps to troubleshoot this condition and a code modification you can make.
+
+## Recognizing LabVIEW Dashboard Connectivity
+
+.. image:: images/troubleshooting-dashboard-connectivity/labview-dashboard-connection.png
+   :alt: NT Connection LED on LabVIEW Dashboard front panel
+
+The LabVIEW Dashboard has a NetworkTables Connection indicator on the front panel.
+
+.. image:: images/troubleshooting-dashboard-connectivity/black-diamonds.png
+   :alt: Highlights black diamonds next to the variables indicating they are not synced to the robot.
+
+On the Variables tab of the Dashboard, the variables are shown with a black diamond when they are not synced with the robot. Once the Dashboard connects to the robot and these variables are synced, the diamond will disappear.
+
+## Recognizing SmartDashboard Connectivity
+.. image:: images/troubleshooting-dashboard-connectivity/smartdashboard-connection.png
+   :alt: The titlebar of SmartDashboard showing a connection to IP 172.22.11.2
+
+SmartDashboard indicates if it is connected or not in the title bar. It shows the IP address it is connected to. See :ref:`this page <docs/software/dashboards/smartdashboard/smartdashboard-intro:Configuring the Team Number>` for more on configuring the connection.
+
+.. image:: images/troubleshooting-dashboard-connectivity/connection-indicator.png
+   :alt: Click "View" then "Add..." then Connection indicator to place one on the SmartDashboard.
+
+For more visibility, you can also add a Connection Indicator widget. The connection indicator can be moved or re-sized if the Editable checkbox is checked.
+
+## Recognizing Shuffleboard Connectivity
+
+.. image:: images/troubleshooting-dashboard-connectivity/shuffleboard-connection.png
+   :alt: The bottom bar of Shuffleboard showing no connection
+
+Shuffleboard indicates if it is connected or not in the bottom right corner of the application as shown in the image above. See :ref:`page <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-preferences:Setting the Team Number>` for more on configuring the connection.
+
+## Recognizing Glass Connectivity
+
+.. image:: images/troubleshooting-dashboard-connectivity/glass-connection.png
+   :alt: The titlebar of Glass showing a connection to 127.0.0.1
+
+Glass indicates if it is connected or not in the title bar. It shows the IP address it is connected to. See this :ref:`page <docs/software/dashboards/glass/networktables-connection:Establishing NetworkTables Connections>` for more on configuring the connection.
+
+## Recognizing AdvantageScope Connectivity
+
+.. image:: images/troubleshooting-dashboard-connectivity/advantagescope-connection.png
+   :alt: The titlebar of AdvantageScope showing a connection to 172.22.11.2
+
+AdvantageScope indicates if it is connected or not in the title bar. It shows the IP address it is connected to, or else the IP address it is attempting to connect to. See the [AdvantageScope Documentation](https://docs.advantagescope.org/getting-started/open-live) for more on configuring the connection.
+
+## Troubleshooting Connectivity
+
+If the Dashboard does not connect to the Robot (after the Driver Station has connected to the robot) the recommended troubleshooting steps are:
+
+1. Restart the Dashboard (there is no need to restart the Driver Station software)
+
+2. If that doesn't work, restart the Robot Code using the Restart Robot Code button on the Diagnostics tab of the Driver Station
+
+3. If it still doesn't connect, verify that the Team Number / Server is set properly in the Dashboard and that your Robot Code writes a value during initialization or disabled
diff --git a/source/docs/software/driverstation/driver-station-best-practices.rst b/source/docs/software/driverstation/driver-station-best-practices.rst
index 236d5516a2..e52321e8b9 100644
--- a/source/docs/software/driverstation/driver-station-best-practices.rst
+++ b/source/docs/software/driverstation/driver-station-best-practices.rst
@@ -1,21 +1,22 @@
 .. include:: <isonum.txt>
 
-Driver Station Best Practices
-=============================
+# Driver Station Best Practices
 
-This document was created by Steve Peterson, with contributions from Juan Chong, James Cole-Henry, Rick Kosbab, Greg McKaskle, Chris Picone, Chris Roadfeldt, Joe Ross, and Ryan Sjostrand. The original post and follow-up posts can be found `here <https://www.chiefdelphi.com/t/paper-driver-station-best-practices/164429>`__.
+This document was created by Steve Peterson, with contributions from Juan Chong, James Cole-Henry, Rick Kosbab, Greg McKaskle, Chris Picone, Chris Roadfeldt, Joe Ross, and Ryan Sjostrand. The original post and follow-up posts can be found [here](https://www.chiefdelphi.com/t/paper-driver-station-best-practices/164429).
 
 Want to ensure the driver station isn't a stopper for your team at the FIRST Robotics Competition (FRC) field? Building and configuring a solid driver station laptop is an easy project for the time between stop build day and your competition. Read on to find lessons learned by many teams over thousands of matches.
 
-Prior To Departing For The Competition
---------------------------------------
+## Prior To Departing For The Competition
 
 1. Dedicate a laptop to be used solely as a driver station. Many teams do. A dedicated machine allows you manage the configuration for one goal – being ready to compete at the field. Dedicated means no other software except the FRC-provided Driver Station software and associated Dashboard installed or running.
 2. Use a business-class laptop for your driver station. Why? They're much more durable than the $300 Black Friday special at Best Buy. They'll survive being banged around at the competition. Business-class laptops have higher quality device drivers, and the drivers are maintained for a longer period than consumer laptops. This makes your investment last longer. Lenovo ThinkPad T series and Dell Latitude are two popular business-class brands you'll commonly see at competitions. There are thousands for sale every day on eBay. The laptop provided in recent rookie kits is a good entry level machine. Teams often graduate from it to bigger displays as they do more with vision and dashboards.
 3. Consider used laptops rather than new. The FRC\ |reg| Driver Station and dashboard software uses very few system resources, so you don't need to buy a new laptop -- instead, buy a cheap 4-5 year old used one. You might even get one donated by a used computer store in your area.
+
+.. note:: Before buying a used laptop ensure it is compatible with [Windows 11](https://support.microsoft.com/en-us/windows/windows-11-system-requirements-86c11283-ea52-4782-9efd-7674389a7ba3). For example, only Intel 8th generation core processors and later are compatible.
+
 4. Laptop recommended features
 
-   a. RAM -- 4GB of RAM
+   a. RAM -- 8GB of RAM or greater
    b. A display size of 13" or greater, with minimum resolution of 1440x1050.
    c. Ports
 
@@ -25,8 +26,9 @@ Prior To Departing For The Competition
       iv. 2 USB ports minimum
 
    d. A keyboard. It’s hard to quickly do troubleshooting on touch-only computers at the field.
-   e. A solid-state disk (SSD). If the laptop has a rotating disk, spend $50 and replace it with a SSD.
-   f. Updated to the current release of Windows 10 or 11. Being the most common OS now seen at competitions, bugs are more likely to be found and fixed for Windows 10 and 11 than on older Windows versions.
+   e. A solid-state disk (SSD), 256 GB or larger. If the laptop has a rotating disk, spend $50 and replace it with a SSD.
+   f. Updated to the current release of Windows 10 or 11.
+   g. A laptop that supports Wi-Fi 6E (6 GHz) is recommended for use with the [Wi-Fi 6E radio](https://www.firstinspires.org/robotics/frc/blog/2023-technology-updates-past-present-future-and-beyond) for 2025 and later.
 
 5. Install all Windows updates a week before the competition. This allows you time to ensure the updates will not interfere with driver station functions. To do so, open the Windows Update settings page and see that you're up-to-date. Install pending updates if not. Reboot and check again to make sure you’re up to date.
 6. Change "Active Hours" for Windows Updates to prevent updates from installing during competition hours. Navigate to Start -> Settings -> Update & Security -> Windows Update, then select Change active hours. If you’re traveling to a competition, take time zone differences into account. This will help ensure your driver station does not reboot or fail due to update installing on the field.
@@ -35,21 +37,21 @@ Prior To Departing For The Competition
 9. Laptop battery / power
 
    a. Turn off Put the computer to sleep in your power plan for both battery and powered operation.
-   b. Turn off USB Selective Suspend:
+   b. Turn off Battery Saver and set Power Mode to Best Performance.
+   c. Turn off USB Selective Suspend:
 
       i. Right click on the battery/charging icon in the tray, then select Power Options.
       ii. Edit the plan settings of your power plan.
       iii. Click the Change advanced power settings link.
       iv. Scroll down in the advanced settings and disable the USB selective suspend setting for both Battery and Plugged in.
 
-   c. Ensure the laptop battery can hold a charge for at least an hour after making the changes above. This allows plenty of time for the robot and drive team to go through the queue and reach the alliance station without mains power.
+   d. Ensure the laptop battery can hold a charge for at least an hour after making the changes above. This allows plenty of time for the robot and drive team to go through the queue and reach the alliance station without mains power.
 
 10. Bring a trusted USB and Ethernet cable for use connecting to the roboRIO.
 11. Add retention/strain relief to prevent your joystick/gamepad controllers from falling on the floor and/or yanking on the USB ports. This helps prevent issues with intermittent controller connections.
 12. The Windows user account you use to drive must be a member of the Administrator group.
 
-At The Competition
-------------------
+## At The Competition
 
 1. Turn off Windows firewall using :ref:`these instructions <docs/networking/networking-introduction/windows-firewall-configuration:Disabling Windows Firewall>`.
 2. Turn off the Wi-Fi adapter, either using the dedicated hardware Wi-Fi switch or by disabling it in the Adapter Settings control panel.
@@ -59,8 +61,7 @@ At The Competition
 6. Limit web browsing to FRC related web sites. This minimizes the chance of getting malware during the competition.
 7. Don't plan on using internet access to do software updates. There likely won't be any in the venue, and hotel Wi-Fi varies widely in quality. If you do need updates, contact a Control System Advisor in the pit.
 
-Before Each Match
------------------
+## Before Each Match
 
 1. Make sure the laptop is on and logged in prior to the end of the match before yours.
 2. Close programs that aren’t needed during the match – e.g., Visual Studio Code or LabView – when you are competing.
@@ -69,5 +70,8 @@ Before Each Match
 5. Ensure joysticks and controllers are assigned to the correct USB ports.
 
    a. In the USB tab in the FRC Driver Station software, drag and drop to assign joysticks as needed.
-   b. Use the rescan button (F1) if joysticks / controllers do not appear green
+   b. Use the rescan button (F1) if joysticks / controllers do not appear green.
    c. Use the rescan button (F1) during competition if joystick or controllers become unplugged and then are plugged back in or otherwise turn gray during competition.
+
+6. Ensure your :doc:`Dashboard is connected to the robot </docs/software/dashboards/troubleshooting-dashboard-connectivity>` after your driver station connects to the robot.
+7. Ensure driver station is fully visible and in focus during the match to avoid Windows de-priortizing it, and to ease troubleshooting.
diff --git a/source/docs/software/driverstation/driver-station-errors-warnings.rst b/source/docs/software/driverstation/driver-station-errors-warnings.rst
index 9f2c0936d4..fe3112c444 100644
--- a/source/docs/software/driverstation/driver-station-errors-warnings.rst
+++ b/source/docs/software/driverstation/driver-station-errors-warnings.rst
@@ -1,76 +1,68 @@
-Driver Station Errors/Warnings
-==============================
+# Driver Station Errors/Warnings
 
-In an effort to provide both Teams and Volunteers (FTAs/CSAs/etc.) more information to use when diagnosing robot problems, a number of Warning and Error messages have been added to the Driver Station. These messages are displayed in the DS diagnostics tab when they occur and are also included in the DS Log Files that can be viewed with the Log File Viewer. This document discusses the messages produced by the DS (messages produced by WPILib can also appear in this box and the DS Logs).
+In an effort to provide both Teams and Volunteers (:term:`FTA` / :term:`CSA` / etc.) more information to use when diagnosing robot problems, a number of Warning and Error messages have been added to the Driver Station. These messages are displayed in the DS diagnostics tab when they occur and are also included in the DS Log Files that can be viewed with the Log File Viewer. This document discusses the messages produced by the DS (messages produced by WPILib can also appear in this box and the DS Logs).
 
-Joystick Unplugged
-------------------
+## Joystick Unplugged
 
-.. code-block::
-
-  ERROR<Code>-44009 occurred at Driver Station
-  <time>2/5/2013 4:43:54 PM <unique#>1
-  FRC: A joystick was disconnected while the robot was enabled.
+```
+ERROR<Code>-44009 occurred at Driver Station
+<time>2/5/2013 4:43:54 PM <unique#>1
+FRC: A joystick was disconnected while the robot was enabled.
+```
 
 This error is triggered when a Joystick is unplugged. Contrary to the message text this error will be printed even if the robot is not enabled, or even connected to the DS. You will see a single instance of this message occur each time the Driver Station is started, even if Joysticks are properly connected and functioning.
 
-.. note:: Joystick Unplugged warnings can be silenced by calling ``DriverStation.silenceJoystickConnectionWarning(true)`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/DriverStation.html#silenceJoystickConnectionWarning(boolean)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_driver_station.html#ad92dee0301f96316ffd2a28a22ab9e54>`__)
-
-Lost Communication
-------------------
+.. note:: Joystick Unplugged warnings can be silenced by calling ``DriverStation.silenceJoystickConnectionWarning(true)`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/DriverStation.html#silenceJoystickConnectionWarning(boolean)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_driver_station.html#ad92dee0301f96316ffd2a28a22ab9e54))
 
-.. code-block::
+## Lost Communication
 
-  Warning<Code>44004 occurred at Driver Station
-  <time>2/6/2013 11:07:53 AM<unique#>2
-  FRC: The Driver Station has lost communication with the robot.
+```
+Warning<Code>44004 occurred at Driver Station
+<time>2/6/2013 11:07:53 AM<unique#>2
+FRC: The Driver Station has lost communication with the robot.
+```
 
 This Warning message is printed whenever the Driver Station loses communication with the robot (Communications indicator changing from green to red). A single instance of this message is printed when the DS starts up, before communication is established.
 
-Ping Status
------------
-
-.. code-block::
-
-  Warning<Code>44002 occurred at Ping Results: link-GOOD, DS radio(.4)-bad, robot radio(.1)-GOOD, cRIO(.2)-bad, FMS- bad Driver Station
-  <time>2/6/2013 11:07:59 AM<unique#>5
-  FRC: Driver Station ping status has changed.
+## Ping Status
 
-A Ping Status warning is generated each time the Ping Status to a device changes while the DS is not in communication with the roboRIO. As communications is being established when the DS starts up, a few of these warnings will appear as the Ethernet link comes up, then the connection to the robot radio, then the roboRIO (with FMS mixed in if applicable). If communications are later lost, the ping status change may help identify at which component the communication chain broke.
+```
+Warning<Code>44002 occurred at Ping Results: link-GOOD, DS radio(.4)-bad, robot radio(.1)-GOOD, cRIO(.2)-bad, FMS- bad Driver Station
+<time>2/6/2013 11:07:59 AM<unique#>5
+FRC: Driver Station ping status has changed.
+```
 
-Time Since Robot Boot
----------------------
+A Ping Status warning is generated each time the Ping Status to a device changes while the DS is not in communication with the roboRIO. As communications is being established when the DS starts up, a few of these warnings will appear as the Ethernet link comes up, then the connection to the robot radio, then the roboRIO (with :term:`FMS` mixed in if applicable). If communications are later lost, the ping status change may help identify at which component the communication chain broke.
 
-.. code-block::
+## Time Since Robot Boot
 
-  WARNING<Code>44007 occurred at FRC_NetworkCommunications
-  **<secondsSinceReboot> 3.585**
-  FRC: Time since robot boot.
+```
+WARNING<Code>44007 occurred at FRC_NetworkCommunications
+**<secondsSinceReboot> 3.585**
+FRC: Time since robot boot.
+```
 
 This message is printed each time the DS begins communicating with the roboRIO. The message indicates the up-time, in seconds, of the roboRIO and can be used to determine if a loss of communication was due to a roboRIO Reboot.
 
-Radio Detection Times
----------------------
+## Radio Detection Times
 
-.. code-block::
-
-  WARNING<Code>44008 occurred at FRC_NetworkCommunications
-  <radioLostEvents> 19.004<radioSeenEvents> 0.000
-  FRC: Robot radio dectection times
-
-  WARNING<Code>44008 occurred at FRC_NetworkCommunications
-  <radioLostEvents> 2.501,422.008<radioSeenEvents> 0.000,147.005
-  FRC: Robot radio dectection times.
+```
+WARNING<Code>44008 occurred at FRC_NetworkCommunications
+<radioLostEvents> 19.004<radioSeenEvents> 0.000
+FRC: Robot radio dectection times
+WARNING<Code>44008 occurred at FRC_NetworkCommunications
+<radioLostEvents> 2.501,422.008<radioSeenEvents> 0.000,147.005
+FRC: Robot radio dectection times.
+```
 
 This message may be printed when the DS begins communicating with the roboRIO and indicates the time, in seconds, since the last time the radio was lost and seen. In the first example image above the message indicates that the roboRIO's connection to the radio was lost 19 seconds before the message was printed and the radio was seen again right when the message was printed. If multiple radioLost or radioSeen events have occurred since the roboRIO booted, up to 2 events of each type will be included, separated by commas.
 
-No Robot Code
--------------
-
-.. code-block::
+## No Robot Code
 
-  Warning<Code>44003 occurred at Driver Station
-  <time>2/8/2013 9:50:13 AM<unique#>8
-  FRC: No robot code is currently running.
+```
+Warning<Code>44003 occurred at Driver Station
+<time>2/8/2013 9:50:13 AM<unique#>8
+FRC: No robot code is currently running.
+```
 
 This message is printed when the DS begins communicating with the roboRIO, but detects no robot code running. A single instance of this message will be printed if the Driver Station is open and running while the roboRIO is booting as the DS will begin communication with the roboRIO before the robot code finishes loading.
diff --git a/source/docs/software/driverstation/driver-station-log-viewer.rst b/source/docs/software/driverstation/driver-station-log-viewer.rst
index fdd8b0f086..ffa7af3a3c 100644
--- a/source/docs/software/driverstation/driver-station-log-viewer.rst
+++ b/source/docs/software/driverstation/driver-station-log-viewer.rst
@@ -1,24 +1,21 @@
 .. include:: <isonum.txt>
 
-Driver Station Log File Viewer
-==============================
+# Driver Station Log File Viewer
 
-In an effort to provide information to aid in debugging, the FRC\ |reg| Driver Station creates log files of important diagnostic data while running. These logs can be reviewed later using the FRC Driver Station Log Viewer. The Log Viewer can be found via the shortcut installed in the Start menuin the FRC Driver Station folder in Program Files, or via the Gear icon in the Driver Station.
+In an effort to provide information to aid in debugging, the FRC\ |reg| Driver Station creates log files of important diagnostic data while running. These logs can be reviewed later using the FRC Driver Station Log Viewer. The Log Viewer can be found via the shortcut installed in the Start menu, in the FRC Driver Station folder in Program Files, or via the Gear icon in the Driver Station.
 
 .. image:: images/driver-station-log-viewer/open_ds_log_viewer_from_driver_station.png
    :alt: Showing how to open the Log Viewer screen using the right console icon.
 
-.. note:: Several third-party tools exist that provide similar functionality to the FRC Driver Station Log Viewer, including `AdvantageScope <https://github.com/Mechanical-Advantage/AdvantageScope>`__ and `DSLOG Reader <https://github.com/orangelight/DSLOG-Reader>`__. Note that WPILib offers no support for third-party projects.
+.. note:: Several alternative tools exist that provide similar functionality to the FRC Driver Station Log Viewer. :ref:`AdvantageScope <docs/software/dashboards/advantagescope:AdvantageScope>` is an option included in WPILib, and [DSLOG Reader](https://github.com/orangelight/DSLOG-Reader) is a third-party option. Note that WPILib offers no support for third-party projects.
 
-Event Logs
-----------
+## Event Logs
 
-The  Driver Station logs all messages sent to the Messages box on the Diagnostics tab (not the User Messages box on the Operation tab) into a new Event Log file. When viewing Log Files with the Driver Station Log File Viewer, the Event Log and DSLog files are overlaid in a single display.
+The  Driver Station logs all messages sent to the Messages box on the Diagnostics tab (not the User Messages box on the Operation tab) into a new Event Log file. When viewing Log Files with the Driver Station Log File Viewer, the Event Log and Driver Station Log files are overlaid in a single display.
 
 Log files are stored in ``C:\Users\Public\Documents\FRC\Log Files``. Each log has date and timestamp in the file name and has two files with extension ``.dslog`` and ``.dsevents``.
 
-Log Viewer UI
--------------
+## Log Viewer UI
 
 .. image:: images/driver-station-log-viewer/logviewer.png
    :alt: Overview of the home Log Viewer screen.
@@ -39,8 +36,7 @@ The Log Viewer contains a number of controls and displays to aid in the analysis
 12. Filter Control - Drop-down to select the filter mode (filter modes explained below)
 13. Tab Control - Control to switch between the Graph (Data and Events vs. Time) and Event List displays.
 
-Using the Graph Display
------------------------
+## Using the Graph Display
 
 .. image:: images/driver-station-log-viewer/graphdisplay.png
    :alt: The different parts of the graph screen and some of the basic signals.
@@ -57,16 +53,14 @@ The Graph Display contains the following information:
 To zoom in on a portion of the graph, click and drag around the desired viewing
 area. You can only zoom the time axis, you cannot zoom vertically.
 
-Event List
-----------
+## Event List
 
 .. image:: images/driver-station-log-viewer/eventlist.png
    :alt: Event List that is gotten to by the tab at the top center.
 
 The Event List tab displays a list of events (warnings and errors) recorded by the Driver Station. The events and detail displayed are determined by the currently active filter (images shows "All Events, All Info" filter active).
 
-Filters
--------
+## Filters
 
 Three filters are currently available in the Log Viewer:
 
@@ -74,57 +68,50 @@ Three filters are currently available in the Log Viewer:
 2.  All Events and Time: This filter shows all events and the time they occurred
 3.  All Events, All Info: This filter shows all events and all recorded info. At this time the primary difference between this filter and "All Events and Time" is that this option shows the "unique" designator for the first occurrence of a particular message.
 
-Identifying Logs from Matches
------------------------------
+## Identifying Logs from Matches
 
 .. image:: images/driver-station-log-viewer/identifyinglogs.png
    :alt: To identify a log from a match look for the "FMS Connected" message then the match number.
 
-A common task when working with the Driver Station Logs is to identify which logs came from competition matches. Logs which were taken during a match can now be identified using the FMS Connected event which will display the match type (Practice, Qualification or Elimination), match number, and the current time according to the FMS server. In this example, you can see that the FMS server time and the time of the Driver Station computer are fairly close, approximately 7 seconds apart.
+A common task when working with the Driver Station Logs is to identify which logs came from competition matches. Logs which were taken during a match can now be identified using the :term:`FMS` Connected event which will display the match type (Practice, Qualification or Elimination), match number, and the current time according to the FMS server. In this example, you can see that the FMS server time and the time of the Driver Station computer are fairly close, approximately 7 seconds apart.
 
-Identifying Common Connection Failures with the Log Viewer
-----------------------------------------------------------
+## Identifying Common Connection Failures with the Log Viewer
 
-When diagnosing robot issues, there is no substitute for thorough knowledge of the system and a methodical debugging approach. If you need assistance diagnosing a connection problem at your events it is strongly recommended to seek assistance from your FTA and/or CSA. The goal of this section is to familiarize teams with how some common failures can manifest themselves in the DS Log files. Please note that depending on a variety of conditions a particular failure show slightly differently in a log file.
+When diagnosing robot issues, there is no substitute for thorough knowledge of the system and a methodical debugging approach. If you need assistance diagnosing a connection problem at your events it is strongly recommended to seek assistance from your :term:`FTA` and/or :term:`CSA`. The goal of this section is to familiarize teams with how some common failures can manifest themselves in the DS Log files. Please note that depending on a variety of conditions a particular failure show slightly differently in a log file.
 
 .. note:: Note that all log files shown in this section have been scaled to match length using the Match Length button and then scrolling to the beginning of the autonomous mode. Also, many of the logs do not contain battery voltage information, the platform used for log capture was not properly wired for reporting the battery voltage.
 
 .. tip:: Some error messages that are found in the Log Viewer are show below and more are detailed in the :doc:`driver-station-errors-warnings` article.
 
-"Normal" Log
-~~~~~~~~~~~~
+#### "Normal" Log
 
 .. image:: images/driver-station-log-viewer/normallog.png
    :alt: A normal graph and a couple of harmless events.
 
 This is an example of a normal match log. The errors and warnings contained in the first box are from when the DS first started and can be ignored. This is confirmed by observing that these events occurred prior to the "FMS Connected:" event. The last event shown can also be ignored, it is also from the robot first connecting to the DS (it occurs 3 seconds after connecting to FMS) and occurs roughly 30 seconds before the match started.
 
-Disconnected from FMS
-~~~~~~~~~~~~~~~~~~~~~
+#### Disconnected from FMS
 
 .. image:: images/driver-station-log-viewer/disconnectedfromfms.png
    :alt: A disconnect can cause the log to be split into two pieces but will at least haved events showing the disconnect.
 
 When the DS disconnects from FMS, and therefore the robot, during the match it may segment the log into pieces. The key indicators to this failure are the last event of the first log, indicating that the connection to FMS is now "bad" and the second event from the 2nd log which is a new FMS connected message followed by the DS immediately transitioning into Teleop Enabled. The most common cause of this type of failure is an ethernet cable with no latching tab or a damaged ethernet port on the DS computer.
 
-roboRIO Reboot
-~~~~~~~~~~~~~~
+#### roboRIO Reboot
 
 .. image:: images/driver-station-log-viewer/roborioreboot.png
    :alt: A roboRIO reboot is most evident by a "Time since robot boot" message.
 
 The "Time since robot boot" message is the primary indicator in a connection failure caused by the roboRIO rebooting. In this log the DS loses connection with the roboRIO at 3:01:36 as indicated by the first event. The second event indicates that the ping initiated after the connection failed was successful to all devices other than the roboRIO. At 3:01:47 the roboRIO begins responding to pings again, one additional ping fails at 3:01:52. At 3:02:02 the Driver Station connects to the roboRIO and the roboRIO reports that it has been up for 3.682 seconds. This is a clear indicator that the roboRIO has rebooted. The code continues to load and at 3:02:24 the code reports an error communicating with the camera. A warning is also reported indicating that no robot code is running right before the code finishes starting up.
 
-Ethernet cable issue on robot
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Ethernet cable issue on robot
 
 .. image:: images/driver-station-log-viewer/ethernetcableissue.png
    :alt: This issue is evident because the driverstation could connect to the radio but not the roboRIO yet the roboRIO hadn't rebooted.
 
 An issue with the ethernet cable on the robot is primarily indicated by the ping to the roboRIO going to bad and Radio Lost and Radio Seen events when the roboRIO reconnects. The "Time since robot boot" message when the roboRIO reconnects will also indicate that the roboRIO has not rebooted. In this example, the robot Ethernet cable was disconnected at 3:31:38. The ping status indicates that the radio is still connected. When the robot reconnects at 3:32:08 the "Tim since robot boot" is 1809 seconds indicating that the roboRIO clearly did not reboot. At 3:32:12 the robot indicates that it lost the radio 24.505 seconds ago and it returned 0.000 seconds ago. These points are plotted as vertical lines on the graph, yellow for radio lost and green for radio seen. Note that the times are slightly offset from the actual events as shown via the disconnection and connection, but help to provide additional information about what is occurring.
 
-Radio reboot
-~~~~~~~~~~~~
+#### Radio reboot
 
 .. image:: images/driver-station-log-viewer/radioreboot.png
    :alt: The ping here shows the roboRIO and the radio as BAD.
diff --git a/source/docs/software/driverstation/driver-station-timing-viewer.rst b/source/docs/software/driverstation/driver-station-timing-viewer.rst
new file mode 100644
index 0000000000..e3d7ed44b7
--- /dev/null
+++ b/source/docs/software/driverstation/driver-station-timing-viewer.rst
@@ -0,0 +1,22 @@
+# Driver Station Timing Viewer
+
+The 2024 Driver Station has a a new window to help diagnose robot control issues.
+
+## Opening the Timing Viewer
+
+To start the Driver Station Timing Viewer, select the gear icon and then select :guilabel:`View Timing`.
+
+.. image:: images/view-timing/view-timing-menu.png
+   :alt: Driver Station gear menu with View Timing selected
+
+## Viewing Timing
+
+The Timing viewer shows the timing of the driver station loops measuring the joysick, keyboard, and control and status network packets. When timing is good, all values should be close to 0 ms. This can help diagnose what is causing robot control issues.
+
+.. image:: images/view-timing/normal-view-timing.png
+   :alt: Driver Station timing viewer with all timing measurements near 0 ms
+
+The next image shows what it looks like when network congestion causes network packets to be delayed and combined. In this example, the communication was so bad that the robot wouldn't stay enabled or connected for more then a second.
+
+.. image:: images/view-timing/bad-view-timing.png
+   :alt: Driver Station timing viewer with network congestion and many packets above 100 ms
diff --git a/source/docs/software/driverstation/driver-station.rst b/source/docs/software/driverstation/driver-station.rst
index 8d9d179589..082be8131d 100644
--- a/source/docs/software/driverstation/driver-station.rst
+++ b/source/docs/software/driverstation/driver-station.rst
@@ -1,46 +1,41 @@
 .. include:: <isonum.txt>
 
-FRC Driver Station Powered by NI LabVIEW
-========================================
+# FRC Driver Station Powered by NI LabVIEW
 
 This article describes the use and features of the FRC\ |reg| Driver Station Powered by NI LabVIEW.
 
 For information on installing the Driver Station software see :ref:`this document <docs/zero-to-robot/step-2/frc-game-tools:Installing the FRC Game Tools>`.
 
-Starting the FRC Driver Station
--------------------------------
+## Starting the FRC Driver Station
 
 .. image:: images/driver-station/ds-icon.png
   :alt: This is the FRC Driver Station icon.
 
-The FRC Driver Station can be launched by double-clicking the icon on the Desktop or by selecting Start->All Programs->FRC Driver Station.
+The FRC Driver Station can be launched by double-clicking the icon on the Desktop or by selecting Start->All Apps->FRC Driver Station.
 
 .. note:: By default the FRC Driver Station launches the :ref:`LabVIEW Dashboard <docs/software/dashboards/labview-dashboard/driver-station-labview-dashboard:FRC LabVIEW Dashboard>`.  It can also be configured on :ref:`docs/software/driverstation/driver-station:Setup Tab` to launch the other Dashboards: :ref:`SmartDashboard <docs/software/dashboards/smartdashboard/smartdashboard-intro:SmartDashboard Introduction>` and :ref:`Shuffleboard <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour:Tour of Shuffleboard>`. WPILib must be :ref:`installed <docs/zero-to-robot/step-2/wpilib-setup:WPILib Installation Guide>` to use SmartDashboard and Shuffleboard.
 
-Driver Station Key Shortcuts
-----------------------------
+## Driver Station Key Shortcuts
 
-  * `F1` - Force a Joystick refresh.
-  * `[` + `]` + `\\` - Enable the robot (the 3 keys above Enter on most keyboards)
-  * `Enter` - Disable the Robot
-  * `Space` - Emergency Stop the robot. After an emergency stop is triggered the roboRIO will need to be rebooted before the robot can be enabled again.
+  * :kbd:`F1` - Force a Joystick refresh.
+  * :kbd:`[` + :kbd:`]` + :kbd:`\\` - Enable the robot (the 3 keys above Enter on most keyboards)
+  * :kbd:`Enter` - Disable the Robot
+  * :kbd:`Space` - Emergency Stop the robot. After an emergency stop is triggered the roboRIO will need to be rebooted before the robot can be enabled again.
 
 .. note:: Space bar will E-Stop the robot regardless of if the Driver Station window has focus or not
 
-.. warning:: When connected to FMS in a match, teams must press the Team Station E-Stop button to emergency stop their robot as the DS enable/disable and E-Stop key shortcuts are ignored.
+.. warning:: When connected to :term:`FMS` in a match, teams must press the Team Station E-Stop button to emergency stop their robot as the DS enable/disable and E-Stop key shortcuts are ignored.
 
-Setting Up the Driver Station
------------------------------
+## Setting Up the Driver Station
 
 .. image:: images/driver-station/ds-setup.png
   :alt: The team number box on the setup (gear) tab.
 
 The DS should be set to your team number in order to connect to your robot. In order to do this click the Setup tab then enter your team number in the team number box. Press return or click outside the box for the setting to take effect.
 
-PCs will typically have the correct network settings for the DS to connect to the robot already, but if not, make sure your Network adapter is set to DHCP.
+PCs will typically have the correct network settings for the DS to connect to the robot already, but if not, make sure your Network adapter is set to :term:`DHCP`.
 
-Status Pane
------------
+## Status Pane
 
 .. image:: images/driver-station/ds-status-pane.png
   :alt: This is the pane in the center of the Driver station that is always visible.
@@ -52,8 +47,7 @@ The Status Pane of the Driver Station is located in the center of the display an
 3. Major Status Indicators - These three indicators display major status items for the DS. The "Communications" indicates whether the DS is currently communicating with the FRC Network Communications Task on the roboRIO (it is split in half for the TCP and UDP communication). The "Robot Code" indicator shows whether the team Robot Code is currently running (determined by whether or not the Driver Station Task in the robot code is updating the battery voltage), The "Joysticks" indicator shows if at least one joystick is plugged in and recognized by the DS.
 4. Status String - The Status String provides an overall status message indicating the state of the robot. Some examples are "No Robot Communication", "No Robot Code", "Emergency Stopped", and "Teleoperated Enabled". When the roboRIO brownout is triggered this will display "Voltage Brownout".
 
-Operation Tab
--------------
+## Operation Tab
 
 .. image:: images/driver-station/ds-operation-tab.png
   :alt: This is the first tab from the top on the left hand side.
@@ -76,8 +70,7 @@ The Operations Tab is used to control the mode of the robot and provide addition
 
 .. note:: When connected to the Field Management System the controls in sections 1 and 2 will be replaced by the words FMS Connected and the control in Section 7 will be greyed out.
 
-Diagnostics Tab
----------------
+## Diagnostics Tab
 
 .. image:: images/driver-station/ds-diagnostics-tab.png
   :alt: This is the second tab from the top on the left hand side.
@@ -87,7 +80,7 @@ The Diagnostics Tab contains additional status indicators that teams can use to
 1. DS Version - Indicates the Driver Station Version number.
 2. roboRIO Image Version - String indicating the version of the roboRIO Image.
 3. WPILib Version - String indicating the version of WPILib in use.
-4. CAN Device Versions - String indicating the firmware version of devices connected to the CAN bus. These items may not be present if the CTRE Phoenix Framework has not been loaded.
+4. :term:`CAN` Device Versions - String indicating the firmware version of devices connected to the CAN bus. These items may not be present if the CTRE Phoenix Framework has not been loaded.
 5. Memory Stats - This section shows stats about the roboRIO memory.
 6. Connection Indicators - The top half of these indicators show connection status to various components.
 
@@ -103,25 +96,23 @@ The Diagnostics Tab contains additional status indicators that teams can use to
     - "USB" indicates if a roboRIO USB connection has been detected
     - "Firewall" indicates if any firewalls are detected as enabled. Enabled firewalls will show in orange (Dom = Domain, Pub = Public, Prv = Private)
 
-8. Reboot roboRIO - This button attempts to perform a remote reboot of the roboRIO (after clicking through a confirmation dialog).
-9. Restart Robot Code - This button attempts to restart the code running on the robot (but not restart the OS).
+8. :guilabel:`Reboot roboRIO` - This button attempts to perform a remote reboot of the roboRIO (after clicking through a confirmation dialog).
+9. :guilabel:`Restart Robot Code` - This button attempts to restart the code running on the robot (but not restart the OS).
 
-Setup Tab
----------
+## Setup Tab
 
 .. image:: images/driver-station/ds-setup-tab.png
   :alt: This is the third tab from the top on the left hand side.
 
 The Setup Tab contains a number of buttons teams can use to control the operation of the Driver Station:
 
-1. Team Number - Should contain your FRC Team Number. This controls the mDNS name that the DS expects the robot to be at. Shift clicking on the dropdown arrow will show all roboRIO names detected on the network for troubleshooting purposes.
-2. Dashboard Type - Controls what Dashboard is launched by the Driver Station. :guilabel:`Default` launches the file pointed to by the "FRC DS Data Storage.ini" (for more information about setting a :ref:`custom dashboard <docs/software/driverstation/manually-setting-the-driver-station-to-start-custom-dashboard:Manually Setting the Driver Station to Start Custom Dashboard>`). By default this is Dashboard.exe in the Program Files (x86)\\FRC Dashboard folder. :guilabel:`LabVIEW` attempts to launch a dashboard at the default location for a custom built LabVIEW dashboard, but will fall back to the default if no dashboard is found. :guilabel:`SmartDashboard` and :guilabel:`Shuffleboard` launch the respective dashboards included with the C++ and Java WPILib installation.  :guilabel:`Remote` forwards LabVIEW dashboard data to the IP specified in :guilabel:`Dashboard IP` field.
-3. Game Data - This box can be used for at home testing of the Game Data API. Text entered into this box will appear in the Game Data API on the Robot Side. When connected to FMS, this data will be populated by the field automatically.
+1. :guilabel:`Team Number` - Should contain your FRC Team Number. This controls the mDNS name that the DS expects the robot to be at. Shift clicking on the dropdown arrow will show all roboRIO names detected on the network for troubleshooting purposes.
+2. :guilabel:`Dashboard Type` - Controls what Dashboard is launched by the Driver Station. :guilabel:`Default` launches the file pointed to by the "FRC DS Data Storage.ini" (for more information about setting a :ref:`custom dashboard <docs/software/driverstation/manually-setting-the-driver-station-to-start-custom-dashboard:Manually Setting the Driver Station to Start Custom Dashboard>`). By default this is Dashboard.exe in the Program Files (x86)\\FRC Dashboard folder. :guilabel:`LabVIEW` attempts to launch a dashboard at the default location for a custom built LabVIEW dashboard, but will fall back to the default if no dashboard is found. :guilabel:`SmartDashboard` and :guilabel:`Shuffleboard` launch the respective dashboards included with the C++ and Java WPILib installation.  :guilabel:`Remote` forwards LabVIEW dashboard data to the IP specified in :guilabel:`Dashboard IP` field.
+3. :guilabel:`Game Data` - This box can be used for at home testing of the Game Data API. Text entered into this box will appear in the Game Data API on the Robot Side. When connected to FMS, this data will be populated by the field automatically.
 4. Practice Mode Timing - These boxes control the timing of each portion of the practice mode sequence. When the robot is enabled in practice mode the DS automatically proceeds through the modes indicated from top to bottom.
 5. Audio Control - This button controls whether audio tones are sounded when the Practice Mode is used.
 
-USB Devices Tab
----------------
+## USB Devices Tab
 
 .. image:: images/driver-station/ds-usb-tab.png
   :alt: This is the fourth tab from the top on the left hand side.
@@ -129,12 +120,11 @@ USB Devices Tab
 The USB Devices tab includes the information about the USB Devices connected to the DS
 
 1. USB Setup List - This contains a list of all compatible USB devices connected to the DS. Pressing a button on a device will highlight the name in green and put 2 \*s before the device name
-2. Rescan - This button will force a Rescan of the USB devices. While the robot is disabled, the DS will automatically scan for new devices and add them to the list. To force a complete re-scan or to re-scan while the robot is Enabled (such as when connected to FMS during a match) press F1 or use this button.
+2. :guilabel:`Rescan` - This button will force a Rescan of the USB devices. While the robot is disabled, the DS will automatically scan for new devices and add them to the list. To force a complete re-scan or to re-scan while the robot is Enabled (such as when connected to FMS during a match) press F1 or use this button.
 3. Device indicators - These indicators show the current status of the Axes, buttons and POV of the joystick.
 4. Rumble - For XInput devices (such as X-Box controllers) the Rumble control will appear. This can be used to test the rumble functionality of the device. The top bar is "Right Rumble" and the bottom bar is "Left Rumble". Clicking and holding anywhere along the bar will activate the rumble proportionally (left is no rumble = 0, right is full rumble = 1). This is a control only and will not indicate the Rumble value set in robot code.
 
-Re-Arranging and Locking Devices
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Re-Arranging and Locking Devices
 
 .. image:: images/driver-station/ds-usb-rearrange.png
   :alt: USB Order box where you can click and drag to rearrange the joysticks.
@@ -152,8 +142,7 @@ Example: The image above shows 4 devices:
 
 In this example, unplugging the Logitech Extreme 3D joystick will result in the F310 Gamepad moving up to slot 1. Plugging in the MadCatz Gamepad (even if the devices in Slots 1 and 2 are removed and those slots are empty) will result in it occupying Slot 3.
 
-CAN/Power Tab
---------------
+## CAN/Power Tab
 
 .. image:: images/driver-station/ds-can-power-tab.png
   :alt: This is the fifth tab from the top on the left hand side.
@@ -168,18 +157,16 @@ The last tab on the left side of the DS is the CAN/Robot Power Tab. This tab con
 
 If a fault is detected, the indicator for this tab (shown in blue in the image above) will turn red.
 
-Messages Tab
-------------
+## Messages Tab
 
 .. image:: images/driver-station/ds-messages-tab.png
   :alt: This is the first tab from the top on the right hand side.
 
-The Messages tab displays diagnostic messages from the DS, WPILib, User Code, and/or the roboRIO. The messages are filtered by severity. By default, only Errors are displayed.
+The Messages tab displays diagnostic messages from the DS, WPILib, User Code, and/or the roboRIO.
 
-To access settings for the Messages tab, click the Gear icon. This will display a menu that will allow you to select the detail level (Errors, Errors+Warnings or Errors+Warnings+Prints), clear the box, launch a larger Console window for viewing messages, or launch the DS Log Viewer.
+To access settings for the Messages tab, click the Gear icon. This will display a menu that will allow you to clear the box, launch a larger Console window for viewing messages, launch the DS Log Viewer, launch a viewer for program timing, or download log files from the robot.
 
-Charts Tab
-----------
+## Charts Tab
 
 .. image:: images/driver-station/ds-charts-tab.png
   :alt: This is the second tab from the top on the right hand side.
@@ -194,7 +181,6 @@ The Charts tab plots and displays advanced indicators of robot status to help te
 
 The DS Requested mode is the mode that the Driver Station is commanding the robot to be in. The Robot Reported mode is what code is actually running based on reporting methods contained in the coding frameworks for each language.
 
-Both Tab
---------
+## Both Tab
 
 The last tab on the right side is the Both tab which displays Messages and Charts side by side.
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diff --git a/source/docs/software/driverstation/imaging-your-classmate.rst b/source/docs/software/driverstation/imaging-your-classmate.rst
deleted file mode 100644
index 4c712108d5..0000000000
--- a/source/docs/software/driverstation/imaging-your-classmate.rst
+++ /dev/null
@@ -1,294 +0,0 @@
-.. include:: <isonum.txt>
-
-Imaging your Classmate (Veteran Image Download)
-===============================================
-
-.. note:: Veteran teams are not required to re-image their classmate
-
-This document describes the procedure for creating a bootable USB drive to restore the FRC\ |reg| image on a Classmate computer. If you do not wish to re-image your Classmate then you can start with the appropriate document for C++/Java, LabVIEW, or DS only.
-
-Prerequisites
--------------
-
-1. E09, E11, E12, or E14 Classmate computer or Acer ES1 computer
-2. 16GB or larger USB drive
-3. 7-Zip software installed (download `here <https://www.7-zip.org>`__). As of the writing of this document, the current released version is 19.00 (2019-02-21).
-4. RMprepUSB software installed (download `here <https://rmprepusb.com/>`__). Scroll down the page and select the stable (Full) version download link. As of the writing of this document, the current stable version is 2.1.745.
-
-Download the Computer Image
----------------------------
-
-.. image:: images/imaging-your-classmate/download-the-computer-image.png
-   :alt: Image of portal website showing each of the different classmate computers and their image.
-
-Download the image from the `FIRST FRC Driver Station System Image Portal <https://frc-events.firstinspires.org/services/DSImages/>`__. There are several computer images available, one for each model. On the download site, select the option that matches your computer by clicking the button below the image. Due to the limited size of the hard drive in the E09, it is supported with a DS/Utilities image only and does not have the IDEs for LabVIEW or C++/Java installed. All other images have the LabVIEW base installation already present.
-
-.. note:: These images only install the prerequisite core FRC software, it is still necessary to install the FRC specific updates. See the Update Software step for more information.
-
-.. warning:: Due to computer availability, the E14 image provided is the 2018 image. If using this image, teams may need to remove the old IDE (LabVIEW or Eclipse) and install the new IDE.
-
-Preparation
------------
-
-1. Place the image file downloaded from the site to a folder on your root drive (e.g. ``C:\2016_Image``).
-2. Connect 16GB or larger USB Flash drive to the PC to use as the new restoration drive.
-
-RMPrep
-------
-
-.. image:: images/imaging-your-classmate/rmprep.png
-   :alt: Using RMPrep with a USB drive.
-
-Start/Run RMprepUSB
-
-Select USB Drive
-
-Set Partition Size
-^^^^^^^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/set-partition-size.png
-   :alt: Highlights the "Partition Size" box.
-
-Set Partition Size to MAX
-
-Set Volume Label
-^^^^^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/set-volume-label.png
-   :alt: Highlights the "Volume Label" box to the right of the partition size.
-
-Set Volume Label to Generic
-
-Set Bootloader Option
-^^^^^^^^^^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/set-bootloader-option.png
-   :alt: Highlights the “WinPE v2/WinPE v3/Vista/Win7 bootable” radio button.
-
-Select Bootloader Option "WinPE v2/WinPE v3/Vista/Win7 bootable"
-
-Select Filesystem
-^^^^^^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/select-filesystem.png
-   :alt: Highlights the "NTFS" radio button.
-
-Select NTFS Filesystem
-
-Copy OS Files Option
-^^^^^^^^^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/copy-os-files-option.png
-   :alt: Highlights the “Copy OS files after Format” checkbox.
-
-Ensure the "Copy OS files after Format" box is checked
-
-Locate Image
-^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/locate-image.png
-   :alt: Highlights the “Choose Folder/File” button.
-
-Select the "Choose Folder/File" button
-
-Copy Files Dialog
-^^^^^^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/copy-files-dialog.png
-   :alt: Choose "No" from the options of "Yes", "No", and "Cancel" of the dialog box.
-
-Choose "No" and select your ``.7z`` image
-
-Prepare Drive
-^^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/prepare-drive.png
-   :alt: Click the “Prepare Drive” button.
-
-All configuration settings are now complete. Select "Prepare Drive" to begin the process
-
-Confirmation Dialog 1
-^^^^^^^^^^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/confirmation-dialog-1.png
-   :alt: Click the "OK" button on the dialog.
-
-Click "OK" to execute the command on the selected USB Flash drive. A Command Prompt will open showing the progress
-
-Confirmation Dialog 2
-^^^^^^^^^^^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/confirmation-dialog-2.png
-   :alt: Click "OK" again that it is okay to erase all data on the drive.
-
-Click "OK" to format the USB drive
-
-.. danger:: **ALL DATA ON THE DRIVE WILL BE ERASED!**
-
-Decryption
-^^^^^^^^^^
-
-.. note:: If you are using an encrypted version of the image downloaded before kickoff you will
- be prompted to enter the decryption key found at the end of the Kickoff video.
-
-Copy Complete
-^^^^^^^^^^^^^
-
-.. image::  images/imaging-your-classmate/copy-complete.png
-   :alt: Click "OK" to acknowledge that the copy completed.
-
-Once formatting is complete, the restoration files will be extracted and copied to the USB drive. This process should take ~15 minutes when connected to a USB 2.0 port.  When all files have been copied, this message will appear, press OK to continue.
-
-Eject Drive
-^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/eject-drive.png
-   :alt: Click the “Eject Drive” button on the right hand side in the center.
-
-Press the "Eject Drive" button to safely remove the USB drive. The USB drive is now ready to be used to restore the image onto the PC.
-
-Hardware Setup
---------------
-
-1. Make sure the computer is turned off, but plugged in.
-2. Insert the USB Thumb Drive into a USB port on the Driver Station computer.
-
-Boot to USB
-^^^^^^^^^^^
-
-.. image:: images/imaging-your-classmate/boot-to-usb.jpg
-   :alt: Three images that show the 2GO PC then the boot menu in BIOS.
-
-**Classmate:**
-
-1. Power on the Classmate and tap the F11 key on the keyboard. Tapping the F11 key during boot will bring up the boot menu.
-2. Use the up/down keys to select the **USB HDD:** entry on the menu, then press the right arrow to expand the listing
-3. Use the up/down arrow keys on the keyboard to select the USB device (it will be called "Generic Flash Disk"). Press the ENTER key when the USB device is highlighted.
-
-**Acer ES1:**
-
-1. Power on the computer and tap the F12 key on the keyboard. Tapping the F12 key during boot will bring up the boot menu.
-2. Use the up/down keys to select the **USB HDD: Generic** entry on the menu, then press the ENTER key when the USB device is highlighted.
-
-**Acer ES1: If pressing F12 does not pull up the boot menu or if the USB device is not listed in the boot menu, see "Checking BIOS Settings" at the bottom of this article.**
-
-Image the Classmate
-^^^^^^^^^^^^^^^^^^^
-
-.. image::  images/imaging-your-classmate/image-the-classmate.png
-   :alt: Two images of a command prompt where you type "1" then "Y".
-
-1. To confirm that you want to reimage the Classmate, type "1" and press ENTER.
-2. Then, type "Y" and press ENTER. The Classmate will begin re-imaging. The installation will take 15-30 minutes.
-3. When the installation is complete, remove the USB drive.
-4. Restart the Classmate. The Classmate will boot into Windows.
-
-Initial Driver Station Boot
----------------------------
-
-The first time the Classmate is turned on, there are some unique steps, listed below, that you’ll need to take. The initial boot may take several minutes; make sure you do not cycle power during the process.
-
-.. note:: These steps are only required during original startup.
-
-Enter Setup
-^^^^^^^^^^^
-
-1. Log into the Developer account.
-2. Click "Ask me later".
-3. Click "OK". The computer now enters a Set Up that may take a few minutes.
-
-Activate Windows
-^^^^^^^^^^^^^^^^
-
-1. Establish an Internet connection.
-2. Once you have an Internet connection, click the Start menu, right click "Computer" and click "Properties".
-3. Scroll to the bottom section, "Windows activation", and Click "Activate Windows now"
-4. Click "Activate Windows online now". The activation may take a few minutes.
-5. When the activation is complete, close all of the windows.
-
-Microsoft Security Essentials
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Navigate through the Microsoft Security Essentials Setup Wizard. Once it is complete, close all of the windows.
-
-Acer ES1: Fix Wireless Driver
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. image::  images/imaging-your-classmate/fix-wireless-driver.png
-   :alt: Highlights the "Device Manager" option in the start menu.
-
-**Acer ES1 PC only!**
-
-The default wireless driver in the image may have issues with intermittent communication with the robot radio. The correct driver is in the image, but could not be set to load by default. To load the correct driver, open the Device Manager by clicking start, typing "Device Manager" in the box and clicking Device Manager.
-
-Open Wireless Device Properties
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. image::  images/imaging-your-classmate/open-wireless-device-properties.png
-   :alt: Opening the properties of the wireless adapter.
-
-Click on the arrow next to Network Adapters to expand it and locate the Wireless Network Adapter. Right click the adapter and select Properties.
-
-Uninstall-Driver
-^^^^^^^^^^^^^^^^
-.. image::  images/imaging-your-classmate/uninstall-driver.png
-   :alt: Clicking on the Driver tab in top center and then on the "Uninstall" button.
-
-Click on the Driver tab, then click the Uninstall button. Click Yes at any prompts.
-
-Scan for New Hardware
-^^^^^^^^^^^^^^^^^^^^^
-.. image::  images/imaging-your-classmate/scan-for-new-hardware.png
-   :alt: Within Device Manager right click on the PC and choose "Scan for hardware changes".
-
-Right click on the top entry of the tree and click "Scan for hardware changes". The wireless adapter should automatically be re-detected and the correct driver should be installed.
-
-Update Software
----------------
-In order for the Classmate images to be prepared on time, they are created before the final versions of the software were ready. To use the software for FRC some additional components will need to be installed. LabVIEW teams should continue with Installing the FRC Game Tools (All Languages). C++ or Java teams should continue Installing C++ and Java Development Tools for FRC.
-
-Errors during Imaging Process
------------------------------
-.. image::  images/imaging-your-classmate/errors-during-imaging-process.png
-   :alt: Command prompt error window on image failure.
-
-If an error is detected during the imaging process, the following screen will appear. Note that the screenshot below shows the error screen for the Driver Station-only image for the E09. The specific image filename shown will vary depending on the image being applied.
-
-The typical reason for the appearance of this message is due to an error with the USB device on which the image is stored. Each option is listed below with further details as to the actions you can take in pursuing a solution. Pressing any key once this error message is shown will return the user to the menu screen shown in Image the Classmate.
-
-Option 1
-^^^^^^^^
-
-Using same image on the existing USB Flash drive
-   To try this option, press any key to return to the main menu and select #1. This will run the imaging process again.
-
-Option 2
-^^^^^^^^
-
-Reload the same image onto the USB Flash drive using RMPrepUSB
-   It’s possible the error message was displayed due to an error caused during the creation of the USB Flash drive (e.g. file copy error, data corruption, etc.) Press any key to return to the main menu and select #4 to safely shutdown the Classmate then follow the steps starting with RMPrep to create a new USB Restoration Key using the same USB Flash drive.
-
-Option 3
-^^^^^^^^
-
-Reload the same image onto a new USB Flash drive using RMPrepUSB
-   The error message displayed may also be caused by an error with the USB Flash drive itself. Press any key to return to the main menu and select #4 to safely shutdown the Classmate. Select a new USB Flash drive and follow the steps starting with RMPrep.
-
-Option 4
-^^^^^^^^
-
-Download a new image
-   An issue with the downloaded image may also cause an error when imaging. Press any key to return to the main menu and select #4 to safely shutdown the Classmate. Staring with Download the Classmate Image create a new copy of the imaging stick.
-
-Checking BIOS Settings
-^^^^^^^^^^^^^^^^^^^^^^
-
-.. image::  images/imaging-your-classmate/checking-bios-settings.jpg
-   :alt: Two images of the BIOS making sure the boot menu is enabled and the mode is "Legacy".
-
-If you are having difficulty booting to USB, check the BIOS settings to insure they are correct. To do this:
-
-- Repeatedly tap the **F2** key while the computer is booting to enter the BIOS settings
-- Once the BIOS settings screen has loaded, use the right and left arrow keys to select the "Main" tab, then check if the line for "F12 Boot Menu" is set to "Enabled". If it is not, use the Up/Down keys to highlight it, press Enter, use Up/Down to select "Enabled" and press Enter again.
-- Next, use the Left/Right keys to select the "Boot" tab. Make sure that the "Boot Mode" is set to "Legacy". If it is not, highlight it using Up\Down, press Enter, highlight "Legacy" and press Enter again. Press Enter to move through any pop-up dialogs you may see.
-- Press F10 to save any changes and exit.
diff --git a/source/docs/software/driverstation/index.rst b/source/docs/software/driverstation/index.rst
index 4590b170c3..b0a8a41c69 100644
--- a/source/docs/software/driverstation/index.rst
+++ b/source/docs/software/driverstation/index.rst
@@ -1,5 +1,4 @@
-Driver Station
-==============
+# Driver Station
 
 .. toctree::
    :maxdepth: 1
@@ -8,6 +7,7 @@ Driver Station
    driver-station-best-practices
    driver-station-log-viewer
    driver-station-errors-warnings
+   driver-station-timing-viewer
    programming-radios-for-fms-offseason
-   imaging-your-classmate
    manually-setting-the-driver-station-to-start-custom-dashboard
+
diff --git a/source/docs/software/driverstation/manually-setting-the-driver-station-to-start-custom-dashboard.rst b/source/docs/software/driverstation/manually-setting-the-driver-station-to-start-custom-dashboard.rst
index 47d9c2bec4..60e0794627 100644
--- a/source/docs/software/driverstation/manually-setting-the-driver-station-to-start-custom-dashboard.rst
+++ b/source/docs/software/driverstation/manually-setting-the-driver-station-to-start-custom-dashboard.rst
@@ -1,52 +1,44 @@
-Manually Setting the Driver Station to Start Custom Dashboard
-=============================================================
+# Manually Setting the Driver Station to Start Custom Dashboard
 
 .. note:: If WPILib is not installed to the default location (such as when files are copied to a PC manually), the dashboard of choice may not launch properly. To have the DS start a custom dashboard when it starts up, you have to manually modify the settings for the default dashboard.
 
 .. warning:: This is not needed for most installations, try using the appropriate :ref:`Dashboard Type setting <docs/software/driverstation/driver-station:Setup Tab>` for your language first.
 
-Set Driver Station to Default
------------------------------
+## Set Driver Station to Default
 
 .. image:: images/manually-setting-the-driver-station-to-start-smartdashboard/set-ds-to-default.png
    :alt: Click on the Setup tab (gear icon) and then change the "Dashboard Type".
 
 Open the Driver Station software, click on the Setup tab and set the Dashboard setting to Default. **Then close the Driver Station!**
 
-Open DS Data Storage file
--------------------------
+## Open DS Data Storage file
 
 .. image:: images/manually-setting-the-driver-station-to-start-smartdashboard/open-ds-data-storage-file.png
    :alt: Highlights the "FRC DS Data Storage.ini" file in Windows explorer.
 
 Browse to ``C:\Users\Public\Documents\FRC`` and double click on ``FRC DS Data Storage`` to open it.
 
-DashboardCmdLine
-----------------
+## DashboardCmdLine
 
 .. image:: images/manually-setting-the-driver-station-to-start-smartdashboard/dashboard-cmd-line.png
    :alt: Modify the "DashboardCmdLine" entry to control where it looks for the file that it will start.
 
 Locate the line beginning with ``DashboardCmdLine``. Modify it to point to the dashboard to launch when the driver station starts
 
-LabVIEW Custom Dashboard
-^^^^^^^^^^^^^^^^^^^^^^^^
+### LabVIEW Custom Dashboard
 
 Replace the string after ``=`` with ``"C:\\PATH\\TO\\DASHBOARD.exe"`` where the path specified is the path to the dashboard ``exe`` file. Save the ``FRC DS Data Storage`` file.
 
-Java Dashboard
-^^^^^^^^^^^^^^
+### Java Dashboard
 
 Replace the string after ``=`` with ``java -jar "C:\\PATH\\TO\\DASHBOARD.jar"`` where the path specified is the path to the dashboard ``jar`` file. Save the ``FRC DS Data Storage`` file.
 
 .. tip:: Shuffleboard and Smartdashboard require Java 11.
 
-Dashboard from WPILib installer
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Dashboard from WPILib installer
 
 Replace the string after ``=`` with ``wscript "C:\\Users\\Public\\wpilib\\YYYY\\tools\\DASHBOARD.vbs"`` where ``YYYY`` is the year and ``DASHBOARD.vbs`` is either ``Shuffleboard.vbs`` or ``Smartdashboard.vbs``. Save the ``FRC DS Data Storage`` file.
 
-Launch Driver Station
----------------------
+## Launch Driver Station
 
 The Driver Station should now launch the dashboard each time it is opened.
diff --git a/source/docs/software/driverstation/programming-radios-for-fms-offseason.rst b/source/docs/software/driverstation/programming-radios-for-fms-offseason.rst
index fc61ee20f4..9eaaadd151 100644
--- a/source/docs/software/driverstation/programming-radios-for-fms-offseason.rst
+++ b/source/docs/software/driverstation/programming-radios-for-fms-offseason.rst
@@ -1,12 +1,10 @@
 .. include:: <isonum.txt>
 
-Programming Radios for FMS Offseason
-====================================
+# Programming Radios for FMS Offseason
 
-When using the FMS Offseason software, the typical networking setup is to use a single access point with a single SSID and WPA key. This means that the radios should all be programmed to connect to this network, but with different IPs for each team. The Team version of the FRC\ |reg| Bridge Configuration Utility has an FMS Offseason mode that can be used to do this configuration.
+When using the :term:`FMS` Offseason software, the typical networking setup is to use a single access point with a single SSID and WPA key. This means that the radios should all be programmed to connect to this network, but with different IPs for each team. The Team version of the FRC\ |reg| Bridge Configuration Utility has an FMS Offseason mode that can be used to do this configuration.
 
-Pre-Requisites
---------------
+## Pre-Requisites
 
 Install the FRC\ |reg| Radio Configuration Utility software per the instructions in :ref:`Programming your radio <docs/zero-to-robot/step-3/radio-programming:Prerequisites>`
 
@@ -15,12 +13,11 @@ Before you begin using the software:
 #. Disable WiFi connections on your computer, as it may prevent the configuration utility from properly communicating with the bridge
 #. Plug directly from your computer into the wireless bridge ethernet port closest to the power jack. Make sure no other devices are connected to your computer via ethernet. If powering the radio via PoE, plug an Ethernet cable from the PC into the socket side of the PoE adapter (where the roboRIO would plug in). If you experience issues configuring through the PoE adapter, you may try connecting the PC to the alternate port on the radio.
 
-Programmed Configuration
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Programmed Configuration
 
 The Radio Configuration Utility programs a number of configuration settings into the radio when run. These settings apply to the radio in all modes (including at events). These include:
 
-- Set a static IP of ``10.TE.AM.1``
+- Set a static IP of ``10.TE.AM.1`` (:ref:`TE.AM IP Notation <docs/networking/networking-introduction/ip-configurations:TE.AM IP Notation>`)
 - Set an alternate IP on the wired side of ``192.168.1.1`` for future programming
 - Bridge the wired ports so they may be used interchangeably
 - The LED configuration noted in the status light referenced below.
@@ -31,7 +28,7 @@ The Radio Configuration Utility programs a number of configuration settings into
   - Robot TCP & :term:`NetworkTables` (TCP ``1735``, ``1740``)
   - Bulk (All other traffic). (disabled if BW limit is disabled)
 
-- DHCP server enabled. Serves out:
+- :term:`DHCP` server enabled. Serves out:
 
   - ``10.TE.AM.11`` - ``10.TE.AM.111`` on the wired side
   - ``10.TE.AM.138`` - ``10.TE.AM.237`` on the wireless side
@@ -49,8 +46,7 @@ When programmed with the team version of the Radio Configuration - Utility, the
 
 .. note:: It is not recommended to modify the configuration manually
 
-Launch the software
--------------------
+## Launch the software
 
 .. image:: /docs/zero-to-robot/step-3/images/radio-programming/radio-launch.png
   :alt: The FRC Radio Configuration Utility in the start menu.
@@ -59,40 +55,35 @@ Use the Start menu or desktop shortcut to launch the program.
 
 .. note:: If you need to locate the program, it is installed to ``C:\Program Files (x86)\FRC Radio Configuration Utility``. For 32-bit machines the path is ``C:\Program Files\FRC Radio Configuration Utility``
 
-Allow the program to make changes, if prompted
-----------------------------------------------
+## Allow the program to make changes, if prompted
 
 .. image:: /docs/zero-to-robot/step-3/images/radio-programming/allow-changes.png
   :alt: User Account Control dialog that pops up when running the config utility.
 
 A prompt may appear about allowing the configuration utility to make changes to the computer. Click :guilabel:`Yes` if the prompt appears.
 
-Enter FMS Offseason Mode
-------------------------
+## Enter FMS Offseason Mode
 
 .. image:: images/programming-radios-for-fms-offseason/tools-fmsoffseason.png
    :alt: Click on "Tools" then "FMS-Lite Mode".
 
 Click ``Tools`` -> ``FMS-Lite Mode`` to enter FMS-Lite Mode.
 
-Enter SSID
-----------
+## Enter SSID
 
 .. image:: images/programming-radios-for-fms-offseason/ssid.png
    :alt: Enter the network SSID in the dialog box.
 
 Enter the SSID (name) of your wireless network in the box and click OK.
 
-Enter WPA Key
--------------
+## Enter WPA Key
 
 .. image:: images/programming-radios-for-fms-offseason/wpa.png
    :alt: Enter the WPA Key (password) for this SSID.
 
 Enter the WPA key for your network in the box and click OK. Leave the box blank if you are using an unsecured network.
 
-Program Radios
---------------
+## Program Radios
 
 .. image:: images/programming-radios-for-fms-offseason/program-radio.png
    :alt: Program the radio through the utility like normal for all of the radios at your event.
@@ -103,12 +94,10 @@ The kiosk will program OpenMesh, D-Link Rev A or D-Link Rev B radios to work on
 
 .. note:: Bandwidth limitations and QoS will not be configured on the D-Link radios in this mode.
 
-Changing SSID or Key
---------------------
+## Changing SSID or Key
 
 If you enter something incorrectly or need to change the SSID or WPA Key, go to the Tools menu and click FMS-Lite Mode to take the kiosk out of FMS-Lite Mode. When you click again to put the Kiosk back in FMS-Lite Mode, you will be re-prompted for the SSID and Key.
 
-Troubleshooting
----------------
+## Troubleshooting
 
 See the troubleshooting steps in :ref:`Programming your radio <docs/zero-to-robot/step-3/radio-programming:Troubleshooting>`
diff --git a/source/docs/software/examples-tutorials/third-party-examples.rst b/source/docs/software/examples-tutorials/third-party-examples.rst
index da322407a9..1856cfd77c 100644
--- a/source/docs/software/examples-tutorials/third-party-examples.rst
+++ b/source/docs/software/examples-tutorials/third-party-examples.rst
@@ -1,10 +1,9 @@
-Third Party Example Projects
-============================
+# Third Party Example Projects
 
 This list helps you find example programs for use with third party devices.  You can find support for many of these third parties on the :ref:`docs/software/support/support-resources:Support Resources` page.
 
-* `Cross The Road Electronics (CTRE) <https://github.com/CrossTheRoadElec/Phoenix-Examples-Languages>`__
-* `Kauai Labs (navX) <https://pdocs.kauailabs.com/navx-mxp/examples/>`__
-* `Limelight <https://docs.limelightvision.io/docs/docs-limelight/tutorials/tutorial-frc-robot-2019>`__ (additional examples, called tutorials, can be found on the left)
-* `PhotonVision <https://docs.photonvision.org/en/latest/docs/examples/index.html>`__
-* `REV Robotics <https://opensource.revrobotics.com/#frcwpilib-example-code>`__
+* [Cross The Road Electronics (CTRE)](https://github.com/CrossTheRoadElec/Phoenix-Examples-Languages)
+* [Kauai Labs (navX)](https://pdocs.kauailabs.com/navx-mxp/examples/)
+* [Limelight](https://docs.limelightvision.io/docs/docs-limelight/tutorials/tutorial-frc-robot-2019) (additional examples, called tutorials, can be found on the left)
+* [PhotonVision](https://docs.photonvision.org/en/latest/docs/examples/index.html)
+* [REV Robotics](https://opensource.revrobotics.com/#frcwpilib-example-code)
diff --git a/source/docs/software/examples-tutorials/wpilib-examples.rst b/source/docs/software/examples-tutorials/wpilib-examples.rst
index d07b2c3e0b..cf1695989f 100644
--- a/source/docs/software/examples-tutorials/wpilib-examples.rst
+++ b/source/docs/software/examples-tutorials/wpilib-examples.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-WPILib Example Projects
-=======================
+# WPILib Example Projects
 
 .. warning:: While every attempt is made to keep WPILib examples functional, they are *not* intended to be used "as-is."  At the very least, robot-specific constants will need to be changed for the code to work on a user robot.  Many empirical constants have their values "faked" for demonstration purposes.  Users are strongly encouraged to write their own code (from scratch or from an existing template) rather than copy example code.
 
@@ -9,100 +8,102 @@ WPILib example projects demonstrate a large number of library features and use p
 
 .. image:: /docs/software/vscode-overview/images/creating-robot-program/create-new-project.png
 
-Basic Examples
---------------
+## Basic Examples
 
 These examples demonstrate basic/minimal robot functionality.  They are useful for beginning teams who are gaining initial familiarity with robot programming, but are highly limited in functionality.
 
-* **Arcade Drive** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArcadeDrive>`__): Demonstrates a simple differential drive implementation using "arcade"-style controls through the ``DifferentialDrive`` class.
-* **Arcade Drive Xbox Controller** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController>`__): Demonstrates the same functionality seen in the previous example, except using an ``XboxController`` instead of an ordinary joystick.
-* **Getting Started** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GettingStarted>`__): Demonstrates a simple autonomous routine that drives forwards for two seconds at half speed.
-* **Mecanum Drive** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumDrive>`__): Demonstrates a simple mecanum drive implementation using the ``MecanumDrive`` class.
-* **Motor Controller** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MotorControl>`__): Demonstrates how to control the output of a motor with a joystick with an encoder to read motor position.
-* **Simple Vision** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/QuickVision>`__): Demonstrates how to stream video from a USB camera to the dashboard.
-* **Relay** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Relay>`__): Demonstrates the use of the ``Relay`` class to control a relay output with a set of joystick buttons.
-* **Solenoids** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Solenoid>`__): Demonstrates the use of the ``Solenoid`` and ``DoubleSolenoid`` classes to control solenoid outputs with a set of joystick buttons.
-* **TankDrive** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/TankDrive>`__): Demonstrates a simple differential drive implementation using "tank"-style controls through the ``DifferentialDrive`` class.
-* **Tank Drive Xbox Controller** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController>`__): Demonstrates the same functionality seen in the previous example, except using an ``XboxController`` instead of an ordinary joystick.
+* **Arcade Drive** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArcadeDrive), [Python](https://github.com/robotpy/examples/tree/main/ArcadeDrive)): Demonstrates a simple differential drive implementation using "arcade"-style controls through the ``DifferentialDrive`` class.
+* **Arcade Drive Xbox Controller** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController), [Python](https://github.com/robotpy/examples/tree/main/ArcadeDriveXboxController)): Demonstrates the same functionality seen in the previous example, except using an ``XboxController`` instead of an ordinary joystick.
+* **Getting Started** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GettingStarted), [Python](https://github.com/robotpy/examples/tree/main/GettingStarted)): Demonstrates a simple autonomous routine that drives forwards for two seconds at half speed.
+* **Mecanum Drive** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumDrive), [Python](https://github.com/robotpy/examples/tree/main/MecanumDrive)): Demonstrates a simple mecanum drive implementation using the ``MecanumDrive`` class.
+* **Motor Controller** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MotorControl), [Python](https://github.com/robotpy/examples/tree/main/MotorControl)): Demonstrates how to control the output of a motor with a joystick with an encoder to read motor position.
+* **Simple Vision** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/QuickVision), [Python](https://github.com/robotpy/examples/tree/main/QuickVision)): Demonstrates how to stream video from a USB camera to the dashboard.
+* **Relay** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Relay), [Python](https://github.com/robotpy/examples/tree/main/Relay)): Demonstrates the use of the ``Relay`` class to control a relay output with a set of joystick buttons.
+* **Solenoids** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Solenoid), [Python](https://github.com/robotpy/examples/tree/main/Solenoid)): Demonstrates the use of the ``Solenoid`` and ``DoubleSolenoid`` classes to control solenoid outputs with a set of joystick buttons.
+* **TankDrive** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/TankDrive), [Python](https://github.com/robotpy/examples/tree/main/TankDrive)): Demonstrates a simple differential drive implementation using "tank"-style controls through the ``DifferentialDrive`` class.
+* **Tank Drive Xbox Controller** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController), [Python](https://github.com/robotpy/examples/tree/main/TankDriveXboxController)): Demonstrates the same functionality seen in the previous example, except using an ``XboxController`` instead of an ordinary joystick.
 
-Control Examples
-----------------
+## Control Examples
 
 These examples demonstrate WPILib implementations of common robot controls.  Sensors may be present, but are not the emphasized concept of these examples.
 
-* **DifferentialDriveBot** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot>`__): Demonstrates an advanced differential drive implementation, including encoder-and-gyro odometry through the ``DifferentialDriveOdometry`` class, and composition with PID velocity control through the ``DifferentialDriveKinematics`` and ``PIDController`` classes.
-* **Elevator with profiled PID controller** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID>`__): Demonstrates the use of the ``ProfiledPIDController`` class to control the position of an elevator mechanism.
-* **Elevator with trapezoid profiled PID** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile>`__): Demonstrates the use of the ``TrapezoidProfile`` class in conjunction with a "smart motor controller" to control the position of an elevator mechanism.
-* **Gyro Mecanum** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GyroMecanum>`__): Demonstrates field-oriented control of a mecanum robot through the ``MecanumDrive`` class in conjunction with a gyro.
-* **MecanumBot** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumBot>`__): Demonstrates an advanced mecanum drive implementation, including encoder-and-gyro odometry through the ``MecanumDriveOdometry`` class, and composition with PID velocity control through the ``MecanumDriveKinematics`` and ``PIDController`` classes.
-* **PotentiometerPID** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/PotentiometerPID>`__): Demonstrates the use of the ``PIDController`` class and a potentiometer to control the position of an elevator mechanism.
-* **RamseteController** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RamseteController>`__): Demonstrates the use of the ``RamseteController`` class to follow a trajectory during the autonomous period.
-* **SwerveBot** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveBot>`__): Demonstrates an advanced swerve drive implementation, including encoder-and-gyro odometry through the ``SwerveDriveOdometry`` class, and composition with PID position and velocity control through the ``SwerveDriveKinematics`` and ``PIDController`` classes.
-* **UltrasonicPID** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/UltrasonicPID>`__): Demonstrates the use of the ``PIDController`` class in conjunction with an ultrasonic sensor to drive to a set distance from an object.
-
-Sensor Examples
----------------
+* **DifferentialDriveBot** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot), [Python](https://github.com/robotpy/examples/tree/main/DifferentialDriveBot)): Demonstrates an advanced differential drive implementation, including encoder-and-gyro odometry through the ``DifferentialDriveOdometry`` class, and composition with PID velocity control through the ``DifferentialDriveKinematics`` and ``PIDController`` classes.
+* **DifferentialDrivePoseEstimator** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator)): Demonstrates an advanced differential drive implementation with all the features of ``DifferentialDriveBot``.  In addition this example uses ``DifferentialDrivePoseEstimator`` to track the robots position on the field.  It demonstrates these features by using WPILib Simulation.
+* **Elevator with Profiled PID Controller** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID), [Python](https://github.com/robotpy/examples/tree/main/ElevatorProfiledPID)): Demonstrates the use of the ``ProfiledPIDController`` class to control the position of an elevator mechanism.
+* **Elevator with Trapezoid Profiled PID** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile), [Python](https://github.com/robotpy/examples/tree/main/ElevatorTrapezoidProfile)): Demonstrates the use of the ``TrapezoidProfile`` class in conjunction with a "smart motor controller" to control the position of an elevator mechanism.
+* **Elevator with Exponential Profiled PID** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialprofile), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile)): Demonstrates the use of the ``ExponentialProfile`` class in conjunction with a "smart motor controller" to control the position of an elevator mechanism.
+* **Flywheel Bang-Bang Controller** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp), [Python](https://github.com/robotpy/examples/tree/main/FlywheelBangBangController)): Uses the ``BangBangController`` class to simply yet effectively control a flywheel.
+* **Gyro Mecanum** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GyroMecanum), [Python](https://github.com/robotpy/examples/tree/main/GyroMecanum)): Demonstrates field-oriented control of a mecanum robot through the ``MecanumDrive`` class in conjunction with a gyro.
+* **MecanumBot** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumBot), [Python](https://github.com/robotpy/examples/tree/main/MecanumBot)): Demonstrates an advanced mecanum drive implementation, including encoder-and-gyro odometry through the ``MecanumDriveOdometry`` class, and composition with PID velocity control through the ``MecanumDriveKinematics`` and ``PIDController`` classes.
+* **Mecanum Drive PoseEstimator** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator)): Demonstrates an advanced mecanum drive implementation with all the features of ``MecanumBot``.  In addition this example uses ``MecanumDrivePoseEstimator`` to track the robots position on the field.
+* **PotentiometerPID** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/PotentiometerPID), [Python](https://github.com/robotpy/examples/tree/main/PotentiometerPID)): Demonstrates the use of the ``PIDController`` class and a potentiometer to control the position of an elevator mechanism.
+* **SwerveBot** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveBot), [Python](https://github.com/robotpy/examples/tree/main/SwerveBot)): Demonstrates an advanced swerve drive implementation, including encoder-and-gyro odometry through the ``SwerveDriveOdometry`` class, and composition with PID position and velocity control through the ``SwerveDriveKinematics`` and ``PIDController`` classes.
+* **Swerve Drive PoseEstimator** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator)): Demonstrates an advanced swerve drive implementation with all the features of ``SwerveBot``.  In addition this example uses ``SwerveDrivePoseEstimator`` to track the robots position on the field.
+* **UltrasonicPID** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/UltrasonicPID), [Python](https://github.com/robotpy/examples/tree/main/UltrasonicPID)): Demonstrates the use of the ``PIDController`` class in conjunction with an ultrasonic sensor to drive to a set distance from an object.
+
+## Sensor Examples
 
 These examples demonstrate sensor reading and data processing using WPILib.  Mechanisms control may be present, but is not the emphasized concept of these examples.
 
-* **Axis Camera Sample** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/AxisCameraSample>`__): Demonstrates the use of OpenCV and an Axis Netcam to overlay a rectangle on a captured video feed and stream it to the dashboard.
-* **Power Distribution CAN Monitoring** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/CANPDP>`__): Demonstrates obtaining sensor information from a Power Distribution module over CAN using the ``PowerDistribution`` class.
-* **Duty Cycle Encoder** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder>`__): Demonstrates the use of the ``DutyCycleEncoder`` class to read values from a PWM-type absolute encoder.
-* **DutyCycleInput** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DutyCycleInput>`__): Demonstrates the use of the ``DutyCycleInput`` class to read the frequency and fractional duty cycle of a PWM input.
-* **Encoder** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Encoder>`__): Demonstrates the use of the ``Encoder`` class to read values from a quadrature encoder.
-* **Gyro** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Gyro>`__): Demonstrates the use of the ``AnalogGyro`` class to measure robot heading and stabilize driving.
-* **Intermediate Vision** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/IntermediateVision>`__): Demonstrates the use of OpenCV and a USB camera to overlay a rectangle on a captured video feed and stream it to the dashboard.
-* **AprilTagsVision** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/apriltagsvision>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/AprilTagsVision>`__): Demonstrates on-roboRIO detection of AprilTags using an attached USB camera.
-* **Ultrasonic** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Ultrasonic>`__): Demonstrates the use of the ``Ultrasonic`` class to read data from an ultrasonic sensor in conjunction with the ``MedianFilter`` class to reduce signal noise.
+* **HTTP Camera** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/httpcamera), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HttpCamera)): Demonstrates the use of OpenCV and a HTTP Camera to overlay a rectangle on a captured video feed and stream it to the dashboard.
+* **Power Distribution CAN Monitoring** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/CANPDP), [Python](https://github.com/robotpy/examples/tree/main/CANPDP)): Demonstrates obtaining sensor information from a Power Distribution module over CAN using the ``PowerDistribution`` class.
+* **Duty Cycle Encoder** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder), [Python](https://github.com/robotpy/examples/tree/main/DutyCycleEncoder)): Demonstrates the use of the ``DutyCycleEncoder`` class to read values from a PWM-type absolute encoder.
+* **DutyCycleInput** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DutyCycleInput), [Python](https://github.com/robotpy/examples/tree/main/DutyCycleInput)): Demonstrates the use of the ``DutyCycleInput`` class to read the frequency and fractional duty cycle of a :term:`PWM` input.
+* **Encoder** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Encoder), [Python](https://github.com/robotpy/examples/tree/main/Encoder)): Demonstrates the use of the ``Encoder`` class to read values from a quadrature encoder.
+* **Gyro** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Gyro), [Python](https://github.com/robotpy/examples/tree/main/Gyro)): Demonstrates the use of the ``AnalogGyro`` class to measure robot heading and stabilize driving.
+* **Intermediate Vision** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/IntermediateVision), [Python](https://github.com/robotpy/examples/tree/main/IntermediateVision)): Demonstrates the use of OpenCV and a USB camera to overlay a rectangle on a captured video feed and stream it to the dashboard.
+* **AprilTagsVision** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/apriltagsvision), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/AprilTagsVision), [Python](https://github.com/robotpy/examples/tree/main/AprilTagsVision)): Demonstrates on-roboRIO detection of AprilTags using an attached USB camera.
+* **Ultrasonic** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Ultrasonic), [Python](https://github.com/robotpy/examples/tree/main/Ultrasonic)): Demonstrates the use of the ``Ultrasonic`` class to read data from an ultrasonic sensor in conjunction with the ``MedianFilter`` class to reduce signal noise.
+* **SysIdRoutine** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SysId), [Python](https://github.com/robotpy/examples/tree/main/SysId)): Demonstrates the use of the SysIdRoutine API to gather characterization data for a differential drivetrain.
 
-Command-Based Examples
-----------------------
+## Command-Based Examples
 
 These examples demonstrate the use of the :ref:`Command-Based framework <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>`.
 
-* **ArmBot** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmBot>`__): Demonstrates the use of a ``ProfiledPIDSubsystem`` to control a robot arm.
-* **ArmBotOffboard** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard>`__): Demonstrates the use of a ``TrapezoidProfileSubsystem`` in conjunction with a "smart motor controller" to control a robot arm.
-* **DriveDistanceOffboard** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard>`__): Demonstrates the use of a ``TrapezoidProfileCommand`` in conjunction with a "smart motor controller" to drive forward by a set distance with a trapezoidal motion profile.
-* **FrisbeeBot** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Frisbeebot>`__): A complete set of robot code for a simple frisbee-shooting robot typical of the 2013 FRC\ |reg| game *Ultimate Ascent*.  Demonstrates simple PID control through the ``PIDSubystem`` class.
-* **Gears Bot** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GearsBot>`__): A complete set of robot code for the WPI demonstration robot, GearsBot.
-* **Gyro Drive Commands** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands>`__): Demonstrates the use of ``PIDCommand`` and ``ProfiledPIDCommand`` in conjunction with a gyro to turn a robot to face a specified heading and to stabilize heading while driving.
-* **Inlined Hatchbot** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotInlined>`__): A complete set of robot code for a simple hatch-delivery bot typical of the 2019 FRC game *Destination: Deep Space*.  Commands are written in an "inline" style, in which explicit subclassing of ``Command`` is avoided.
-* **Traditional Hatchbot** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__): A complete set of robot code for a simple hatch-delivery bot typical of the 2019 FRC game *Destination: Deep Space*.  Commands are written in a "traditional" style, in which subclasses of ``Command`` are written for each robot action.
-* **MecanumControllerCommand** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand>`__): Demonstrates trajectory generation and following with a mecanum drive using the ``TrajectoryGenerator`` and ``MecanumControllerCommand`` classes.
-* **RamseteCommand** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RamseteCommand>`__): Demonstrates trajectory generation and following with a differential drive using the ``TrajectoryGenerator`` and ``RamseteCommand`` classes.  A matching step-by-step tutorial can be found :ref:`here <docs/software/pathplanning/trajectory-tutorial/index:Trajectory Tutorial>`.
-* **Select Command Example** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SelectCommand>`__): Demonstrates the use of the ``SelectCommand`` class to run one of a selection of commands depending on a runtime-evaluated condition.
-* **SwerveControllerCommand** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand>`__): Demonstrates trajectory generation and following with a swerve drive using the ``TrajectoryGenerator`` and ``SwerveControllerCommand`` classes.
-
-State-Space Examples
---------------------
+* **ArmBot** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmBot), [Python](https://github.com/robotpy/examples/tree/main/ArmBot)): Demonstrates the use of a ``ProfiledPIDSubsystem`` to control a robot arm.
+* **ArmBotOffboard** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard), [Python](https://github.com/robotpy/examples/tree/main/ArmBotOffboard)): Demonstrates the use of a ``TrapezoidProfileSubsystem`` in conjunction with a "smart motor controller" to control a robot arm.
+* **DriveDistanceOffboard** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard), [Python](https://github.com/robotpy/examples/tree/main/DriveDistanceOffboard)): Demonstrates the use of a ``TrapezoidProfileCommand`` in conjunction with a "smart motor controller" to drive forward by a set distance with a trapezoidal motion profile.
+* **FrisbeeBot** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Frisbeebot), [Python](https://github.com/robotpy/examples/tree/main/FrisbeeBot)): A complete set of robot code for a simple frisbee-shooting robot typical of the 2013 FRC\ |reg| game *Ultimate Ascent*.  Demonstrates simple PID control through the ``PIDSubystem`` class.
+* **Gears Bot** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GearsBot)): A complete set of robot code for the WPI demonstration robot, GearsBot.
+* **Rapid React Command Bot** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot)): This project uses the latest command based best practices and the Epilogue logging system.  It is capable of playing the FRC 2022 game Rapid React.
+* **Gyro Drive Commands** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands), [Python](https://github.com/robotpy/examples/tree/main/GyroDriveCommands)): Demonstrates the use of ``PIDCommand`` and ``ProfiledPIDCommand`` in conjunction with a gyro to turn a robot to face a specified heading and to stabilize heading while driving.
+* **Inlined Hatchbot** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotInlined), [Python](https://github.com/robotpy/examples/tree/main/HatchbotInlined)): A complete set of robot code for a simple hatch-delivery bot typical of the 2019 FRC game *Destination: Deep Space*.  Commands are written in an "inline" style, in which explicit subclassing of ``Command`` is avoided.
+* **Traditional Hatchbot** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional), [Python](https://github.com/robotpy/examples/tree/main/HatchbotTraditional)): A complete set of robot code for a simple hatch-delivery bot typical of the 2019 FRC game *Destination: Deep Space*.  Commands are written in a "traditional" style, in which subclasses of ``Command`` are written for each robot action.
+* **MecanumControllerCommand** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand)): Demonstrates trajectory generation and following with a mecanum drive using the ``TrajectoryGenerator`` and ``MecanumControllerCommand`` classes.
+* **Select Command Example** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SelectCommand), [Python](https://github.com/robotpy/examples/tree/main/SelectCommand)): Demonstrates the use of the ``SelectCommand`` class to run one of a selection of commands depending on a runtime-evaluated condition.
+* **SwerveControllerCommand** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand)): Demonstrates trajectory generation and following with a swerve drive using the ``TrajectoryGenerator`` and ``SwerveControllerCommand`` classes.
+
+## State-Space Examples
 
 These examples demonstrate the use of the :ref:`State-Space Control <docs/software/advanced-controls/state-space/state-space-intro:Introduction to State-Space Control>`.
 
-* **StateSpaceFlywheel** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel>`__): Demonstrates state-space control of a flywheel.
-* **StateSpaceFlywheelSysId** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId>`__): Demonstrates state-space control using SysId's System Identification for controlling a flywheel.
-* **StateSpaceElevator** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator>`__): Demonstrates state-space control of an elevator.
-* **StateSpaceArm** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceArm>`__): Demonstrates state-space control of an Arm.
-* **StateSpaceDriveSimulation** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation>`__): Demonstrates state-space control of a differential drivetrain in combination with a RAMSETE path following controller and Field2d class.
+* **StateSpaceFlywheel** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel), [Python](https://github.com/robotpy/examples/tree/main/StateSpaceFlywheel)): Demonstrates state-space control of a flywheel.
+* **StateSpaceFlywheelSysId** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId), [Python](https://github.com/robotpy/examples/tree/main/StateSpaceFlywheelSysId)): Demonstrates state-space control using SysId's System Identification for controlling a flywheel.
+* **StateSpaceElevator** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator), [Python](https://github.com/robotpy/examples/tree/main/StateSpaceElevator)): Demonstrates state-space control of an elevator.
+* **StateSpaceArm** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceArm), [Python](https://github.com/robotpy/examples/tree/main/StateSpaceArm)): Demonstrates state-space control of an Arm.
 
-Simulation Physics Examples
----------------------------
+## Simulation Physics Examples
 
 These examples demonstrate the use of the physics simulation.
 
-* **ElevatorSimulation** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation>`__): Demonstrates the use of physics simulation with a simple elevator.
-* **ArmSimulation** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmSimulation>`__): Demonstrates the use of physics simulation with a simple single-jointed arm.
-* **StateSpaceDriveSimulation** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation>`__): Demonstrates state-space control of a differential drivetrain in combination with a RAMSETE path following controller and Field2d class.
-* **SimpleDifferentialDriveSimulation** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation>`__): A barebones example of a basic drivetrain that can be used in simulation.
+* **ElevatorSimulation** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation), [Python](https://github.com/robotpy/examples/tree/main/ElevatorSimulation)): Demonstrates the use of physics simulation with a simple elevator.
+* **ElevatorSimulation with Exponential PID** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation)): Demonstrates the use of physics simulation of an elevator being controlled with exponential profiled PID.
+* **ArmSimulation** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmSimulation), [Python](https://github.com/robotpy/examples/tree/main/ArmSimulation)): Demonstrates the use of physics simulation with a simple single-jointed arm.
+* **SimpleDifferentialDriveSimulation** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation)): A barebones example of a basic drivetrain that can be used in simulation.
 
-Miscellaneous Examples
-----------------------
+## Miscellaneous Examples
 
 These examples demonstrate miscellaneous WPILib functionality that does not fit into any of the above categories.
 
-* **Addressable LED** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/AddressableLED>`__): Demonstrates the use of the ``AddressableLED`` class to control RGB LEDs for robot decoration and/or driver feedback.
-* **DMA** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dma/>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DMA>`__): Demonstrates the use of DMA (Direct Memory Access) to read from sensors without using the RoboRIO's CPU.
-* **HAL** (`C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HAL>`__): Demonstrates the use of HAL (Hardware Abstraction Layer) without the use of the rest of WPILib. This example is for advanced users (C++ only).
-* **HID Rumble** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HidRumble>`__): Demonstrates the use of the "rumble" functionality for tactile feedback on supported HIDs (such as XboxControllers).
-* **Shuffleboard** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ShuffleBoard>`__): Demonstrates configuring tab/widget layouts on the "Shuffleboard" dashboard from robot code through the ``Shuffleboard`` class's fluent builder API.
-* **RomiReference** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RomiReference>`__): A command based example of how to run the :doc:`Romi robot </docs/romi-robot/index>`.
-* **Mechanism2d** (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Mechanism2d>`__): A simple example of using :doc:`Mechanism2d </docs/software/dashboards/glass/mech2d-widget>`.
+* **Addressable LED** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/AddressableLED), [Python](https://github.com/robotpy/examples/tree/main/AddressableLED)): Demonstrates the use of the ``AddressableLED`` class to control RGB LEDs for robot decoration and/or driver feedback.
+* **Digital Communication** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DigitalCommunication), [Python](https://github.com/robotpy/examples/tree/main/DigitalCommunication)): This is a sample program demonstrating how to communicate to a light controller from the robot code using the roboRIO's DIO ports.
+* **I2C Communication** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/I2CCommunication), [Python](https://github.com/robotpy/examples/tree/main/I2CCommunication)): This is a sample program demonstrating how to communicate to a light controller from the robot code using the roboRIO's I2C port.
+* **DMA** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dma/), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DMA)): Demonstrates the use of DMA (Direct Memory Access) to read from sensors without using the RoboRIO's CPU.
+* **HAL** ([C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HAL)): Demonstrates the use of HAL (Hardware Abstraction Layer) without the use of the rest of WPILib. This example is for advanced users (C++ only).
+* **HID Rumble** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HidRumble), [Python](https://github.com/robotpy/examples/tree/main/HidRumble)): Demonstrates the use of the "rumble" functionality for tactile feedback on supported HIDs (such as XboxControllers).
+* **Shuffleboard** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ShuffleBoard), [Python](https://github.com/robotpy/examples/tree/main/ShuffleBoard)): Demonstrates configuring tab/widget layouts on the "Shuffleboard" dashboard from robot code through the ``Shuffleboard`` class's fluent builder API.
+* **RomiReference** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RomiReference), [Python](https://github.com/robotpy/examples/tree/main/RomiReference)): A command based example of how to run the :doc:`Romi robot </docs/romi-robot/index>`.
+* **XRPReference** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/XRPReference)): A command based example of how to run the :doc:`XRP robot </docs/xrp-robot/index>`.
+* **Mechanism2d** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Mechanism2d), [Python](https://github.com/robotpy/examples/tree/main/Mechanism2d)): A simple example of using :doc:`Mechanism2d </docs/software/dashboards/glass/mech2d-widget>`.
+* **EventLoop** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp)): Demonstrates the use of the ``EventLoop`` class that allows code to be called based on a boolean condition in the event-driven programming style.
+* **UnitTest** ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/UnitTest)): Shows how to do :doc:`Unit Testing </docs/software/wpilib-tools/robot-simulation/unit-testing>`.  The test files need to be in a separate Test directory ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp)).
diff --git a/source/docs/software/frc-glossary.rst b/source/docs/software/frc-glossary.rst
index b5b016fd2c..068532b8ab 100644
--- a/source/docs/software/frc-glossary.rst
+++ b/source/docs/software/frc-glossary.rst
@@ -1,13 +1,18 @@
 .. include:: <isonum.txt>
 
-FRC Glossary
-============
+# FRC Glossary
 
 .. glossary::
 
    accelerometer
       A common sensor used to measure acceleration in one or more axis.
 
+   AM
+      [AndyMark, Inc](https://www.andymark.com/) - strives to develop innovative products and outstanding service while inspiring our customers and making a positive impact in our community.
+
+   AprilTags
+       Visual tags that provide low overhead, high accuracy localization. AprilTags are useful for helping your robot know where it is at on the field, so it can align itself to some goal position.
+
    auto
       The first phase of each match is called Autonomous (auto) and consists of the robot's running pre-programmed instructions.
 
@@ -18,43 +23,64 @@ FRC Glossary
       A form of data with only two possible values (true or false), intended to represent the two truth values of logic and Boolean algebra.
 
    call stack
-      A specially-organized region of memory which helps the program keep track of what function it is in. As each function calls another, the call point is recorded and added to the top of the structure, forming a "stack" of references. Additionally, local variables will also be stored in this stack. See `call stack <https://en.wikipedia.org/wiki/Call_stack>`__ on Wikipedia for more info.
+      A specially-organized region of memory which helps the program keep track of what function it is in. As each function calls another, the call point is recorded and added to the top of the structure, forming a "stack" of references. Additionally, local variables will also be stored in this stack. See [call stack](https://en.wikipedia.org/wiki/Call_stack) on Wikipedia for more info.
+
+   CAD
+      Computer-Aided Design - software used to design an accurate model of an object.  For FRC this is often used to design the robot to get accurate measurements and aid construction.
+
+   CAM
+      Computer-Aided Manufacturing - the use of software to control machine tools in the manufacturing of work pieces.
+
+   CAN
+      Controller Area Network -  message-based protocol designed to allow microcontrollers and devices to communicate with each other's applications without a host computer.
+
+   CD
+      Chief Delphi - [FRC team 47](https://www.thebluealliance.com/team/47) inspired a popular community driven [forum](https://www.chiefdelphi.com/) that today serves as an unofficial discussion hub for all things FRC.
 
    central limit theorem
-      A core concept in probability which states that when many independent variables are added up, the result tends to look like a "normal" (or Gaussian) distribution, regardless of whether the independent variables themselves are normally distributed. See `Central Limit Theorem <https://en.wikipedia.org/wiki/Central_limit_theorem>`__ on Wikipedia for more info.
+      A core concept in probability which states that when many independent variables are added up, the result tends to look like a "normal" (or Gaussian) distribution, regardless of whether the independent variables themselves are normally distributed. See [Central Limit Theorem](https://en.wikipedia.org/wiki/Central_limit_theorem) on Wikipedia for more info.
+
+   CIM
+      CCL Industrial Motor, Limited - [Chiaphua Components Limited](https://www.cclmotors.com/website/eng/home) is the company that made the commonly used, relatively powerful, brushed motor.
 
    Classical Mechanics
-      The branch of physics which studies and describes the motion of relatively large, relatively slow objects. See `Classical Mechanics <https://en.wikipedia.org/wiki/Classical_mechanics>`__ on Wikipedia for more info.
+      The branch of physics which studies and describes the motion of relatively large, relatively slow objects. See [Classical Mechanics](https://en.wikipedia.org/wiki/Classical_mechanics) on Wikipedia for more info.
 
    COTS
-      Commercial off the shelf, a standard (i.e. not custom order) part commonly available from a vendor to all teams for purchase.
+      Commercial off the shelf - a standard (i.e. not custom order) part commonly available from a vendor to all teams for purchase.
 
    composition
-      A formal software term for building (or "composing") software entities out of smaller component entities. See `object composition <https://en.wikipedia.org/wiki/Object_composition>`__ on Wikipedia for more info.
+      A formal software term for building (or "composing") software entities out of smaller component entities. See [object composition](https://en.wikipedia.org/wiki/Object_composition) on Wikipedia for more info.
 
    CRTP
-      Continuously Recurring Template Pattern - A software idiom in which a class `X`` derives from a class template instantiation using `X`` itself as a template argument. See `CRTP <https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern>`__ on Wikipedia for more info.
+      Continuously Recurring Template Pattern - A software idiom in which a class [X`` derives from a class template instantiation using `X`` itself as a template argument. See `CRTP](https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern) on Wikipedia for more info.
+
+   CSA
+      Control Systems Advisor - FRC volunteer position that assists teams with Robot Control System-related issues.
+
+   CTRE
+      [Cross the Road Electronics LLC](https://store.ctr-electronics.com/) - is an engineering design, software development and electronics manufacturer based outside of Detroit in Macomb, MI. They primarily focus on high-performing, high-quality electronics communication,  motor control, and control system products for FIRST teams and the EV industry. CTR Electronics was founded in 2006 by two FRC mentors who met through their robotics team: Mike Copioli and Omar Zrien and is staffed largely by FRC alumni, and active volunteers & mentors.
 
    C++
-      One of the three officially supported programming languages.
+      One of the four officially supported programming languages.
 
    declarative programming
-      A style of software which focuses on describing *what* a program should do, rather than *how* it gets done. See `declarative programming <https://en.wikipedia.org/wiki/Declarative_programming>`__ on Wikipedia for more info.
+      A style of software which focuses on describing *what* a program should do, rather than *how* it gets done. See [declarative programming](https://en.wikipedia.org/wiki/Declarative_programming) on Wikipedia for more info.
 
    dependency injection
-      A software design pattern where each class receives all objects it depends upon. Sometimes these are passed through the constructor, but not always. See `dependency injection <https://en.wikipedia.org/wiki/Dependency_injection>`__ on Wikipedia for more info.
+      A software design pattern where each class receives all objects it depends upon. Sometimes these are passed through the constructor, but not always. See [dependency injection](https://en.wikipedia.org/wiki/Dependency_injection) on Wikipedia for more info.
 
    deprecated
       Software that has been replaced and will no longer receive new features. Deprecated software will be maintained for at least 1 year, but may be removed after that. For example, if a method is deprecated prior to the 2022 season, it will be usable in the 2022 season, but may be removed prior to the 2023 season. Teams are encouraged to not use deprecated methods in new code. WPILib always deprecates features at least one year prior to removing them from the codebase.
 
    design pattern
-      A particular, intentionally-chosen style of organizing code. A design pattern intentionally excludes using certain features of a programming language to constrain developers into solutions that are well-suited to a particular problem-space. See `design pattern. <https://en.wikipedia.org/wiki/Design_pattern>`__ on Wikipedia for more info.
+      A particular, intentionally-chosen style of organizing code. A design pattern intentionally excludes using certain features of a programming language to constrain developers into solutions that are well-suited to a particular problem-space. See [design pattern.](https://en.wikipedia.org/wiki/Design_pattern) on Wikipedia for more info.
 
    DHCP
-      Dynamic Host Configuration Protocol, the protocol that allows a central device to assign unique IP addresses to all other devices.
+      Dynamic Host Configuration Protocol - the protocol that allows a central device to assign unique IP addresses to all other devices.
 
    encapsulation
-      A software design pattern which uses a class to hide the implementation details of other classes. See `encapsulation <https://en.wikipedia.org/wiki/Encapsulation_(computer_programming)>`__ on Wikipedia for more info.
+      A software design pattern which uses a class to hide the implementation details of other classes. See [encapsulation](https://en.wikipedia.org/wiki/Encapsulation_%28computer_programming%29) on Wikipedia for more info.
 
    entry
       In :term:`NetworkTables`, a combined :term:`publisher` and :term:`subscriber`. The subscriber is always active, but the publisher is not created until a publish operation is performed (e.g. a value is "set", aka published, on the entry). This may be more convenient than maintaining a separate publisher and subscriber.
@@ -62,17 +88,41 @@ FRC Glossary
    enumeration
       A list of all elements of a set, typically used to refer to a set of pre-defined values.
 
+   EPA
+      [Expected Points Added](https://www.statbotics.io/blog/epa) - builds upon the Elo rating system, but transforms ratings to point units and makes several modifications.
+
    event-driven programming
-      A style of programming where certain parts of code generate "events" as a result of some input (sensors, user interaction, etc). Then, other parts of code listen for and respond to "handle" these events. See `event-based <https://en.wikipedia.org/wiki/Event-driven_programming>`__ on Wikipedia for more info.
+      A style of programming where certain parts of code generate "events" as a result of some input (sensors, user interaction, etc). Then, other parts of code listen for and respond to "handle" these events. See [event-based](https://en.wikipedia.org/wiki/Event-driven_programming) on Wikipedia for more info.
+
+   FIRST
+      For Inspiration and Recognition of Science and Technology - a global nonprofit organization that prepares young people for the future through a suite of life-changing youth robotics programs that build skills, confidence, and resilience.
+
+   FLL
+      FIRST Lego League - Introduces science, technology, engineering, and math (STEM) to children ages 4-16 through fun, exciting hands-on learning.
 
    floating point
       A method for approximating real numbers in computer-based arithmetic, using a fixed precision integer scaled by an integer exponent. Typically computer systems support both "single" precision (32-bit storage) and "double" precision (64-bit storage) floating point values, as defined by IEEE 754.
 
    FMS
-      Field Management System, the electronics core responsible for sensing and controlling the FIRST Robotics Competition field.
+      Field Management System - the electronics core responsible for sensing and controlling the FIRST Robotics Competition field.
 
    FPGA
-       Field-programmable gate array - a specialized integrated circuit consisting of many digital logic elements, which can be configured to act in different patterns. This allows its behavior to be changed after manufacturing. In the context of FRC, National Instruments provides a specific configuration for the RIO's FPGA which allows it to process the electrical inputs and outputs at a very high rate. See `FPGA <https://en.wikipedia.org/wiki/Field-programmable_gate_array>`__ on Wikipedia for more info.
+       Field-programmable gate array - a specialized integrated circuit consisting of many digital logic elements, which can be configured to act in different patterns. This allows its behavior to be changed after manufacturing. In the context of FRC, National Instruments provides a specific configuration for the RIO's FPGA which allows it to process the electrical inputs and outputs at a very high rate. See [FPGA](https://en.wikipedia.org/wiki/Field-programmable_gate_array) on Wikipedia for more info.
+
+   FRC
+      FIRST Robotics Competition - Combining the excitement of sport with the rigors of science and technology.  The ultimate Sport for the Mind inspiring High-school students.
+
+   FTA
+      FIRST Technical Advisor - FRC volunteer position that is responsible for ensuring FIRST Robotics Competition events run smoothly, safely, and in accordance with FIRST requirements, and ensuring a high-quality experience for all event participants and teams.
+
+   FTC
+      FIRST Tech Challenge - Grades 7-12 are challenged to design, build, program, and operate robots to compete in a head-to-head challenge in an alliance format.
+
+   GDC
+      Game Design Committee - designs the game for each year and develops the rules and field setup for each competition.
+
+   GP
+      Gracious Professionalism - part of the ethos of FIRST. It's a way of doing things that encourages high-quality work, emphasizes the value of others, and respects individuals and the community.
 
    GradleRIO
       The mechanism that powers the deployment of robot code to the roboRIO.
@@ -84,44 +134,74 @@ FRC Glossary
       The direction the robot is pointed, usually expressed as an angle in degrees.
 
    imperative programming
-      A style of programming that focuses on *what* the code should be doing, step by step, every loop. See `imperative programming <https://en.wikipedia.org/wiki/Imperative_programming>`__ on Wikipedia for more info.
+      A style of programming that focuses on *what* the code should be doing, step by step, every loop. See [imperative programming](https://en.wikipedia.org/wiki/Imperative_programming) on Wikipedia for more info.
 
    IMU
-      Inertial Measurement Unit, a sensor that combines both an :term:`accelerometer` and a :term:`gyroscope` into a single sensor.
+      Inertial Measurement Unit - a sensor that combines both an :term:`accelerometer` and a :term:`gyroscope` into a single sensor.
+
+   I2C
+      Inter-Integrated Circuit - a synchronous, multi-master/multi-slave (controller/target), single-ended, serial communication bus.
 
    Java
-      One of the three officially supported programming languages.
+      One of the four officially supported programming languages.
 
    JSON
-      JavaScript Object Notation. A standardized way of organizing data into named values. The organized data can be easily :term:`serialized`. While the original usage was in Javascript, it can be used and interested by most modern programming languages. See `JSON <https://en.wikipedia.org/wiki/JSON>`__ on Wikipedia for more info.
+      JavaScript Object Notation - A standardized way of organizing data into named values. The organized data can be easily :term:`serialized`. While the original usage was in Javascript, it can be used and interested by most modern programming languages. See [JSON](https://en.wikipedia.org/wiki/JSON) on Wikipedia for more info.
 
    KOP
-      Kit of Parts, the collection of items listed on the Kickoff Kit checklists, distributed to the team via FIRST Choice, or paid for completely (except shipping) with a Product Donation Voucher (PDV).
+      Kit of Parts - the collection of items listed on the Kickoff Kit checklists, distributed to the team via FIRST Choice, or paid for completely (except shipping) with a Product Donation Voucher (PDV).
 
    KOP chassis
-      The KOP contains a drive base (chassis) distributed to every team (that did not opt out) as part of the :term:`KOP`. For the 2023 season, the KOP chassis is the `AM14U5 <https://www.andymark.com/products/am14u5-6-wheel-drop-center-robot-drive-base-first-kit-of-parts-chassis>`__.
+      The KOP contains a drive base (chassis) distributed to every team (that did not opt out) as part of the :term:`KOP`. For the 2024 season, the KOP chassis is the [AM14U5](https://www.andymark.com/products/am14u5-6-wheel-drop-center-robot-drive-base-first-kit-of-parts-chassis).
 
    LabVIEW
-      One of the three officially supported programming languages.
+      One of the four officially supported programming languages.
 
-   NetworkTables
-      A publish-subscribe messaging system to communicate data between programs.
+   LED
+      Light-Emitting Diode - a semiconductor device that emits light when current flows through it.  Used on multiple robot parts to convey the status of the device.
 
    mass
-      the amount of matter in a physical object. Objects with more mass will resist changes in motion more than objects with less mass. See `mass <https://en.wikipedia.org/wiki/Mass>`_ on Wikipedia for more info.
+      the amount of matter in a physical object. Objects with more mass will resist changes in motion more than objects with less mass. See [mass](https://en.wikipedia.org/wiki/Mass) on Wikipedia for more info.
 
    moment of inertia
-      The property of an object that describes both how much mass it has, and how that mass is distributed relative to a certain axis of rotation. Objects with higher moments of inertia resist changes in rotational motion more than objects with lower moments of inertia. Increasing the moment of inertia is accomplished by adding more mass, or moving the mass further away from the axis of rotation. See `moment of inertia <https://en.wikipedia.org/wiki/Moment_of_inertia>`_ on Wikipedia for more info.
+      The property of an object that describes both how much mass it has, and how that mass is distributed relative to a certain axis of rotation. Objects with higher moments of inertia resist changes in rotational motion more than objects with lower moments of inertia. Increasing the moment of inertia is accomplished by adding more mass, or moving the mass further away from the axis of rotation. See [moment of inertia](https://en.wikipedia.org/wiki/Moment_of_inertia) on Wikipedia for more info.
 
    mutable
       An object that can be modified after it is created.
 
+   MXP
+      myRIO Expansion Port - Port in the center of the roboRIO designed to expand the traditional IO count by offering multiple different IO types through one connector.
+
+   NetworkTables
+      A publish-subscribe messaging system to communicate data between programs.
+
+   no-op
+      No-op is a computer instruction which means no operation. When the computer processor encounters a no-op instruction, it simply moves to the next sequential instruction. Read more about no-op on [Wikipedia](https://en.wikipedia.org/wiki/NOP_%28code%29) .
+
+   odometry
+     Using sensors on the robot to create an estimate of the pose of the robot on the field.
+
+   OPR
+      [Offensive Power Rating](https://blog.thebluealliance.com/2017/10/05/the-math-behind-opr-an-introduction/) - a system to attempt to deduce the average point contribution of a team to an alliance
+
+   PCM
+      Pneumatic Control Module - provides an easy all-in-one interface for pneumatic components.
+
+   PDH
+      REV Power Distribution Hub - latest evolution in power distribution for FRC.  With 20 high-current (40A max) channels, 3 low-current (15A max), and 1 switchable low-current channel, the PDH gives teams more flexibility for overall power delivery.
+
+   PDP
+      CTRE Power Distribution Panel - power distribution module with 8 high-current (40A max), 8 lower current (20A / 30A), 1 20A protected channel (for :term:`PCM` and :term:`VRM`), and 1 10A protected channel (for the roboRIO).
+
    permanent-magnet DC motor
-      The classification of all legal motors for the FIRST robotics competition. This type of motor takes direct current as input, and uses it to create a magnetic field. In turn, this magnetic field interacts with a physical magnet to create a force that turns the output shaft. Electrical ("brushless") or mechanical ("brushed") means are used to ensure the electrically-generated magnetic field always points in a direction that creates forces when it interacts with the physical magnet, even as the motor's shaft rotates. See `permanent-magnet motor <https://en.wikipedia.org/wiki/Brushed_DC_electric_motor#Permanent-magnet_motors>`__ on Wikipedia for more info.
+      The classification of all legal motors for the FIRST robotics competition. This type of motor takes direct current as input, and uses it to create a magnetic field. In turn, this magnetic field interacts with a physical magnet to create a force that turns the output shaft. Electrical ("brushless") or mechanical ("brushed") means are used to ensure the electrically-generated magnetic field always points in a direction that creates forces when it interacts with the physical magnet, even as the motor's shaft rotates. See [permanent-magnet motor](https://en.wikipedia.org/wiki/Brushed_DC_electric_motor#Permanent-magnet_motors) on Wikipedia for more info.
 
    persistent
       In :term:`NetworkTables`, a :term:`topic` that is saved to a file by the server and restored at startup.
 
+   PH
+      Pneumatic Hub - is a standalone module that is capable of switching both 12V and 24V pneumatic solenoid valves. The Pneumatic Hub features 16 solenoid channels which allow for up to 16 single-acting solenoids, 8 double-acting solenoids, or a combination of the two types.
+
    property
       In :term:`NetworkTables`, named information (metadata) about a :term:`topic` stored and updated separately from the topic's data. A topic may have any number of properties. A property's value can be any data type that can be represented in JSON.
 
@@ -131,38 +211,63 @@ FRC Glossary
    pose
       The collection of position and rotation information that describes how a rigid body is oriented in space, relative to some fixed reference point.
 
+   pose estimation
+      The process of estimating the robot's pose, commonly with :term:`odometry` and/or :term:`AprilTags`. Also known as *on-field localization*.
+
+   PWM
+      Pulse-width modulation - a method of controlling the average power or amplitude delivered by an electrical signal.  Used in FRC to control the output of motors not using the :term:`CAN` bus.
+
+   Python
+      One of the four officially supported programming languages.
+
    RAII
-      Resource Acquisition Is Initialization; a language behavior (in C++, but not in Java) where holding a resource is tied to object lifetime.
+      Resource Acquisition Is Initialization - a language behavior (in C++, but not in Java) where holding a resource is tied to object lifetime.
 
    retro-reflection
-      The property of reflecting incoming light back at the same angle it came in at, rather than an incident angle (like a mirror), absorbing it, or scattering it. Most FRC vision processing targets are retro-reflective. See `retroreflector <https://en.wikipedia.org/wiki/Retroreflector>`_ on Wikipedia for more information.
+      The property of reflecting incoming light back at the same angle it came in at, rather than an incident angle (like a mirror), absorbing it, or scattering it. Most FRC vision processing targets are retro-reflective. See [retroreflector](https://en.wikipedia.org/wiki/Retroreflector) on Wikipedia for more information.
 
    recursive composition
-      A type of :term:`composition` in which the composite object may contain components of the same type as itself. For example, a command group may contain one or more command groups. See `recursive composition <https://en.wikipedia.org/wiki/Object_composition#Recursive_composition>`__ on Wikipedia for more info. See also :term:`recursive composition`.
+      A type of :term:`composition` in which the composite object may contain components of the same type as itself. For example, a command group may contain one or more command groups. See [recursive composition](https://en.wikipedia.org/wiki/Object_composition#Recursive_composition) on Wikipedia for more info. See also :term:`recursive composition`.
 
    retained
       In :term:`NetworkTables`, a :term:`topic` that is kept alive by the server even after all publishers stop publishing.
 
+   REV
+      [REV Robotics](https://www.revrobotics.com/) - inspires innovation and creativity within the educational robotics community by offering comprehensive product lines, extensive educational resources, world-class customer service, and specialized sponsorship programs. With a global presence spanning over 190 countries, we empower the next generation of STEM professionals by providing cutting-edge solutions and essential tools for success. Founded in 2014 by robotics enthusiasts Greg Needel and David Yanoshak, REV Robotics is driven by the mission to inspire and support students as they explore the exciting world of robotics and unlock their full robotic design potential. A majority of our employees are FIRST Alumni who remain actively involved, serving as volunteers and mentors for the local FIRST Community. This deep engagement reflects our commitment to supporting and inspiring the next generation of STEM enthusiasts.
+
+   RPM
+      Radio Power Module - is designed to keep one of the most critical system components, the OpenMesh OM5P-AC WiFi radio, powered in the toughest moments of the competition.
+      Revolutions Per Minute - a unit of rotational speed often used when describing motors.
+
+   RSL
+      Robot Signal Light - safety light on every FRC robot used to indicate its operational status.
+
    serialized
-      The property of a data organization scheme that allows the description of the data to be sent in order, byte by byte, over some communication channel. Reading or writing a file on disk is done in this serial fashion (IE, the data is read or written byte by byte, not all at once). Sending data over a SPI or I2C bus is also done byte by byte, again requiring the data can be serialized.
+      The property of a data organization scheme that allows the description of the data to be sent in order, byte by byte, over some communication channel. Reading or writing a file on disk is done in this serial fashion (IE, the data is read or written byte by byte, not all at once). Sending data over a :term:`SPI` or :term:`I2C` bus is also done byte by byte, again requiring the data can be serialized.
 
    simulation
       A way for teams to test their code without having an actual robot available.
 
    software library
-      A collection of code that can be imported into and used by other software. See `software library <https://en.wikipedia.org/wiki/Library_(computing)>`__ on Wikipedia for more info.
+      A collection of code that can be imported into and used by other software. See [software library](https://en.wikipedia.org/wiki/Library_%28computing%29) on Wikipedia for more info.
 
    solenoid valve
-      A airflow-controlling valve which is actuated by a small electromagnet. Strictly speaking, the *solenoid* is the coil of wire which forms the electromagnet, and the *valve* is the mechanism which actually redirects airflow. However, the set of solenoid and valve together is often simply called "a solenoid". See `solenoid valve <https://en.wikipedia.org/wiki/Solenoid_valve>`__. on Wikipedia for more info.
+      A airflow-controlling valve which is actuated by a small electromagnet. Strictly speaking, the *solenoid* is the coil of wire which forms the electromagnet, and the *valve* is the mechanism which actually redirects airflow. However, the set of solenoid and valve together is often simply called "a solenoid". See [solenoid valve](https://en.wikipedia.org/wiki/Solenoid_valve). on Wikipedia for more info.
+
+   SPI
+      Serial Peripheral Interface - protocol for synchronous serial communication, used primarily in embedded systems for short-distance wired communication between integrated circuits.
 
    state machine
-      A programming construct that divides a problem into many discrete, well-defined, mutually-exclusive "states", then defines how the problem is solved by moving between different states. See `state machine <https://en.wikipedia.org/wiki/Finite-state_machine>`__ on Wikipedia for more more info.
+      A programming construct that divides a problem into many discrete, well-defined, mutually-exclusive "states", then defines how the problem is solved by moving between different states. See [state machine](https://en.wikipedia.org/wiki/Finite-state_machine) on Wikipedia for more more info.
 
    subscriber
       In :term:`NetworkTables`, an object that receives timestamped data value updates to one or more :term:`topic`\s.
 
+   TBA
+      The Blue Alliance - [Website](https://www.thebluealliance.com/) for looking up :term:`FRC` team statistics and event information.
+
    telemetry
-      The process of recording and sending real-time data about the performance of your robot to a real-time readout or log file. For the linguists among us, the word's roots are "tele" (remote) and "metry" (measurement). See `telemetry <https://en.wikipedia.org/wiki/Telemetry>`__ on Wikipedia for more info.
+      The process of recording and sending real-time data about the performance of your robot to a real-time readout or log file. For the linguists among us, the word's roots are "tele" (remote) and "metry" (measurement). See [telemetry](https://en.wikipedia.org/wiki/Telemetry) on Wikipedia for more info.
 
    teleop
       The second phase of each match is called the Teleoperated Period (teleop) and consists of drivers controlling their robots.
@@ -178,3 +283,12 @@ FRC Glossary
 
    transitory
       In :term:`NetworkTables`, a :term:`topic` that will disappear after the last :term:`publisher` stops publishing.
+
+   VRM
+      Voltage Regulator Module - provides access to different constant voltages for custom sensors, cameras, or other unique applications. 12V DC Input Directly fed power from the Power Distribution Panel Designed to work with the roboRIO FRC control system.
+
+   WCP
+      [WestCoast Products & Design LLC](https://wcproducts.com/) - was founded in Fall of 2011 by Ranjit Chahal (R.C.) and Harvey Rico. WCP aims to provide FIRST Teams, Hobbyists, and educators top notch quality products and designs for their projects.
+
+   WFA
+      Woodie Flowers Award - This award recognizes an individual who has done an outstanding job of motivation through communication while also challenging the students to be clear and succinct in their communications.
diff --git a/source/docs/software/hardware-apis/index.rst b/source/docs/software/hardware-apis/index.rst
index 3d59209e8a..5266ea0f9b 100644
--- a/source/docs/software/hardware-apis/index.rst
+++ b/source/docs/software/hardware-apis/index.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Hardware APIs
-=============
+# Hardware APIs
 
 This section discusses the control of motors and pneumatics through motor controllers, solenoids and pneumatics, and their interface with Java and C++ WPILib.
 
@@ -13,10 +12,9 @@ This section discusses the control of motors and pneumatics through motor contro
    sensors/index
    misc/index
 
-Motor Controllers
------------------
+## Motor Controllers
 
-A motor controller is responsible on your robot for making motors move. For brushed DC motors such as CIMs or 775s, the motor controller regulates the voltage that the motor receives, much like a light bulb. For brushless motor controllers such as the Spark MAX, the controller regulates the power delivered to each "phase" of the motor.
+A motor controller is responsible on your robot for making motors move. For brushed DC motors such as the :term:`CIM` or 775, the motor controller regulates the voltage that the motor receives, much like a light bulb. For brushless motor controllers such as the Spark MAX, the controller regulates the power delivered to each "phase" of the motor.
 
 .. note:: Another name for a motor controller is a speed controller.
 
@@ -24,18 +22,18 @@ A motor controller is responsible on your robot for making motors move. For brus
 
 .. warning:: Connecting a BRUSHLESS motor controller straight to power, such as to a conventional brushed motor controller, will destroy the motor!
 
-FRC Legal Motor Controllers
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### FRC Legal Motor Controllers
 
-Motor controllers come in lots of shapes, sizes and feature sets. This is the full list of FRC\ |reg| Legal motor controllers as of 2023:
+Motor controllers come in lots of shapes, sizes and feature sets. This is the full list of FRC\ |reg| Legal motor controllers as of 2024:
 
 - DMC 60/DMC 60c Motor Controller (P/N: 410-334-1, 410-334-2)
-- Jaguar Motor Controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367) connected to PWM only
+- Jaguar Motor Controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367) connected to :term:`PWM` only
 - Nidec Dynamo BLDC Motor with Controller to control integral actuator only (P/N 840205-000, am-3740)
 - SD540 Motor Controller (P/N: SD540x1, SD540x2, SD540x4, SD540Bx1, SD540Bx2, SD540Bx4, SD540C)
+- Spark Flex Motor Controller (P/N REV-11-2159, am-5276)
 - Spark Motor Controller (P/N: REV-11-1200, am-4260)
 - Spark MAX Motor Controller (P/N: REV-11-2158, am-4261)
-- Talon FX Motor Controller (P/N: 217-6515, 19-708850, am-6515, am-6515_Short) for controlling integral Falcon 500 only
+- Talon FX Motor Controller (P/N 217-6515, 19-708850, am-6515, am-6515_Short, WCP-0940) for controlling integral Falcon 500 or Kraken X60 only,
 - Talon Motor Controller (P/N: CTRE_Talon, CTRE_Talon_SR, and am-2195)
 - Talon SRX Motor Controller (P/N: 217-8080, am-2854, 14-838288)
 - Venom Motor with Controller (P/N BDC-10001) for controlling integral motor only​
@@ -45,24 +43,20 @@ Motor controllers come in lots of shapes, sizes and feature sets. This is the fu
 - Victor SPX Motor Controller (P/N: 217-9191, 17-868388, am-3748)
 
 
-Pneumatics
-----------
+## Pneumatics
 
 Pneumatics are a quick and easy way to make something that's in one state or another using compressed air. For information on operating pneumatics, see :doc:`pneumatics/index`.
 
-FRC Legal Pneumatics controllers
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### FRC Legal Pneumatics controllers
 
 - Pneumatics Control Module (P/N: am-2858, 217-4243)
 - Pneumatic Hub (P/N REV-11-1852)
 
-Relays
-------
+## Relays
 
 A relay controls power to a motor or custom electronics in an On/Off fashion.
 
-FRC Legal Relay Modules
-^^^^^^^^^^^^^^^^^^^^^^^
+### FRC Legal Relay Modules
 - Spike H-Bridge Relay (P/N: 217-0220 and SPIKE-RELAY-H)
 - Automation Direct Relay (P/N: AD-SSR6M12-DC200D, AD-SSR6M25-DC200D, AD-SSR6M40-DC200D)
 - Power Distribution Hub (PDH) switched channel (P/N REV-11-1850)
diff --git a/source/docs/software/hardware-apis/misc/addressable-leds.rst b/source/docs/software/hardware-apis/misc/addressable-leds.rst
index f64e0f2f69..d6a5686f36 100644
--- a/source/docs/software/hardware-apis/misc/addressable-leds.rst
+++ b/source/docs/software/hardware-apis/misc/addressable-leds.rst
@@ -1,10 +1,10 @@
-Addressable LEDs
-================
+# Addressable LEDs
 
-LED strips have been commonly used by teams for several years for a variety of reasons. They allow teams to debug robot functionality from the audience, provide a visual marker for their robot, and can simply add some visual appeal. WPILib has an API for controlling WS2812 LEDs with their data pin connected via PWM.
+LED strips have been commonly used by teams for several years for a variety of reasons. They allow teams to debug robot functionality from the audience, provide a visual marker for their robot, and can simply add some visual appeal. WPILib has an API for controlling WS2812 LEDs with their data pin connected via :term:`PWM`.
 
-Instantiating the AddressableLED Object
----------------------------------------
+.. note:: LEDs can be controlled through this API while the robot is disabled.
+
+## Instantiating the AddressableLED Object
 
 You first create an ``AddressableLED`` object that takes the PWM port as an argument. It *must* be a PWM header on the roboRIO. Then you set the number of LEDs located on your LED strip, which can be done with the ``setLength()`` function.
 
@@ -19,7 +19,7 @@ After the length of the strip has been set, you'll have to create an ``Addressab
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
          :language: java
          :lines: 17-32
          :linenos:
@@ -28,27 +28,25 @@ After the length of the strip has been set, you'll have to create an ``Addressab
    .. tab-item:: C++
       :sync: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
+         :language: c++
          :lines: 12-12, 18-27
          :linenos:
          :lineno-start: 11
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
+         :language: c++
          :lines: 7-13
          :linenos:
          :lineno-start: 7
 
 .. note:: The roboRIO only supports only 1 ``AddressableLED`` object. As WS2812B LEDs are connected in series, you can drive several strips connected in series from from ``AddressableLED`` object.
 
-Setting the Entire Strip to One Color
--------------------------------------
+## Setting the Entire Strip to One Color
 
 Color can be set to an individual led on the strip using two methods. ``setRGB()`` which takes RGB values as an input and ``setHSV()`` which takes HSV values as an input.
 
-Using RGB Values
-^^^^^^^^^^^^^^^^
+### Using RGB Values
 
 RGB stands for Red, Green, and Blue. This is a fairly common color model as it's quite easy to understand. LEDs can be set with the ``setRGB`` method that takes 4 arguments: index of the LED, amount of red, amount of green, amount of blue. The amount of Red, Green, and Blue are integer values between 0-255.
 
@@ -57,30 +55,27 @@ RGB stands for Red, Green, and Blue. This is a fairly common color model as it's
    .. tab-item:: Java
       :sync: Java
 
-      .. code-block:: Java
-
-         for (var i = 0; i < m_ledBuffer.getLength(); i++) {
-            // Sets the specified LED to the RGB values for red
-            m_ledBuffer.setRGB(i, 255, 0, 0);
-         }
-
-         m_led.setData(m_ledBuffer);
+      ```Java
+      for (var i = 0; i < m_ledBuffer.getLength(); i++) {
+         // Sets the specified LED to the RGB values for red
+         m_ledBuffer.setRGB(i, 255, 0, 0);
+      }
+      m_led.setData(m_ledBuffer);
+      ```
 
    .. tab-item:: C++
       :sync: C++
 
-      .. code-block:: C++
-
-         for (int i = 0; i < kLength; i++) {
-            m_ledBuffer[i].SetRGB(255, 0, 0);
-         }
-
-         m_led.SetData(m_ledBuffer);
+      ```C++
+      for (int i = 0; i < kLength; i++) {
+         m_ledBuffer[i].SetRGB(255, 0, 0);
+      }
+      m_led.SetData(m_ledBuffer);
+      ```
 
-Using HSV Values
-^^^^^^^^^^^^^^^^
+### Using HSV Values
 
-HSV stands for Hue, Saturation, and Value. Hue describes the color or tint, saturation being the amount of gray, and value being the brightness. In WPILib, Hue is an integer from 0 - 180. Saturation and Value are integers from 0 - 255. If you look at a color picker like `Google's <https://www.google.com/search?q=color+picker>`_, Hue will be 0 - 360 and Saturation and Value are from 0% to 100%. This is the same way that OpenCV handles HSV colors. Make sure the HSV values entered to WPILib are correct, or the color produced might not be the same as was expected.
+HSV stands for Hue, Saturation, and Value. Hue describes the color or tint, saturation being the amount of gray, and value being the brightness. In WPILib, Hue is an integer from 0 - 180. Saturation and Value are integers from 0 - 255. If you look at a color picker like [Google's](https://www.google.com/search?q=color+picker), Hue will be 0 - 360 and Saturation and Value are from 0% to 100%. This is the same way that OpenCV handles HSV colors. Make sure the HSV values entered to WPILib are correct, or the color produced might not be the same as was expected.
 
 .. image:: images/hsv-models.png
    :alt: HSV models picture
@@ -92,28 +87,25 @@ LEDs can be set with the ``setHSV`` method that takes 4 arguments: index of the
    .. tab-item:: Java
       :sync: Java
 
-      .. code-block:: Java
-
-         for (var i = 0; i < m_ledBuffer.getLength(); i++) {
-            // Sets the specified LED to the HSV values for red
-            m_ledBuffer.setHSV(i, 0, 100, 100);
-         }
-
-         m_led.setData(m_ledBuffer);
+      ```Java
+      for (var i = 0; i < m_ledBuffer.getLength(); i++) {
+         // Sets the specified LED to the HSV values for red
+         m_ledBuffer.setHSV(i, 0, 100, 100);
+      }
+      m_led.setData(m_ledBuffer);
+      ```
 
    .. tab-item:: C++
       :sync: C++
 
-      .. code-block:: C++
-
-         for (int i = 0; i < kLength; i++) {
-            m_ledBuffer[i].SetHSV(0, 100, 100);
-         }
-
-         m_led.SetData(m_ledBuffer);
+      ```C++
+      for (int i = 0; i < kLength; i++) {
+         m_ledBuffer[i].SetHSV(0, 100, 100);
+      }
+      m_led.SetData(m_ledBuffer);
+      ```
 
-Creating a Rainbow Effect
--------------------------
+## Creating a Rainbow Effect
 
 The below method does a couple of important things. Inside of the *for* loop, it equally distributes the hue over the entire length of the strand and stores the individual LED hue to a variable called ``hue``. Then the for loop sets the HSV value of that specified pixel using the ``hue`` value.
 
@@ -126,7 +118,7 @@ Moving outside of the for loop, the ``m_rainbowFirstPixelHue`` then iterates the
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
          :language: java
          :lines: 42-55
          :linenos:
@@ -135,8 +127,8 @@ Moving outside of the for loop, the ``m_rainbowFirstPixelHue`` then iterates the
    .. tab-item:: C++
       :sync: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
+         :language: c++
          :lines: 22-35
          :linenos:
          :lineno-start: 22
@@ -148,7 +140,7 @@ Now that we have our ``rainbow`` method created, we have to actually call the me
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
          :language: java
          :lines: 34-40
          :linenos:
@@ -157,8 +149,8 @@ Now that we have our ``rainbow`` method created, we have to actually call the me
    .. tab-item:: C++
       :sync: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
+         :language: c++
          :lines: 15-20
          :linenos:
          :lineno-start: 15
diff --git a/source/docs/software/hardware-apis/misc/images/hsv-models.png b/source/docs/software/hardware-apis/misc/images/hsv-models.png
index 4811ccad8c..e5041e275d 100644
Binary files a/source/docs/software/hardware-apis/misc/images/hsv-models.png and b/source/docs/software/hardware-apis/misc/images/hsv-models.png differ
diff --git a/source/docs/software/hardware-apis/misc/index.rst b/source/docs/software/hardware-apis/misc/index.rst
index 4a30ae39d8..18b9b241ac 100644
--- a/source/docs/software/hardware-apis/misc/index.rst
+++ b/source/docs/software/hardware-apis/misc/index.rst
@@ -1,5 +1,4 @@
-Miscellaneous Hardware APIs
-===========================
+# Miscellaneous Hardware APIs
 
 This section highlights miscellaneous hardware APIs that are standalone.
 
diff --git a/source/docs/software/hardware-apis/motors/images/am-14u4-6in-mecanum-upgrade.png b/source/docs/software/hardware-apis/motors/images/am-14u4-6in-mecanum-upgrade.png
index bfbab352c7..ac9a71527d 100644
Binary files a/source/docs/software/hardware-apis/motors/images/am-14u4-6in-mecanum-upgrade.png and b/source/docs/software/hardware-apis/motors/images/am-14u4-6in-mecanum-upgrade.png differ
diff --git a/source/docs/software/hardware-apis/motors/images/drive-axis.png b/source/docs/software/hardware-apis/motors/images/drive-axis.png
index 82d2ee3cc1..537efca5b3 100644
Binary files a/source/docs/software/hardware-apis/motors/images/drive-axis.png and b/source/docs/software/hardware-apis/motors/images/drive-axis.png differ
diff --git a/source/docs/software/hardware-apis/motors/index.rst b/source/docs/software/hardware-apis/motors/index.rst
index b9108c7027..760744d502 100644
--- a/source/docs/software/hardware-apis/motors/index.rst
+++ b/source/docs/software/hardware-apis/motors/index.rst
@@ -1,5 +1,4 @@
-Motors APIs
-===========
+# Motors APIs
 
 Programming your motors are absolutely essential to a moving robot! This section showcases some helpful classes and examples for getting your robot up and moving!
 
diff --git a/source/docs/software/hardware-apis/motors/pwm-controllers.rst b/source/docs/software/hardware-apis/motors/pwm-controllers.rst
index e156f23dba..0b63698378 100644
--- a/source/docs/software/hardware-apis/motors/pwm-controllers.rst
+++ b/source/docs/software/hardware-apis/motors/pwm-controllers.rst
@@ -1,23 +1,19 @@
 .. include:: <isonum.txt>
 
-PWM Motor Controllers in Depth
-==============================
+# PWM Motor Controllers in Depth
 
 .. hint:: WPILib has extensive support for motor control. There are a number of classes that represent different types of motor controllers and servos.  There are currently two classes of motor controllers, PWM based motor controllers and CAN based motor controllers. WPILib also contains composite classes (like DifferentialDrive) which allow you to control multiple motors with a single object. This article will cover the details of PWM motor controllers; CAN controllers and composite classes will be covered in separate articles.
 
-PWM Controllers, brief theory of operation
-------------------------------------------
+## PWM Controllers, brief theory of operation
 
-The acronym PWM stands for Pulse Width Modulation. For motor controllers, PWM can refer to both the input signal and the method the controller uses to control motor speed. To control the speed of the motor the controller must vary the perceived input voltage of the motor. To do this the controller switches the full input voltage on and off very quickly, varying the amount of time it is on based on the control signal. Because of the mechanical and electrical time constants of the types of motors used in FRC\ |reg| this rapid switching produces an effect equivalent to that of applying a fixed lower voltage (50% switching produces the same effect as applying ~6V).
+The acronym :term:`PWM` stands for Pulse Width Modulation. For motor controllers, PWM can refer to both the input signal and the method the controller uses to control motor speed. To control the speed of the motor the controller must vary the perceived input voltage of the motor. To do this the controller switches the full input voltage on and off very quickly, varying the amount of time it is on based on the control signal. Because of the mechanical and electrical time constants of the types of motors used in FRC\ |reg| this rapid switching produces an effect equivalent to that of applying a fixed lower voltage (50% switching produces the same effect as applying ~6V).
 
 The PWM signal the controllers use for an input is a little bit different. Even at the bounds of the signal range (max forward or max reverse) the signal never approaches a duty cycle of 0% or 100%. Instead the controllers use a signal with a period of either 5ms or 10ms and a midpoint pulse width of 1.5ms. Many of the controllers use the typical hobby RC controller timing of 1ms to 2ms.
 
-Raw vs Scaled output values
----------------------------
+## Raw vs Scaled output values
 
 In general, all of the motor controller classes in WPILib take a scaled -1.0 to 1.0 value as the output to an actuator. The PWM module in the FPGA on the roboRIO is capable of generating PWM signals with periods of 5, 10, or 20ms and can vary the pulse width in 4096 steps of 1us each . The raw values sent to this module are in this 0-4096 range with 0 being a special case which holds the signal low (disabled). The class for each motor controller contains information about what the typical bound values (min, max and each side of the deadband) are as well as the typical midpoint. WPILib can then use these values to map the scaled value into the proper range for the motor controller. This allows for the code to switch seamlessly between different types of controllers and abstracts out the details of the specific signaling.
 
-Calibrating Motor Controllers
------------------------------
+## Calibrating Motor Controllers
 
 So if WPILib handles all this scaling, why would you ever need to calibrate your motor controller? The values WPILib uses for scaling are approximate based on measurement of a number of samples of each controller type. Due to a variety of factors, the timing of an individual motor controller may vary slightly. In order to definitively eliminate "humming" (midpoint signal interpreted as slight movement in one direction) and drive the controller all the way to each extreme, calibrating the controllers is still recommended. In general, the calibration procedure for each controller involves putting the controller into calibration mode then driving the input signal to each extreme, then back to the midpoint. For examples on how to use these motor controllers in your code, see :doc:`Using Motor Controllers in Code/Using PWM Motor Controllers <using-motor-controllers>`
diff --git a/source/docs/software/hardware-apis/motors/servos.rst b/source/docs/software/hardware-apis/motors/servos.rst
index a84c836cdd..eb5aefdcfd 100644
--- a/source/docs/software/hardware-apis/motors/servos.rst
+++ b/source/docs/software/hardware-apis/motors/servos.rst
@@ -1,46 +1,43 @@
-Repeatable Low Power Movement - Controlling Servos with WPILib
-==============================================================
+# Repeatable Low Power Movement - Controlling Servos with WPILib
 
 Servo motors are a type of motor which integrates positional feedback into the motor in order to allow a single motor to perform repeatable, controllable movement, taking position as the input signal. WPILib provides the capability to control servos which match the common hobby input specification (Pulse Width Modulation (PWM) signal, 0.6 ms - 2.4 ms pulse width)
 
-Constructing a Servo object
----------------------------
+## Constructing a Servo object
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    Servo exampleServo = new Servo(1);
+    ```
 
-        Servo exampleServo = new Servo(1);
+    ```c++
+    frc::Servo exampleServo {1};
+    ```
 
-    .. code-block:: c++
-
-        frc::Servo exampleServo {1};
-
-    .. code-block:: python
-
-       exampleServo = wpilib.Servo(1)
+    ```python
+    exampleServo = wpilib.Servo(1)
+    ```
 
 A servo object is constructed by passing a channel.
 
-Setting Servo Values
---------------------
+## Setting Servo Values
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        exampleServo.set(.5);
-        exampleServo.setAngle(75);
-
-    .. code-block:: c++
-
-        exampleServo.Set(.5);
-        exampleServo.SetAngle(75);
+    ```java
+    exampleServo.set(.5);
+    exampleServo.setAngle(75);
+    ```
 
-    .. code-block:: python
+    ```c++
+    exampleServo.Set(.5);
+    exampleServo.SetAngle(75);
+    ```
 
-       exampleServo.set(.5)
-       exampleServo.setAngle(75)
+    ```python
+    exampleServo.set(.5)
+    exampleServo.setAngle(75)
+    ```
 
 There are two methods of setting servo values in WPILib:
 
diff --git a/source/docs/software/hardware-apis/motors/using-motor-controllers.rst b/source/docs/software/hardware-apis/motors/using-motor-controllers.rst
index cc635bb472..0c96ba54bd 100644
--- a/source/docs/software/hardware-apis/motors/using-motor-controllers.rst
+++ b/source/docs/software/hardware-apis/motors/using-motor-controllers.rst
@@ -1,59 +1,36 @@
-Using Motor Controllers in Code
-================================
+# Using Motor Controllers in Code
 
-Motor controllers come in two main flavors: CAN and PWM. A CAN controller can send more detailed status information back to the roboRIO, whereas a PWM controller can only be set to a value. For information on using these motors with the WPI drivetrain classes, see :doc:`wpi-drive-classes`.
+Motor controllers come in two main flavors: :term:`CAN` and :term:`PWM`. A CAN controller can send more detailed status information back to the roboRIO, whereas a PWM controller can only be set to a value. For information on using these motors with the WPILib drivetrain classes, see :doc:`wpi-drive-classes`.
 
-Using PWM Motor Controllers
----------------------------
+## Using PWM Motor Controllers
 
-PWM motor controllers can be controlled in the same way as a CAN motor controller. For a more detailed background on *how* they work, see :doc:`pwm-controllers`. To use a PWM motor controller, simply use the appropriate motor controller class provided by WPI and supply it the port the motor controller(s) are plugged into on the roboRIO. All approved motor controllers have WPI classes provided for them.
+PWM motor controllers can be controlled in the same way as a CAN motor controller. For a more detailed background on *how* they work, see :doc:`pwm-controllers`. To use a PWM motor controller, simply use the appropriate motor controller class provided by WPILib and supply it the port the motor controller(s) are plugged into on the roboRIO.  All approved motor controllers have WPILib classes provided for them.
 
 .. note:: The ``Spark`` and ``VictorSP`` classes are used here as an example; other PWM motor controller classes have exactly the same API.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      Spark spark = new Spark(0); // 0 is the RIO PWM port this is connected to
-
-      spark.set(-0.75); // the % output of the motor, between -1 and 1
-
-      VictorSP victor = new VictorSP(0); // 0 is the RIO PWM port this is connected to
-
-      victor.set(0.6); // the % output of the motor, between -1 and 1
-
-   .. code-block:: c++
-
-      frc::Spark spark{0}; // 0 is the RIO PWM port this is connected to
-
-      spark.Set(-0.75); // the % output of the motor, between -1 and 1
-
-      frc::VictorSP victor{0}; // 0 is the RIO PWM port this is connected to
-
-      victor.Set(0.6); // the % output of the motor, between -1 and 1
-
-   .. code-block:: python
-
-      spark = wpilib.Spark(0) # 0 is the RIO PWM port this is connected to
-
-      spark.set(-0.75) # the % output of the motor, between -1 and 1
-
-      victor = wpilib.VictorSP(0) # 0 is the RIO PWM port this is connected to
-
-      victor.set(0.6) # the % output of the motor, between -1 and 1
-
-
-CAN Motor Controllers
----------------------
-
-A handful of CAN motor controllers are available through vendors such as CTR Electronics and REV Robotics.
-
-SPARK MAX
-^^^^^^^^^
-
-For information regarding the SPARK MAX CAN Motor Controller, which can be used in either CAN or PWM mode, please refer to the SPARK MAX `software resources <https://www.revrobotics.com/sparkmax-software/>`_ and `example code. <https://github.com/REVrobotics/SPARK-MAX-Examples>`_
-
-CTRE CAN Motor Controllers
-^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Please refer to the third party CTRE documentation on the Phoenix software for more detailed information. The documentation is available `here. <https://docs.ctr-electronics.com/>`_
+   ```java
+   Spark spark = new Spark(0); // 0 is the RIO PWM port this is connected to
+   spark.set(-0.75); // the % output of the motor, between -1 and 1
+   VictorSP victor = new VictorSP(0); // 0 is the RIO PWM port this is connected to
+   victor.set(0.6); // the % output of the motor, between -1 and 1
+   ```
+
+   ```c++
+   frc::Spark spark{0}; // 0 is the RIO PWM port this is connected to
+   spark.Set(-0.75); // the % output of the motor, between -1 and 1
+   frc::VictorSP victor{0}; // 0 is the RIO PWM port this is connected to
+   victor.Set(0.6); // the % output of the motor, between -1 and 1
+   ```
+
+   ```python
+   spark = wpilib.Spark(0) # 0 is the RIO PWM port this is connected to
+   spark.set(-0.75) # the % output of the motor, between -1 and 1
+   victor = wpilib.VictorSP(0) # 0 is the RIO PWM port this is connected to
+   victor.set(0.6) # the % output of the motor, between -1 and 1
+   ```
+
+## CAN Motor Controllers
+
+A handful of CAN motor controllers are available through vendors such as CTR Electronics, REV Robotics, and Playing with Fusion. See :doc:`/docs/software/can-devices/third-party-devices`, :doc:`/docs/software/vscode-overview/3rd-party-libraries`, and :doc:`/docs/software/examples-tutorials/third-party-examples` for more information.
diff --git a/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst b/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst
index b93e59e9ce..208fb3bbc8 100644
--- a/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst
+++ b/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst
@@ -1,23 +1,19 @@
 .. include:: <isonum.txt>
 
-Using the WPILib Classes to Drive your Robot
-======================================================
+# Using the WPILib Classes to Drive your Robot
 
 WPILib includes many classes to help make your robot get driving faster.
 
-Standard drivetrains
---------------------
+## Standard drivetrains
 
-Differential Drive Robots
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Differential Drive Robots
 .. image:: /docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/layout.jpg
    :alt: The wiring of a simple differential drive robot.
    :width: 600
 
 These drive bases typically have two or more in-line traction or omni  wheels per side (e.g., 6WD or 8WD) and may also be known as  "skid-steer", "tank drive", or "West Coast Drive". The Kit of Parts  drivetrain is an example of a differential drive. These drivetrains are capable of driving forward/backward and can turn by driving the two sides in opposite directions causing the wheels to skid sideways. These drivetrains are not capable of sideways translational movement.
 
-Mecanum Drive
-^^^^^^^^^^^^^
+### Mecanum Drive
 .. image:: images/am-14u4-6in-mecanum-upgrade.png
    :alt: A four wheel Mecanum robot using the KOP chassis.
    :width: 600
@@ -26,57 +22,49 @@ Mecanum drive is a method of driving using specially designed wheels that allow
 
 When viewed from the top, the rollers on a mecanum drivetrain should form an 'X' pattern. This results in the force vectors (when driving the wheel forward) on the front two wheels pointing forward and inward and the rear two wheels pointing forward and outward. By spinning the wheels in different directions, various components of the force vectors cancel out, resulting in the desired robot movement. A quick chart of different movements has been provided below, drawing out the force vectors for each of these motions may help in understanding how these drivetrains work. By varying the speeds of the wheels in addition to the direction, movements can be combined resulting in translation in any direction and rotation, simultaneously.
 
-Drive Class Conventions
------------------------
+## Drive Class Conventions
 
-Motor Inversion
-^^^^^^^^^^^^^^^
+### Motor Inversion
 
-As of 2022, the right side of the drivetrain is **no longer** inverted by default. It is the responsibility of the user to manage proper inversions for their drivetrain. Users can invert motors by calling ``setInverted()``/``SetInverted()`` on their motor objects.
+It is the responsibility of the user to manage proper inversions for their drivetrain. Users can invert motors by calling ``setInverted()``/``SetInverted()`` on their motor objects. Typically for differential drive trains, one side must be inverted to avoid spinning in circles, since the forward direction of each side of the tank drive is opposite of each other.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      PWMSparkMax m_motorRight = new PWMSparkMax(0);
-
-      @Override
-      public void robotInit() {
-         m_motorRight.setInverted(true);
-      }
-
-   .. code-block:: cpp
-
-      frc::PWMSparkMax m_motorLeft{0};
-
-      public:
-       void RobotInit() override {
-         m_motorRight.SetInverted(true);
-       }
-
-   .. code-block:: python
-
-      def robotInit(self):
-          self.motorRight = wpilib.PWMSparkMax(0)
-          self.motorRight.setInverted(True)
-
-Squaring Inputs
-^^^^^^^^^^^^^^^
+   ```java
+   PWMSparkMax m_motorRight = new PWMSparkMax(0);
+   @Override
+   public void robotInit() {
+      m_motorRight.setInverted(true);
+   }
+   ```
+
+   ```c++
+   frc::PWMSparkMax m_motorLeft{0};
+   public:
+    void RobotInit() override {
+      m_motorRight.SetInverted(true);
+    }
+   ```
+
+   ```python
+   def robotInit(self):
+       self.motorRight = wpilib.PWMSparkMax(0)
+       self.motorRight.setInverted(True)
+   ```
+
+### Squaring Inputs
 
 When driving robots, it is often desirable to manipulate the joystick inputs such that the robot has finer control at low speeds while still using the full output range. One way to accomplish this is by squaring the joystick input, then reapplying the sign. By default the Differential Drive class will square the inputs. If this is not desired (e.g. if passing values in from a PIDController), use one of the drive methods with the squaredInputs parameter and set it to false.
 
-Input Deadband
-^^^^^^^^^^^^^^
+### Input Deadband
 
 By default, the Differential Drive class applies an input deadband of 0.02. This means that input values with a magnitude below 0.02 (after any squaring as described above) will be set to 0. In most cases these small inputs result from imperfect joystick centering and are not sufficient to cause drivetrain movement, the deadband helps reduce unnecessary motor heating that may result from applying these small values to the drivetrain. To change the deadband, use the `setDeadband()` method.
 
-Maximum Output
-^^^^^^^^^^^^^^
+### Maximum Output
 
 Sometimes drivers feel that their drivetrain is driving too fast and want to limit the output.  This can be accomplished with the `setMaxOutput()` method.  This maximum output is multiplied by result of the previous drive functions like deadband and squared inputs.
 
-Motor Safety
-^^^^^^^^^^^^
+### Motor Safety
 
 Motor Safety is a mechanism in WPILib that takes the concept of a watchdog and breaks it out into one watchdog (Motor Safety timer) for each individual actuator. Note that this protection mechanism is in addition to the System Watchdog which is controlled by the Network Communications code and the FPGA and will disable all actuator outputs if it does not receive a valid data packet for 125ms.
 
@@ -88,38 +76,38 @@ The Motor Safety interface of motor controllers can be interacted with by the us
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        exampleJaguar.setSafetyEnabled(true);
-        exampleJaguar.setSafetyEnabled(false);
-        exampleJaguar.setExpiration(.1);
-        exampleJaguar.feed()
-
-    .. code-block:: c++
-
-        exampleJaguar->SetSafetyEnabled(true);
-        exampleJaguar->SetSafetyEnabled(false);
-        exampleJaguar->SetExpiration(.1);
-        exampleJaguar->Feed();
-
-    .. code-block:: python
-
-       exampleJaguar.setSafetyEnabled(True)
-       exampleJaguar.setSafetyEnabled(False)
-       exampleJaguar.setExpiration(.1)
-       exampleJaguar.feed()
+    ```java
+    m_motorRight.setSafetyEnabled(true);
+    m_motorRight.setSafetyEnabled(false);
+    m_motorRight.setExpiration(.1);
+    m_motorRight.feed()
+    ```
+
+    ```c++
+    m_motorRight->SetSafetyEnabled(true);
+    m_motorRight->SetSafetyEnabled(false);
+    m_motorRight->SetExpiration(.1);
+    m_motorRight->Feed();
+    ```
+
+    ```python
+    m_motorRight.setSafetyEnabled(True)
+    m_motorRight.setSafetyEnabled(False)
+    m_motorRight.setExpiration(.1)
+    m_motorRight.feed()
+    ```
 
 By default all Drive objects enable Motor Safety. Depending on the mechanism and the structure of your program, you may wish to configure the timeout length of the motor safety (in seconds). The timeout length is configured on a per actuator basis and is not a global setting. The default (and minimum useful) value is 100ms.
 
-Axis Conventions
-^^^^^^^^^^^^^^^^
+### Axis Conventions
 
 The drive classes use the NWU axes convention (North-West-Up as external reference in the world frame). The positive X axis points ahead, the positive Y axis points left, and the positive Z axis points up. We use NWU here because the rest of the library, and math in general, use NWU axes convention.
 
 Joysticks follow NED (North-East-Down) convention, where the positive X axis points ahead, the positive Y axis points right, and the positive Z axis points down. However, it's important to note that axes values are rotations around the respective axes, not translations. When viewed with each axis pointing toward you, CCW is a positive value and CW is a negative value. Pushing forward on the joystick is a CW rotation around the Y axis, so you get a negative value. Pushing to the right is a CCW rotation around the X axis, so you get a positive value.
 
-Using the DifferentialDrive class to control Differential Drive robots
-----------------------------------------------------------------------
+.. note:: See the :doc:`/docs/software/basic-programming/coordinate-system` section for more detail about the axis conventions and coordinate systems.
+
+## Using the DifferentialDrive class to control Differential Drive robots
 
 .. note:: WPILib provides separate Robot Drive classes for the most common drive train configurations (differential and mecanum).  The DifferentialDrive class handles the differential drivetrain configuration. These drive bases typically have two or more in-line traction or omni wheels per side (e.g., 6WD or 8WD) and may also be known as "skid-steer", "tank drive", or "West Coast Drive" (WCD). The Kit of Parts drivetrain is an example of a differential drive. There are methods to control the drive with 3 different styles ("Tank", "Arcade", or "Curvature"), explained in the article below.
 
@@ -130,124 +118,87 @@ DifferentialDrive is a method provided for the control of "skid-steer" or "West
     .. tab-item:: Java
      :sync: Java
 
-        .. code-block:: java
-
-            public class Robot {
-                Spark m_left = new Spark(1);
-                Spark m_right = new Spark(2);
-                DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right);
-
-                public void robotInit() {
-                    m_left.setInverted(true); // if you want to invert motor outputs, you must do so here
-                }
+        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
+            :language: java
+            :lines: 17-18,22-23,24-26,30-35,38
 
     .. tab-item:: C++ (Header)
      :sync: C++ (Header)
 
-        .. code-block:: cpp
-
-            class Robot {
-                private:
-                    frc::Spark m_left{1};
-                    frc::Spark m_right{2};
-                    frc::DifferentialDrive m_drive{m_left, m_right};
+        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
+            :language: c++
+            :lines: 15-19
 
     .. tab-item:: C++ (Source)
      :sync: C++ (Source)
 
-        .. code-block:: cpp
-
-            void Robot::RobotInit() {
-                m_left.SetInverted(true); // if you want to invert motor outputs, you must do so here
-            }
+        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
+            :language: c++
+            :lines: 24, 28-32
 
     .. tab-item:: Python
      :sync: Python
 
+        .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/TankDrive/robot.py
+           :language: python
+           :lines: 18-23,27-30
 
-       .. code-block:: python
 
-          def robotInit(self):
-              left = wpilib.Spark(1)
-              left.setInverted(True) # if you want to invert motor outputs, you can do so here
-              right = wpilib.Spark(2)
-              self.drive = wpilib.drive.DifferentialDrive(left, right)
+### Multi-Motor DifferentialDrive
 
-
-Multi-Motor DifferentialDrive with MotorControllerGroups
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Many FRC\ |reg| drivetrains have more than 1 motor on each side. In order to use these with DifferentialDrive, the motors on each side have to be collected into a single MotorController, using the MotorControllerGroup class. The examples below show a 4 motor (2 per side) drivetrain. To extend to more motors, simply create the additional controllers and pass them all into the MotorController group constructor (it takes an arbitrary number of inputs).
+Many FRC\ |reg| drivetrains have more than 1 motor on each side. Classes derived from ``PWMMotorController`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.html) / [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_p_w_m_motor_controller.html) / :external:py:class:`Python <wpilib.PWMMotorController>`) have an ``addFollower`` method so that multiple follower motor controllers can be updated when the leader motor controller is commanded. CAN motor controllers have similar features, review the vendor's documentation to see how to use them. The examples below show a 4 motor (2 per side) drivetrain. To extend to more motors, simply create the additional controllers and use additional ``addFollower`` calls.
 
 .. tab-set::
 
     .. tab-item:: Java
      :sync: Java
 
-        .. code-block:: java
+        Class variables (e.g. in Robot.java or Subsystem):
 
-            public class Robot {
-                Spark m_frontLeft = new Spark(1);
-                Spark m_rearLeft = new Spark(2);
-                MotorControllerGroup m_left = new MotorControllerGroup(m_frontLeft, m_rearLeft);
+        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+            :language: java
+            :lines: 19-25
 
-                Spark m_frontRight = new Spark(3);
-                Spark m_rearRight = new Spark(4);
-                MotorControllerGroup m_right = new MotorControllerGroup(m_frontRight, m_rearRight);
-                DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right);
+        In robotInit or Subsystem constructor:
 
-                public void robotInit() {
-                    m_left.setInverted(true); // if you want to invert the entire side you can do so here
-                }
+        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+            :language: java
+            :lines: 56-62
 
     .. tab-item:: C++ (Header)
      :sync: C++ (Header)
 
-        .. code-block:: c++
-
-            class Robot {
-                public:
-                    frc::Spark m_frontLeft{1};
-                    frc::Spark m_rearLeft{2};
-                    frc::MotorControllerGroup m_left{m_frontLeft, m_rearLeft};
-
-                    frc::Spark m_frontRight{3};
-                    frc::Spark m_rearRight{4};
-                    frc::MotorControllerGroup m_right{m_frontRight, m_rearRight};
-
-                    frc::DifferentialDrive m_drive{m_left, m_right};
+        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
+            :language: c++
+            :lines: 114, 118-126
 
     .. tab-item:: C++ (Source)
      :sync: C++ (Source)
 
-        .. code-block:: c++
+        In robotInit or Subsystem constructor:
 
-            void Robot::RobotInit() {
-                m_left.SetInverted(true); // if you want to invert the entire side you can do so here
-            }
+        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+            :language: c++
+            :lines: 23-29
 
     .. tab-item:: Python
      :sync: Python
 
-
-       .. code-block:: python
-
-          def robotInit(self):
-              frontLeft = wpilib.Spark(1)
-              rearLeft = wpilib.Spark(2)
-              left = wpilib.MotorControllerGroup(frontLeft, rearLeft)
-              left.setInverted(True) # if you want to invert the entire side you can do so here
-
-              frontRight = wpilib.Spark(3)
-              rearRight = wpilib.Spark(4)
-              right = wpilib.MotorControllerGroup(frontLeft, rearLeft)
-
-              self.drive = wpilib.drive.DifferentialDrive(left, right)
-
-
-
-Drive Modes
-^^^^^^^^^^^
+       .. note:: MotorControllerGroup is :term:`deprecated` in 2024. Can you help update this example?
+
+       ```python
+       def robotInit(self):
+           frontLeft = wpilib.Spark(1)
+           rearLeft = wpilib.Spark(2)
+           left = wpilib.MotorControllerGroup(frontLeft, rearLeft)
+           left.setInverted(True) # if you want to invert the entire side you can do so here
+           frontRight = wpilib.Spark(3)
+           rearRight = wpilib.Spark(4)
+           right = wpilib.MotorControllerGroup(frontLeft, rearLeft)
+           self.drive = wpilib.drive.DifferentialDrive(left, right)
+       ```
+
+### Drive Modes
 .. note::
     The DifferentialDrive class contains three different default modes of driving your robot's motors.
 
@@ -265,71 +216,57 @@ Like Arcade Drive, the Curvature Drive mode is used to control the drivetrain us
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        public void teleopPeriodic() {
-            // Tank drive with a given left and right rates
-            myDrive.tankDrive(-leftStick.getY(), -rightStick.getY());
-
-            // Arcade drive with a given forward and turn rate
-            myDrive.arcadeDrive(-driveStick.getY(), -driveStick.getX());
-
-            // Curvature drive with a given forward and turn rate, as well as a button for turning in-place.
-            myDrive.curvatureDrive(-driveStick.getY(), -driveStick.getX(), driveStick.getButton(1));
-        }
-
-    .. code-block:: c++
-
-        void TeleopPeriodic() override {
-            // Tank drive with a given left and right rates
-            myDrive.TankDrive(-leftStick.GetY(), -rightStick.GetY());
-
-            // Arcade drive with a given forward and turn rate
-            myDrive.ArcadeDrive(-driveStick.GetY(), -driveStick.GetX());
-
-            // Curvature drive with a given forward and turn rate, as well as a quick-turn button
-            myDrive.CurvatureDrive(-driveStick.GetY(), -driveStick.GetX(), driveStick.GetButton(1));
-        }
-
-    .. code-block:: python
-
-       def teleopPeriodic(self):
-           # Tank drive with a given left and right rates
-           self.myDrive.tankDrive(-self.leftStick.getY(), -self.rightStick.getY())
-
-           # Arcade drive with a given forward and turn rate
-           self.myDrive.arcadeDrive(-self.driveStick.getY(), -self.driveStick.getX())
-
-           # Curvature drive with a given forward and turn rate, as well as a button for turning in-place.
-           self.myDrive.curvatureDrive(-self.driveStick.getY(), -self.driveStick.getX(), self.driveStick.getButton(1))
-
-Using the MecanumDrive class to control Mecanum Drive robots
-------------------------------------------------------------
+    ```java
+    public void teleopPeriodic() {
+        // Tank drive with a given left and right rates
+        myDrive.tankDrive(-leftStick.getY(), -rightStick.getY());
+        // Arcade drive with a given forward and turn rate
+        myDrive.arcadeDrive(-driveStick.getY(), -driveStick.getX());
+        // Curvature drive with a given forward and turn rate, as well as a button for turning in-place.
+        myDrive.curvatureDrive(-driveStick.getY(), -driveStick.getX(), driveStick.getButton(1));
+    }
+    ```
+
+    ```c++
+    void TeleopPeriodic() override {
+        // Tank drive with a given left and right rates
+        myDrive.TankDrive(-leftStick.GetY(), -rightStick.GetY());
+        // Arcade drive with a given forward and turn rate
+        myDrive.ArcadeDrive(-driveStick.GetY(), -driveStick.GetX());
+        // Curvature drive with a given forward and turn rate, as well as a quick-turn button
+        myDrive.CurvatureDrive(-driveStick.GetY(), -driveStick.GetX(), driveStick.GetButton(1));
+    }
+    ```
+
+    ```python
+    def teleopPeriodic(self):
+        # Tank drive with a given left and right rates
+        self.myDrive.tankDrive(-self.leftStick.getY(), -self.rightStick.getY())
+        # Arcade drive with a given forward and turn rate
+        self.myDrive.arcadeDrive(-self.driveStick.getY(), -self.driveStick.getX())
+        # Curvature drive with a given forward and turn rate, as well as a button for turning in-place.
+        self.myDrive.curvatureDrive(-self.driveStick.getY(), -self.driveStick.getX(), self.driveStick.getButton(1))
+    ```
+
+## Using the MecanumDrive class to control Mecanum Drive robots
 
 MecanumDrive is a method provided for the control of holonomic drivetrains with Mecanum wheels, such as the Kit of Parts chassis with the mecanum drive upgrade kit, as shown above. Instantiating a MecanumDrive is as simple as so:
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
         :language: java
-        :lines: 24-39
-        :linenos:
-        :lineno-start: 24
+        :lines: 15-18, 24-30, 37-42, 45
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
-        :language: cpp
-        :lines: 31-44
-        :linenos:
-        :lineno-start: 31
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+        :language: c++
+        :lines: 36-40, 43-53, 16, 22-26
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2023.4.3.0/mecanum-drive/robot.py
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/MecanumDrive/robot.py
       :language: python
-      :lines: 21-36
-      :linenos:
-      :lineno-start: 21
+      :lines: 18-22, 26-42
 
-Mecanum Drive Modes
-^^^^^^^^^^^^^^^^^^^
+### Mecanum Drive Modes
 .. note::
     The drive axis conventions are different from common joystick axis conventions. See the `Axis Conventions`_ above for more information.
 
@@ -341,34 +278,33 @@ The MecanumDrive class contains two different default modes of driving your robo
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        public void teleopPeriodic() {
-            // Drive using the X, Y, and Z axes of the joystick.
-            m_robotDrive.driveCartesian(-m_stick.getY(), -m_stick.getX(), -m_stick.getZ());
-            // Drive at 45 degrees relative to the robot, at the speed given by the Y axis of the joystick, with no rotation.
-            m_robotDrive.drivePolar(-m_stick.getY(), Rotation2d.fromDegrees(45), 0);
-        }
-
-    .. code-block:: c++
-
-        void TeleopPeriodic() override {
-            // Drive using the X, Y, and Z axes of the joystick.
-            m_robotDrive.driveCartesian(-m_stick.GetY(), -m_stick.GetX(), -m_stick.GetZ());
-            // Drive at 45 degrees relative to the robot, at the speed given by the Y axis of the joystick, with no rotation.
-            m_robotDrive.drivePolar(-m_stick.GetY(), 45_deg, 0);
-        }
-
-    .. code-block:: python
-
-       def teleopPeriodic(self):
-           // Drive using the X, Y, and Z axes of the joystick.
-           self.robotDrive.driveCartesian(-self.stick.getY(), -self.stick.getX(), -self.stick.getZ())
-           // Drive at 45 degrees relative to the robot, at the speed given by the Y axis of the joystick, with no rotation.
-           self.robotDrive.drivePolar(-self.stick.getY(), Rotation2d.fromDegrees(45), 0)
-
-Field-Oriented Driving
-^^^^^^^^^^^^^^^^^^^^^^
+    ```java
+    public void teleopPeriodic() {
+        // Drive using the X, Y, and Z axes of the joystick.
+        m_robotDrive.driveCartesian(-m_stick.getY(), -m_stick.getX(), -m_stick.getZ());
+        // Drive at 45 degrees relative to the robot, at the speed given by the Y axis of the joystick, with no rotation.
+        m_robotDrive.drivePolar(-m_stick.getY(), Rotation2d.fromDegrees(45), 0);
+    }
+    ```
+
+    ```c++
+    void TeleopPeriodic() override {
+        // Drive using the X, Y, and Z axes of the joystick.
+        m_robotDrive.driveCartesian(-m_stick.GetY(), -m_stick.GetX(), -m_stick.GetZ());
+        // Drive at 45 degrees relative to the robot, at the speed given by the Y axis of the joystick, with no rotation.
+        m_robotDrive.drivePolar(-m_stick.GetY(), 45_deg, 0);
+    }
+    ```
+
+    ```python
+    def teleopPeriodic(self):
+        // Drive using the X, Y, and Z axes of the joystick.
+        self.robotDrive.driveCartesian(-self.stick.getY(), -self.stick.getX(), -self.stick.getZ())
+        // Drive at 45 degrees relative to the robot, at the speed given by the Y axis of the joystick, with no rotation.
+        self.robotDrive.drivePolar(-self.stick.getY(), Rotation2d.fromDegrees(45), 0)
+    ```
+
+### Field-Oriented Driving
 
 A 4th parameter can be supplied to the ``driveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle)`` method, the angle returned from a Gyro sensor. This will adjust the rotation value supplied. This is particularly useful with mecanum drive since, for the purposes of steering, the robot really has no front, back or sides. It can go in any direction. Adding the angle in degrees from a gyro object will cause the robot to move away from the drivers when the joystick is pushed forwards, and towards the drivers when it is pulled towards them, regardless of what direction the robot is facing.
 
diff --git a/source/docs/software/hardware-apis/pneumatics/index.rst b/source/docs/software/hardware-apis/pneumatics/index.rst
index 4461692641..222498c2a2 100644
--- a/source/docs/software/hardware-apis/pneumatics/index.rst
+++ b/source/docs/software/hardware-apis/pneumatics/index.rst
@@ -1,5 +1,4 @@
-Pneumatics APIs
-===============
+# Pneumatics APIs
 
 .. toctree::
    :maxdepth: 1
@@ -7,8 +6,7 @@ Pneumatics APIs
    solenoids
    pressure
 
-Using the FRC Control System to Control Pneumatics
---------------------------------------------------
+## Using the FRC Control System to Control Pneumatics
 
 There are two options for operating solenoids to control pneumatic cylinders, the CTRE Pneumatics Control Module and the REV Robotics Pneumatics Hub.
 
@@ -28,7 +26,6 @@ These devices are integrated into WPILib through a series of classes that make t
 
 These modules are responsible for regulating the robot's pressure using a pressure switch and a compressor and switching solenoids on and off. They communicate with the roboRIO over CAN. For more information, see :doc:`/docs/controls-overviews/control-system-hardware`.
 
-Module Numbers
---------------
+## Module Numbers
 
 CAN Devices are identified by their CAN ID. The default CAN ID for PCMs is 0. The default CAN ID for PHs is 1. If using a single module on the bus it is recommended to leave it at the default CAN ID. Additional modules can be used where the modules corresponding solenoids are differentiated by the module number in the constructors of the ``Solenoid``, ``DoubleSolenoid`` and ``Compressor`` classes.
diff --git a/source/docs/software/hardware-apis/pneumatics/pressure.rst b/source/docs/software/hardware-apis/pneumatics/pressure.rst
index a139fb487d..bbab0f1ab6 100644
--- a/source/docs/software/hardware-apis/pneumatics/pressure.rst
+++ b/source/docs/software/hardware-apis/pneumatics/pressure.rst
@@ -1,7 +1,6 @@
-Generating and Storing Pressure
-===============================
+# Generating and Storing Pressure
 
-Pressure is created using a pneumatic compressor and stored in pneumatic tanks. The compressor must be on the robot and powered by the robot's pneumatics module. The "Closed Loop" mode on the Compressor is enabled by default, and it is *not* recommended that teams change this setting. When closed loop control is enabled the pneumatic module will automatically turn the compressor on when the digital pressure switch is closed (below the pressure threshold) and turn it off when the pressure switch is open (~120PSI). When closed loop control is disabled the compressor will not be turned on. Using the ``Compressor`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Compressor.html>`__ / `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_compressor.html>`__) class, users can query the status of the compressor. The state (currently on or off), pressure switch state, and compressor current can all be queried from the Compressor object, as shown by the following code from the Solenoid example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Solenoid>`__):
+Pressure is created using a pneumatic compressor and stored in pneumatic tanks. The compressor must be on the robot and powered by the robot's pneumatics module. The "Closed Loop" mode on the Compressor is enabled by default, and it is *not* recommended that teams change this setting. When closed loop control is enabled the pneumatic module will automatically turn the compressor on when the digital pressure switch is closed (below the pressure threshold) and turn it off when the pressure switch is open (~120PSI). When closed loop control is disabled the compressor will not be turned on. Using the ``Compressor`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Compressor.html) / [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_compressor.html)) class, users can query the status of the compressor. The state (currently on or off), pressure switch state, and compressor current can all be queried from the Compressor object, as shown by the following code from the Solenoid example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Solenoid)):
 
 .. note:: The Compressor object is only needed if you want the ability to turn off the compressor, change the pressure sensor (PH only), or query compressor status.
 
@@ -14,14 +13,14 @@ Construct a ``Compressor`` object:
             .. tab-item:: Java
                :sync: Java
 
-               .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
+               .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
                   :language: java
                   :lines: 39-40
 
             .. tab-item:: C++ (Header)
                :sync: C++ (Header)
 
-               .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
+               .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
                   :language: c++
                   :lines: 54-55
     .. tab-item:: CTRE Pneumatics Control Module (PCM)
@@ -30,14 +29,14 @@ Construct a ``Compressor`` object:
            .. tab-item:: Java
                :sync: Java
 
-               .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
+               .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
                   :language: java
                   :lines: 26-27
 
            .. tab-item:: C++ (Header)
               :sync: C++ (Header)
 
-              .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
+              .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
                  :language: c++
                  :lines: 41-42
 
@@ -56,7 +55,7 @@ Querying compressor current and state:
     .. tab-item:: C++ (Source)
        :sync: C++ (Source)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 26-28, 31-32, 35-37
 
@@ -75,7 +74,7 @@ Enable/disable digital closed-loop compressor control (enabled by default):
     .. tab-item:: C++ (Source)
        :sync: C++ (Source)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
           :language: c++
           :lines: 12-13, 16-19
 
@@ -93,18 +92,16 @@ The Pneumatic Hub also has methods for enabling compressor control using the REV
     .. tab-item:: C++ (Source)
        :sync: C++ (Source)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 76-81, 84-90
 
 
-Pressure Transducers
---------------------
+## Pressure Transducers
 
 A pressure transducer is a sensor where analog voltage is proportial to the measured pressure.
 
-Pneumatic Hub
-^^^^^^^^^^^^^
+### Pneumatic Hub
 
 The Pneumatic Hub has analog inputs that may be used to read a pressure transducer using the Compressor class.
 
@@ -112,7 +109,7 @@ The Pneumatic Hub has analog inputs that may be used to read a pressure transduc
     .. tab-item:: Java
        :sync: Java
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 39-40
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
@@ -122,19 +119,18 @@ The Pneumatic Hub has analog inputs that may be used to read a pressure transduc
     .. tab-item:: C++ (Header)
        :sync: C++ (Header)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
           :language: c++
           :lines: 54-55
 
     .. tab-item:: C++ (Source)
        :sync: C++ (Source)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 19-23
 
-roboRIO
-^^^^^^^
+### roboRIO
 
 A pressure transducer can be connected to the Analog Input ports on the roboRIO, and can be read by the ``AnalogInput`` or ``AnalogPotentiometer`` classes in WPILib.
 
@@ -143,23 +139,23 @@ A pressure transducer can be connected to the Analog Input ports on the roboRIO,
     .. tab-item:: Java
        :sync: Java
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
           :language: java
           :lines: 16-24
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
           :language: java
           :lines: 40-41
 
     .. tab-item:: C++ (Header)
        :sync: C++ (Header)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
           :language: c++
           :lines: 31-40
 
     .. tab-item:: C++ (Source)
        :sync: C++ (Source)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
           :language: c++
           :lines: 24-26
diff --git a/source/docs/software/hardware-apis/pneumatics/solenoids.rst b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
index 649fed5a3e..1efca2b8d6 100644
--- a/source/docs/software/hardware-apis/pneumatics/solenoids.rst
+++ b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
@@ -1,23 +1,21 @@
 .. include:: <isonum.txt>
 
-Operating Pneumatic Cylinders
-=============================
+# Operating Pneumatic Cylinders
 
-FRC teams can use a :term:`solenoid valve` as part of performing a variety of tasks, including shifting gearboxes and moving robot mechanisms. A solenoid valve is used to electronically switch a pressurized air line "on" or "off". Solenoids are controlled by a robot's Pneumatics Control Module, or Pneumatic Hub, which is in turn connected to the robot's roboRIO via CAN. The easiest way to see a solenoid's state is via the LEDs on the PCM or PH (which indicates if the valve is "on" or not). When un-powered, solenoids can be manually actuated with the small button on the valve body.
+FRC teams can use a :term:`solenoid valve` as part of performing a variety of tasks, including shifting gearboxes and moving robot mechanisms. A solenoid valve is used to electronically switch a pressurized air line "on" or "off". Solenoids are controlled by a robot's Pneumatics Control Module, or Pneumatic Hub, which is in turn connected to the robot's roboRIO via :term:`CAN`. The easiest way to see a solenoid's state is via the LEDs on the PCM or PH (which indicates if the valve is "on" or not). When un-powered, solenoids can be manually actuated with the small button on the valve body.
 
 Single acting solenoids apply or vent pressure from a single output port. They are typically used either when an external force will provide the return action of the cylinder (spring, gravity, separate mechanism) or in pairs to act as a double solenoid. A double solenoid switches air flow between two output ports (many also have a center position where neither output is vented or connected to the input). Double solenoid valves are commonly used when you wish to control both the extend and retract actions of a cylinder using air pressure. Double solenoid valves have two electrical inputs which connect back to two separate channels on the solenoid breakout.
 
-Single Solenoids in WPILib
---------------------------
+## Single Solenoids in WPILib
 
-Single solenoids in WPILib are controlled using the ``Solenoid`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Solenoid.html>`__ / `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_solenoid.html>`__). To construct a Solenoid object, simply pass the desired port number (assumes default CAN ID) and pneumatics module type or CAN ID, pneumatics module type, and port number to the constructor. To set the value of the solenoid call ``set(true)`` to enable or ``set(false)`` to disable the solenoid output.
+Single solenoids in WPILib are controlled using the ``Solenoid`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Solenoid.html) / [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_solenoid.html)). To construct a Solenoid object, simply pass the desired port number (assumes default CAN ID) and pneumatics module type or CAN ID, pneumatics module type, and port number to the constructor. To set the value of the solenoid call ``set(true)`` to enable or ``set(false)`` to disable the solenoid output.
 
 .. tab-set::
 
     .. tab-item:: Java
        :sync: Java
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 30-32
           :linenos:
@@ -31,7 +29,7 @@ Single solenoids in WPILib are controlled using the ``Solenoid`` class (`Java <h
     .. tab-item:: C++ (Header)
        :sync: C++ (Header)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
           :language: c++
           :lines: 44-47
           :linenos:
@@ -40,24 +38,23 @@ Single solenoids in WPILib are controlled using the ``Solenoid`` class (`Java <h
     .. tab-item:: C++ (Source)
        :sync: C++ (Source)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 42-47
           :linenos:
           :lineno-start: 42
 
 
-Double Solenoids in WPILib
---------------------------
+## Double Solenoids in WPILib
 
-Double solenoids are controlled by the ``DoubleSolenoid`` class in WPILib (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/DoubleSolenoid.html>`__ / `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_double_solenoid.html>`__). These are constructed similarly to the single solenoid but there are now two port numbers to pass to the constructor, a forward channel (first) and a reverse channel (second). The state of the valve can then be set to ``kOff`` (neither output activated), ``kForward`` (forward channel enabled) or ``kReverse`` (reverse channel enabled). Additionally, the CAN ID can be passed to the DoubleSolenoid if teams have a non-default CAN ID.
+Double solenoids are controlled by the ``DoubleSolenoid`` class in WPILib ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/DoubleSolenoid.html) / [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_double_solenoid.html)). These are constructed similarly to the single solenoid but there are now two port numbers to pass to the constructor, a forward channel (first) and a reverse channel (second). The state of the valve can then be set to ``kOff`` (neither output activated), ``kForward`` (forward channel enabled) or ``kReverse`` (reverse channel enabled). Additionally, the CAN ID can be passed to the DoubleSolenoid if teams have a non-default CAN ID.
 
 .. tab-set::
 
     .. tab-item:: Java
        :sync: Java
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 34-37
           :linenos:
@@ -71,7 +68,7 @@ Double solenoids are controlled by the ``DoubleSolenoid`` class in WPILib (`Java
     .. tab-item:: C++ (Header)
        :sync: C++ (Header)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
           :language: c++
           :lines: 49-52
           :linenos:
@@ -80,14 +77,13 @@ Double solenoids are controlled by the ``DoubleSolenoid`` class in WPILib (`Java
     .. tab-item:: C++ (Source)
        :sync: C++ (Source)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 54, 56
           :linenos:
           :lineno-start: 54
 
-Toggling Solenoids
-------------------
+## Toggling Solenoids
 
 Solenoids can be switched from one output to the other (known as toggling) by using the ``.toggle()`` method.
 
@@ -96,29 +92,25 @@ Solenoids can be switched from one output to the other (known as toggling) by us
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      Solenoid exampleSingle = new Solenoid(PneumaticsModuleType.CTREPCM, 0);
-      DoubleSolenoid exampleDouble = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 1, 2);
-
-      // Initialize the DoubleSolenoid so it knows where to start.  Not required for single solenoids.
-      exampleDouble.set(kReverse);
-
-      if (m_controller.getYButtonPressed()) {
-         exampleSingle.toggle();
-         exampleDouble.toggle();
-      }
-
-   .. code-block:: c++
-
-      frc::Solenoid exampleSingle{frc::PneumaticsModuleType::CTREPCM, 0};
-      frc::DoubleSolenoid exampleDouble{frc::PneumaticsModuleType::CTREPCM, 1, 2};
-
-      // Initialize the DoubleSolenoid so it knows where to start.  Not required for single solenoids.
-      exampleDouble.Set(frc::DoubleSolenoid::Value::kReverse);
-
-      if (m_controller.GetYButtonPressed()) {
-         exampleSingle.Toggle();
-         exampleDouble.Toggle();
-      }
+   ```java
+   Solenoid exampleSingle = new Solenoid(PneumaticsModuleType.CTREPCM, 0);
+   DoubleSolenoid exampleDouble = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 1, 2);
+   // Initialize the DoubleSolenoid so it knows where to start.  Not required for single solenoids.
+   exampleDouble.set(kReverse);
+   if (m_controller.getYButtonPressed()) {
+      exampleSingle.toggle();
+      exampleDouble.toggle();
+   }
+   ```
+
+   ```c++
+   frc::Solenoid exampleSingle{frc::PneumaticsModuleType::CTREPCM, 0};
+   frc::DoubleSolenoid exampleDouble{frc::PneumaticsModuleType::CTREPCM, 1, 2};
+   // Initialize the DoubleSolenoid so it knows where to start.  Not required for single solenoids.
+   exampleDouble.Set(frc::DoubleSolenoid::Value::kReverse);
+   if (m_controller.GetYButtonPressed()) {
+      exampleSingle.Toggle();
+      exampleDouble.Toggle();
+   }
+   ```
 
diff --git a/source/docs/software/hardware-apis/sensors/accelerometers-software.rst b/source/docs/software/hardware-apis/sensors/accelerometers-software.rst
index 93085f0a87..3d6c3885f2 100644
--- a/source/docs/software/hardware-apis/sensors/accelerometers-software.rst
+++ b/source/docs/software/hardware-apis/sensors/accelerometers-software.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Accelerometers - Software
-=========================
+# Accelerometers - Software
 
 .. note:: This section covers accelerometers in software.  For a hardware guide to accelerometers, see :ref:`docs/hardware/sensors/accelerometers-hardware:Accelerometers - Hardware`.
 
@@ -18,40 +17,33 @@ Three-axis accelerometers often require more complicated communications protocol
 - `ADXL362`_
 - `BuiltInAccelerometer`_
 
-AnalogAccelerometer
--------------------
+## AnalogAccelerometer
 
-The :code:`AnalogAccelerometer` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/AnalogAccelerometer.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_analog_accelerometer.html>`__) allows users to read values from a single-axis accelerometer that is connected to one of the roboRIO's analog inputs.
+The :code:`AnalogAccelerometer` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/AnalogAccelerometer.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_analog_accelerometer.html)) allows users to read values from a single-axis accelerometer that is connected to one of the roboRIO's analog inputs.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Creates an analog accelerometer on analog input 0
-        AnalogAccelerometer accelerometer = new AnalogAccelerometer(0);
-
-        // Sets the sensitivity of the accelerometer to 1 volt per G
-        accelerometer.setSensitivity(1);
-
-        // Sets the zero voltage of the accelerometer to 3 volts
-        accelerometer.setZero(3);
-
-        // Gets the current acceleration
-        double accel = accelerometer.getAcceleration();
-
-    .. code-block:: c++
-
-        // Creates an analog accelerometer on analog input 0
-        frc::AnalogAccelerometer accelerometer{0};
-
-        // Sets the sensitivity of the accelerometer to 1 volt per G
-        accelerometer.SetSensitivity(1);
-
-        // Sets the zero voltage of the accelerometer to 3 volts
-        accelerometer.SetZero(3);
-
-        // Gets the current acceleration
-        double accel = accelerometer.GetAcceleration();
+    ```java
+    // Creates an analog accelerometer on analog input 0
+    AnalogAccelerometer accelerometer = new AnalogAccelerometer(0);
+    // Sets the sensitivity of the accelerometer to 1 volt per G
+    accelerometer.setSensitivity(1);
+    // Sets the zero voltage of the accelerometer to 3 volts
+    accelerometer.setZero(3);
+    // Gets the current acceleration
+    double accel = accelerometer.getAcceleration();
+    ```
+
+    ```c++
+    // Creates an analog accelerometer on analog input 0
+    frc::AnalogAccelerometer accelerometer{0};
+    // Sets the sensitivity of the accelerometer to 1 volt per G
+    accelerometer.SetSensitivity(1);
+    // Sets the zero voltage of the accelerometer to 3 volts
+    accelerometer.SetZero(3);
+    // Gets the current acceleration
+    double accel = accelerometer.GetAcceleration();
+    ```
 
 If users have a 3-axis analog accelerometer, they can use three instances of this class, one for each axis.
 
@@ -59,99 +51,93 @@ There are getters for the acceleration along each cardinal direction (x, y, and
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Sets the accelerometer to measure between -8 and 8 G's
-        accelerometer.setRange(BuiltInAccelerometer.Range.k8G);
+    ```java
+    // Sets the accelerometer to measure between -8 and 8 G's
+    accelerometer.setRange(BuiltInAccelerometer.Range.k8G);
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Sets the accelerometer to measure between -8 and 8 G's
+    accelerometer.SetRange(BuiltInAccelerometer::Range::kRange_8G);
+    ```
 
-        // Sets the accelerometer to measure between -8 and 8 G's
-        accelerometer.SetRange(BuiltInAccelerometer::Range::kRange_8G);
+### ADXL345_I2C
 
-ADXL345_I2C
-^^^^^^^^^^^
-
-The :code:`ADXL345_I2C` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/ADXL345_I2C.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_a_d_x_l345___i2_c.html>`__) provides support for the ADXL345 accelerometer over the I2C communications bus.
+The :code:`ADXL345_I2C` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/ADXL345_I2C.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_a_d_x_l345___i2_c.html)) provides support for the ADXL345 accelerometer over the I2C communications bus.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Creates an ADXL345 accelerometer object on the MXP I2C port
-        // with a measurement range from -8 to 8 G's
-        ADXL345_I2C accelerometer = new ADXL345_I2C(I2C.Port.kMXP, ADXL345_I2C.Range.k8G);
-
-    .. code-block:: c++
+    ```java
+    // Creates an ADXL345 accelerometer object on the MXP I2C port
+    // with a measurement range from -8 to 8 G's
+    ADXL345_I2C accelerometer = new ADXL345_I2C(I2C.Port.kMXP, ADXL345_I2C.Range.k8G);
+    ```
 
-        // Creates an ADXL345 accelerometer object on the MXP I2C port
-        // with a measurement range from -8 to 8 G's
-        frc::ADXL345_I2C accelerometer{I2C::Port::kMXP, frc::ADXL345_I2C::Range::kRange_8G};
+    ```c++
+    // Creates an ADXL345 accelerometer object on the MXP I2C port
+    // with a measurement range from -8 to 8 G's
+    frc::ADXL345_I2C accelerometer{I2C::Port::kMXP, frc::ADXL345_I2C::Range::kRange_8G};
+    ```
 
-ADXL345_SPI
-^^^^^^^^^^^
+### ADXL345_SPI
 
-The :code:`ADXL345_SPI` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/ADXL345_SPI.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_a_d_x_l345___s_p_i.html>`__) provides support for the ADXL345 accelerometer over the SPI communications bus.
+The :code:`ADXL345_SPI` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/ADXL345_SPI.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_a_d_x_l345___s_p_i.html)) provides support for the ADXL345 accelerometer over the SPI communications bus.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Creates an ADXL345 accelerometer object on the MXP SPI port
-        // with a measurement range from -8 to 8 G's
-        ADXL345_SPI accelerometer = new ADXL345_SPI(SPI.Port.kMXP, ADXL345_SPI.Range.k8G);
-
-    .. code-block:: c++
+    ```java
+    // Creates an ADXL345 accelerometer object on the MXP SPI port
+    // with a measurement range from -8 to 8 G's
+    ADXL345_SPI accelerometer = new ADXL345_SPI(SPI.Port.kMXP, ADXL345_SPI.Range.k8G);
+    ```
 
-        // Creates an ADXL345 accelerometer object on the MXP SPI port
-        // with a measurement range from -8 to 8 G's
-        frc::ADXL345_SPI accelerometer{SPI::Port::kMXP, frc::ADXL345_SPI::Range::kRange_8G};
+    ```c++
+    // Creates an ADXL345 accelerometer object on the MXP SPI port
+    // with a measurement range from -8 to 8 G's
+    frc::ADXL345_SPI accelerometer{SPI::Port::kMXP, frc::ADXL345_SPI::Range::kRange_8G};
+    ```
 
-ADXL362
-^^^^^^^
+### ADXL362
 
-The :code:`ADXL362` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/ADXL362.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_a_d_x_l362.html>`__) provides support for the ADXL362 accelerometer over the SPI communications bus.
+The :code:`ADXL362` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/ADXL362.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_a_d_x_l362.html)) provides support for the ADXL362 accelerometer over the SPI communications bus.
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Creates an ADXL362 accelerometer object on the MXP SPI port
+    // with a measurement range from -8 to 8 G's
+    ADXL362 accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
+    ```
 
-        // Creates an ADXL362 accelerometer object on the MXP SPI port
-        // with a measurement range from -8 to 8 G's
-        ADXL362 accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
+    ```c++
+    // Creates an ADXL362 accelerometer object on the MXP SPI port
+    // with a measurement range from -8 to 8 G's
+    frc::ADXL362 accelerometer{SPI::Port::kMXP, frc::ADXL362::Range::kRange_8G};
+    ```
 
-    .. code-block:: c++
+### BuiltInAccelerometer
 
-        // Creates an ADXL362 accelerometer object on the MXP SPI port
-        // with a measurement range from -8 to 8 G's
-        frc::ADXL362 accelerometer{SPI::Port::kMXP, frc::ADXL362::Range::kRange_8G};
-
-BuiltInAccelerometer
-^^^^^^^^^^^^^^^^^^^^
-
-The :code:`BuiltInAccelerometer` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_built_in_accelerometer.html>`__) provides access to the roboRIO's own built-in accelerometer:
+The :code:`BuiltInAccelerometer` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_built_in_accelerometer.html)) provides access to the roboRIO's own built-in accelerometer:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Creates an object for the built-in accelerometer
-        // Range defaults to +- 8 G's
-        BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
-
-    .. code-block:: c++
+    ```java
+    // Creates an object for the built-in accelerometer
+    // Range defaults to +- 8 G's
+    BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
+    ```
 
-        // Creates an object for the built-in accelerometer
-        // Range defaults to +- 8 G's
-        frc::BuiltInAccelerometer accelerometer;
+    ```c++
+    // Creates an object for the built-in accelerometer
+    // Range defaults to +- 8 G's
+    frc::BuiltInAccelerometer accelerometer;
+    ```
 
-Third-party accelerometers
---------------------------
+## Third-party accelerometers
 
 While WPILib provides native support for a number of accelerometers that are available in the kit of parts or through FIRST Choice, there are a few popular AHRS (Attitude and Heading Reference System) devices commonly used in FRC that include accelerometers.  These are generally controlled through vendor libraries, though if they have a simple analog output they can be used with the `AnalogAccelerometer`_ class.
 
-Using accelerometers in code
-----------------------------
+## Using accelerometers in code
 
 .. note:: Accelerometers, as their name suggests, measure acceleration.  Precise accelerometers can be used to determine position through double-integration (since acceleration is the second derivative of position), much in the way that gyroscopes are used to determine heading.  However, the accelerometers available for use in FRC are not nearly high-enough quality to be used this way.
 
@@ -161,75 +147,63 @@ For detecting collisions, it is often more robust to measure the jerk than the a
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        double prevXAccel = 0.0;
-        double prevYAccel = 0.0;
-
-        BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
-
-        @Override
-        public void robotPeriodic() {
-            // Gets the current accelerations in the X and Y directions
-            double xAccel = accelerometer.getX();
-            double yAccel = accelerometer.getY();
-
-            // Calculates the jerk in the X and Y directions
-            // Divides by .02 because default loop timing is 20ms
-            double xJerk = (xAccel - prevXAccel) / 0.02;
-            double yJerk = (yAccel - prevYAccel) / 0.02;
-
-            prevXAccel = xAccel;
-            prevYAccel = yAccel;
-        }
-
-    .. code-block:: c++
-
-        double prevXAccel = 0.0;
-        double prevYAccel = 0.0;
-
-        frc::BuiltInAccelerometer accelerometer;
-
-        void Robot::RobotPeriodic() {
-            // Gets the current accelerations in the X and Y directions
-            double xAccel = accelerometer.GetX();
-            double yAccel = accelerometer.GetY();
-
-            // Calculates the jerk in the X and Y directions
-            // Divides by .02 because default loop timing is 20ms
-            double xJerk = (xAccel - prevXAccel) / 0.02;
-            double yJerk = (yAccel - prevYAccel) / 0.02;
-
-            prevXAccel = xAccel;
-            prevYAccel = yAccel;
-        }
-
-Most accelerometers legal for FRC use are quite noisy, and it is often a good idea to combine them with the :code:`LinearFilter` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/filter/LinearFilter.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_linear_filter.html>`__) to reduce the noise:
+    ```java
+    double prevXAccel = 0.0;
+    double prevYAccel = 0.0;
+    BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
+    @Override
+    public void robotPeriodic() {
+        // Gets the current accelerations in the X and Y directions
+        double xAccel = accelerometer.getX();
+        double yAccel = accelerometer.getY();
+        // Calculates the jerk in the X and Y directions
+        // Divides by .02 because default loop timing is 20ms
+        double xJerk = (xAccel - prevXAccel) / 0.02;
+        double yJerk = (yAccel - prevYAccel) / 0.02;
+        prevXAccel = xAccel;
+        prevYAccel = yAccel;
+    }
+    ```
+
+    ```c++
+    double prevXAccel = 0.0;
+    double prevYAccel = 0.0;
+    frc::BuiltInAccelerometer accelerometer;
+    void Robot::RobotPeriodic() {
+        // Gets the current accelerations in the X and Y directions
+        double xAccel = accelerometer.GetX();
+        double yAccel = accelerometer.GetY();
+        // Calculates the jerk in the X and Y directions
+        // Divides by .02 because default loop timing is 20ms
+        double xJerk = (xAccel - prevXAccel) / 0.02;
+        double yJerk = (yAccel - prevYAccel) / 0.02;
+        prevXAccel = xAccel;
+        prevYAccel = yAccel;
+    }
+    ```
+
+Most accelerometers legal for FRC use are quite noisy, and it is often a good idea to combine them with the :code:`LinearFilter` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/filter/LinearFilter.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_linear_filter.html)) to reduce the noise:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
-
-        // Create a LinearFilter that will calculate a moving average of the measured X acceleration over the past 10 iterations of the main loop
-
-        LinearFilter xAccelFilter = LinearFilter.movingAverage(10);
-
-        @Override
-        public void robotPeriodic() {
-            // Get the filtered X acceleration
-            double filteredXAccel = xAccelFilter.calculate(accelerometer.getX());
-        }
-
-    .. code-block:: c++
-
-        frc::BuiltInAccelerometer accelerometer;
-
-        // Create a LinearFilter that will calculate a moving average of the measured X acceleration over the past 10 iterations of the main loop
-        auto xAccelFilter = frc::LinearFilter::MovingAverage(10);
+    ```java
+    BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
+    // Create a LinearFilter that will calculate a moving average of the measured X acceleration over the past 10 iterations of the main loop
+    LinearFilter xAccelFilter = LinearFilter.movingAverage(10);
+    @Override
+    public void robotPeriodic() {
+        // Get the filtered X acceleration
+        double filteredXAccel = xAccelFilter.calculate(accelerometer.getX());
+    }
+    ```
+
+    ```c++
+    frc::BuiltInAccelerometer accelerometer;
+    // Create a LinearFilter that will calculate a moving average of the measured X acceleration over the past 10 iterations of the main loop
+    auto xAccelFilter = frc::LinearFilter::MovingAverage(10);
+    void Robot::RobotPeriodic() {
+        // Get the filtered X acceleration
+        double filteredXAccel = xAccelFilter.Calculate(accelerometer.GetX());
+    }
+    ```
 
-        void Robot::RobotPeriodic() {
-            // Get the filtered X acceleration
-            double filteredXAccel = xAccelFilter.Calculate(accelerometer.GetX());
-        }
diff --git a/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst b/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
index 8fb1c6f5ad..9b50b4f83f 100644
--- a/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
+++ b/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
@@ -1,5 +1,4 @@
-Analog Inputs - Software
-========================
+# Analog Inputs - Software
 
 .. note:: This section covers analog inputs in software.  For a hardware guide to analog inputs, see :ref:`docs/hardware/sensors/analog-inputs-hardware:Analog Inputs - Hardware`.
 
@@ -7,147 +6,136 @@ The roboRIO's FPGA supports up to 8 analog input channels that can be used to re
 
 Analog inputs from the FPGA by default return a 12-bit integer proportional to the voltage, from 0 to 5 volts.
 
-The AnalogInput class
----------------------
+## The AnalogInput class
 
 .. note:: It is often more convenient to use the :doc:`Analog Potentiometers <analog-potentiometers-software>` wrapper class than to use :code:`AnalogInput` directly, as it supports scaling to meaningful units.
 
-Support for reading the voltages on the FPGA analog inputs is provided through the :code:`AnalogInput` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/AnalogInput.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_analog_input.html>`__).
+Support for reading the voltages on the FPGA analog inputs is provided through the :code:`AnalogInput` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/AnalogInput.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_analog_input.html)).
 
-Initializing an AnalogInput
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Initializing an AnalogInput
 
 An :code:`AnalogInput` may be initialized as follows:
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Initializes an AnalogInput on port 0
+    AnalogInput analog = new AnalogInput(0);
+    ```
 
-        // Initializes an AnalogInput on port 0
-        AnalogInput analog = new AnalogInput(0);
+    ```c++
+    // Initializes an AnalogInput on port 0
+    frc::AnalogInput analog{0};
+    ```
 
-    .. code-block:: c++
-
-        // Initializes an AnalogInput on port 0
-        frc::AnalogInput analog{0};
-
-Oversampling and Averaging
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Oversampling and Averaging
 
 .. image:: images/analog-inputs-software/oversampling-averaging.png
    :alt: The Analog to Digital converter reads the signal and passes it to oversampling, averaging, and an accumulator.
 
 The FPGA's analog input modules supports both oversampling and averaging.  These behaviors are highly similar, but differ in a few important ways.  Both may be used at the same time.
 
-Oversampling
-~~~~~~~~~~~~
+#### Oversampling
 
 When oversampling is enabled, the FPGA will add multiple consecutive samples together, and return the accumulated value.  Users may specify the number of *bits* of oversampling - for :math:`n` bits of oversampling, the number of samples added together is :math:`2^{n}`:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added together.
-        // Thus, the reported values will increase by about a factor of 16, and the update
-        // rate will decrease by a similar amount.
-        analog.setOversampleBits(4);
+    ```java
+    // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added together.
+    // Thus, the reported values will increase by about a factor of 16, and the update
+    // rate will decrease by a similar amount.
+    analog.setOversampleBits(4);
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added together.
+    // Thus, the reported values will increase by about a factor of 16, and the update
+    // rate will decrease by a similar amount.
+    analog.SetOversampleBits(4);
+    ```
 
-        // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added together.
-        // Thus, the reported values will increase by about a factor of 16, and the update
-        // rate will decrease by a similar amount.
-        analog.SetOversampleBits(4);
-
-Averaging
-~~~~~~~~~
+#### Averaging
 
 Averaging behaves much like oversampling, except the accumulated values are divided by the number of samples so that the scaling of the returned values does not change.  This is often more-convenient, but occasionally the additional roundoff error introduced by the rounding is undesirable.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Sets the AnalogInput to 4-bit averaging.  16 samples will be averaged together.
-        // The update rate will decrease by a factor of 16.
-        analog.setAverageBits(4);
+    ```java
+    // Sets the AnalogInput to 4-bit averaging.  16 samples will be averaged together.
+    // The update rate will decrease by a factor of 16.
+    analog.setAverageBits(4);
+    ```
 
-    .. code-block:: c++
-
-        // Sets the AnalogInput to 4-bit averaging.  16 samples will be averaged together.
-        // The update rate will decrease by a factor of 16.
-        analog.SetAverageBits(4);
+    ```c++
+    // Sets the AnalogInput to 4-bit averaging.  16 samples will be averaged together.
+    // The update rate will decrease by a factor of 16.
+    analog.SetAverageBits(4);
+    ```
 
 .. note:: When oversampling and averaging are used at the same time, the oversampling is applied *first,* and then the oversampled values are averaged.  Thus, 2-bit oversampling and 2-bit averaging used at the same time will increase the scale of the returned values by approximately a factor of 2, and decrease the update rate by approximately a factor of 4.
 
-Reading values from an AnalogInput
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Reading values from an AnalogInput
 
 Values can be read from an AnalogInput with one of four different methods:
 
-getValue
-~~~~~~~~
+#### getValue
 
 The :code:`getValue` method returns the raw instantaneous measured value from the analog input, without applying any calibration and ignoring oversampling and averaging settings.  The returned value is an integer.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        analog.getValue();
+    ```java
+    analog.getValue();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    analog.GetValue();
+    ```
 
-        analog.GetValue();
-
-getVoltage
-~~~~~~~~~~
+#### getVoltage
 
 The :code:`getVoltage` method returns the instantaneous measured voltage from the analog input.  Oversampling and averaging settings are ignored, but the value is rescaled to represent a voltage.  The returned value is a double.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        analog.getVoltage();
+    ```java
+    analog.getVoltage();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    analog.GetVoltage();
+    ```
 
-        analog.GetVoltage();
-
-getAverageValue
-~~~~~~~~~~~~~~~
+#### getAverageValue
 
 The :code:`getAverageValue` method returns the averaged value from the analog input.  The value is not rescaled, but oversampling and averaging are both applied.  The returned value is an integer.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        analog.getAverageValue();
+    ```java
+    analog.getAverageValue();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    analog.GetAverageValue();
+    ```
 
-        analog.GetAverageValue();
-
-getAverageVoltage
-~~~~~~~~~~~~~~~~~
+#### getAverageVoltage
 
 The :code:`getAverageVoltage` method returns the averaged voltage from the analog input.  Rescaling, oversampling, and averaging are all applied.  The returned value is a double.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        analog.getAverageVoltage();
+    ```java
+    analog.getAverageVoltage();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    analog.GetAverageVoltage();
+    ```
 
-        analog.GetAverageVoltage();
-
-Accumulator
-^^^^^^^^^^^
+### Accumulator
 
 .. note:: The accumulator methods do not currently support returning a value in units of volts - the returned value will always be an integer (specifically, a :code:`long`).
 
@@ -155,74 +143,61 @@ Analog input channels 0 and 1 additionally support an accumulator, which integra
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Sets the initial value of the accumulator to 0
-        // This is the "starting point" from which the value will change over time
-        analog.setAccumulatorInitialValue(0);
-
-        // Sets the "center" of the accumulator to 0.  This value is subtracted from
-        // all measured values prior to accumulation.
-        analog.setAccumulatorCenter(0);
-
-        // Returns the number of accumulated samples since the accumulator was last started/reset
-        analog.getAccumulatorCount();
-
-        // Returns the value of the accumulator.  Return type is long.
-        analog.getAccumulatorValue();
-
-        // Resets the accumulator to the initial value
-        analog.resetAccumulator();
-
-    .. code-block:: c++
-
-        // Sets the initial value of the accumulator to 0
-        // This is the "starting point" from which the value will change over time
-        analog.SetAccumulatorInitialValue(0);
-
-        // Sets the "center" of the accumulator to 0.  This value is subtracted from
-        // all measured values prior to accumulation.
-        analog.SetAccumulatorCenter(0);
-
-        // Returns the number of accumulated samples since the accumulator was last started/reset
-        analog.GetAccumulatorCount();
-
-        // Returns the value of the accumulator.  Return type is long.
-        analog.GetAccumulatorValue();
-
-        // Resets the accumulator to the initial value
-        analog.ResetAccumulator();
-
-Obtaining synchronized count and value
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+    ```java
+    // Sets the initial value of the accumulator to 0
+    // This is the "starting point" from which the value will change over time
+    analog.setAccumulatorInitialValue(0);
+    // Sets the "center" of the accumulator to 0.  This value is subtracted from
+    // all measured values prior to accumulation.
+    analog.setAccumulatorCenter(0);
+    // Returns the number of accumulated samples since the accumulator was last started/reset
+    analog.getAccumulatorCount();
+    // Returns the value of the accumulator.  Return type is long.
+    analog.getAccumulatorValue();
+    // Resets the accumulator to the initial value
+    analog.resetAccumulator();
+    ```
+
+    ```c++
+    // Sets the initial value of the accumulator to 0
+    // This is the "starting point" from which the value will change over time
+    analog.SetAccumulatorInitialValue(0);
+    // Sets the "center" of the accumulator to 0.  This value is subtracted from
+    // all measured values prior to accumulation.
+    analog.SetAccumulatorCenter(0);
+    // Returns the number of accumulated samples since the accumulator was last started/reset
+    analog.GetAccumulatorCount();
+    // Returns the value of the accumulator.  Return type is long.
+    analog.GetAccumulatorValue();
+    // Resets the accumulator to the initial value
+    analog.ResetAccumulator();
+    ```
+
+#### Obtaining synchronized count and value
 
 Sometimes, it is necessarily to obtain matched measurements of the count and the value.  This can be done using the :code:`getAccumulatorOutput` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Instantiate an AccumulatorResult object to hold the matched measurements
-        AccumulatorResult result = new AccumulatorResult();
-
-        // Fill the AccumulatorResult with the matched measurements
-        analog.getAccumulatorOutput(result);
-
-        // Read the values from the AccumulatorResult
-        long count = result.count;
-        long value = result.value;
-
-    .. code-block:: c++
-
-        // The count and value variables to fill
-        int_64t count;
-        int_64t value;
-
-        // Fill the count and value variables with the matched measurements
-        analog.GetAccumulatorOutput(count, value);
-
-Using analog inputs in code
----------------------------
+    ```java
+    // Instantiate an AccumulatorResult object to hold the matched measurements
+    AccumulatorResult result = new AccumulatorResult();
+    // Fill the AccumulatorResult with the matched measurements
+    analog.getAccumulatorOutput(result);
+    // Read the values from the AccumulatorResult
+    long count = result.count;
+    long value = result.value;
+    ```
+
+    ```c++
+    // The count and value variables to fill
+    int_64t count;
+    int_64t value;
+    // Fill the count and value variables with the matched measurements
+    analog.GetAccumulatorOutput(count, value);
+    ```
+
+## Using analog inputs in code
 
 The :code:`AnalogInput` class can be used to write code for a wide variety of sensors (including potentiometers, accelerometers, gyroscopes, ultrasonics, and more) that return their data as an analog voltage.  However, if possible it is almost always more convenient to use one of the other existing WPILib classes that handles the lower-level code (reading the analog voltages and converting them to meaningful units) for you.  Users should only directly use :code:`AnalogInput` as a "last resort."
 
diff --git a/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst b/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
index 600f47a9e7..457d90e83e 100644
--- a/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
+++ b/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
@@ -1,16 +1,14 @@
-Analog Potentiometers - Software
-================================
+# Analog Potentiometers - Software
 
 .. note:: This section covers analog potentiometers in software.  For a hardware guide to analog potentiometers, see :ref:`docs/hardware/sensors/analog-potentiometers-hardware:Analog Potentiometers - Hardware`.
 
 Potentiometers are variable resistors that allow information about position to be converted into an analog voltage signal.  This signal can be read by the roboRIO to control whatever device is attached to the potentiometer.
 
-While it is possible to read information from a potentiometer directly with an :doc:`analog-inputs-software`, WPILib provides an :code:`AnalogPotentiometer` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/AnalogPotentiometer.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_analog_potentiometer.html>`__) that handles re-scaling the values into meaningful units for the user.  It is strongly encouraged to use this class.
+While it is possible to read information from a potentiometer directly with an :doc:`analog-inputs-software`, WPILib provides an :code:`AnalogPotentiometer` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/AnalogPotentiometer.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_analog_potentiometer.html)) that handles re-scaling the values into meaningful units for the user.  It is strongly encouraged to use this class.
 
 In fact, the :code:`AnalogPotentiometer` name is something of a misnomer - this class should be used for the vast majority of sensors that return their signal as a simple, linearly-scaled analog voltage.
 
-The AnalogPotentiometer class
------------------------------
+## The AnalogPotentiometer class
 
 .. note:: The "full range" or "scale" parameters in the :code:`AnalogPotentiometer` constructor are scale factors from a range of 0-1 to the actual range, *not* from 0-5.  That is, they represent a native fractional scale, rather than a voltage scale.
 
@@ -18,24 +16,21 @@ An AnalogPotentiometer can be initialized as follows:
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Initializes an AnalogPotentiometer on analog port 0
+    // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
+    // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
+    AnalogPotentiometer pot = new AnalogPotentiometer(0, 180, 30);
+    ```
 
-        // Initializes an AnalogPotentiometer on analog port 0
-        // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
-        // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
+    ```c++
+    // Initializes an AnalogPotentiometer on analog port 0
+    // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
+    // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
+    frc::AnalogPotentiometer pot{0, 180, 30};
+    ```
 
-        AnalogPotentiometer pot = new AnalogPotentiometer(0, 180, 30);
-
-    .. code-block:: c++
-
-        // Initializes an AnalogPotentiometer on analog port 0
-        // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
-        // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
-
-        frc::AnalogPotentiometer pot{0, 180, 30};
-
-Customizing the underlying AnalogInput
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Customizing the underlying AnalogInput
 
 .. note:: If the user changes the scaling of the :code:`AnalogInput` with oversampling, this must be reflected in the scale setting passed to the :code:`AnalogPotentiometer`.
 
@@ -43,47 +38,41 @@ If the user would like to apply custom settings to the underlying :code:`AnalogI
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Initializes an AnalogInput on port 0, and enables 2-bit averaging
-        AnalogInput input = new AnalogInput(0);
-        input.setAverageBits(2);
-
-        // Initializes an AnalogPotentiometer with the given AnalogInput
-        // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
-        // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
-
-        AnalogPotentiometer pot = new AnalogPotentiometer(input, 180, 30);
-
-    .. code-block:: c++
-
-        // Initializes an AnalogInput on port 0, and enables 2-bit averaging
-        frc::AnalogInput input{0};
-        input.SetAverageBits(2);
-
-        // Initializes an AnalogPotentiometer with the given AnalogInput
-        // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
-        // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
-
-        frc::AnalogPotentiometer pot{input, 180, 30};
-
-Reading values from the AnalogPotentiometer
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    ```java
+    // Initializes an AnalogInput on port 0, and enables 2-bit averaging
+    AnalogInput input = new AnalogInput(0);
+    input.setAverageBits(2);
+    // Initializes an AnalogPotentiometer with the given AnalogInput
+    // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
+    // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
+    AnalogPotentiometer pot = new AnalogPotentiometer(input, 180, 30);
+    ```
+
+    ```c++
+    // Initializes an AnalogInput on port 0, and enables 2-bit averaging
+    frc::AnalogInput input{0};
+    input.SetAverageBits(2);
+    // Initializes an AnalogPotentiometer with the given AnalogInput
+    // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
+    // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
+    frc::AnalogPotentiometer pot{input, 180, 30};
+    ```
+
+### Reading values from the AnalogPotentiometer
 
 The scaled value can be read by simply calling the :code:`get` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        pot.get();
-
-    .. code-block:: c++
+    ```java
+    pot.get();
+    ```
 
-        pot.Get();
+    ```c++
+    pot.Get();
+    ```
 
-Using AnalogPotentiometers in code
-----------------------------------
+## Using AnalogPotentiometers in code
 
 Analog sensors can be used in code much in the way other sensors that measure the same thing can be.  If the analog sensor is a potentiometer measuring an arm angle, it can be used similarly to an :doc:`encoder <encoders-software>`.  If it is an ultrasonic sensor, it can be used similarly to other :doc:`ultrasonics <ultrasonics-software>`.
 
diff --git a/source/docs/software/hardware-apis/sensors/counters.rst b/source/docs/software/hardware-apis/sensors/counters.rst
index fc7b7048d7..ae842a1313 100644
--- a/source/docs/software/hardware-apis/sensors/counters.rst
+++ b/source/docs/software/hardware-apis/sensors/counters.rst
@@ -1,20 +1,17 @@
-Counters
-========
+# Counters
 
 .. image:: images/counters/counters.png
     :alt: IO Diagram showing the up/down pulses the counter is counting.
 
-The :code:`Counter` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Counter.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_counter.html>`__) is a versatile class that allows the counting of pulse edges on a digital input.  :code:`Counter` is used as a component in several more-complicated WPILib classes (such as :ref:`Encoder <docs/software/hardware-apis/sensors/encoders-software:Encoders - Software>` and :ref:`Ultrasonic <docs/software/hardware-apis/sensors/ultrasonics-software:Ultrasonics - Software>`), but is also quite useful on its own.
+The :code:`Counter` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Counter.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_counter.html)) is a versatile class that allows the counting of pulse edges on a digital input.  :code:`Counter` is used as a component in several more-complicated WPILib classes (such as :ref:`Encoder <docs/software/hardware-apis/sensors/encoders-software:Encoders - Software>` and :ref:`Ultrasonic <docs/software/hardware-apis/sensors/ultrasonics-software:Ultrasonics - Software>`), but is also quite useful on its own.
 
 .. note:: There are a total of 8 counter units in the roboRIO FPGA, meaning no more than 8 :code:`Counter` objects may be instantiated at any one time, including those contained as resources in other WPILib objects.  For detailed information on when a :code:`Counter` may be used by another object, refer to the official API documentation.
 
-Configuring a counter
----------------------
+## Configuring a counter
 
 The :code:`Counter` class can be configured in a number of ways to provide differing functionalities.
 
-Counter Modes
-^^^^^^^^^^^^^
+### Counter Modes
 
 The :code:`Counter` object may be configured to operate in one of four different modes:
 
@@ -25,166 +22,143 @@ The :code:`Counter` object may be configured to operate in one of four different
 
 .. note:: In all modes except semi-period mode, the counter can be configured to increment either once per edge (2X decoding), or once per pulse (1X decoding).  By default, counters are set to two-pulse mode, though if only one channel is specified the counter will only count up.
 
-Two-pulse mode
-~~~~~~~~~~~~~~
+#### Two-pulse mode
 
 In two-pulse mode, the :code:`Counter` will count up for every edge/pulse on the specified "up channel," and down for every edge/pulse on the specified "down channel."  A counter can be initialized in two-pulse with the following code:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Create a new Counter object in two-pulse mode
-        Counter counter = new Counter(Counter.Mode.k2Pulse);
-
-        @Override
-        public void robotInit() {
-            // Set up the input channels for the counter
-            counter.setUpSource(1);
-            counter.setDownSource(2);
-
-            // Set the decoding type to 2X
-            counter.setUpSourceEdge(true, true);
-            counter.setDownSourceEdge(true, true);
-        }
-
-    .. code-block:: c++
-
-        // Create a new Counter object in two-pulse mode
-        frc::Counter counter{frc::Counter::Mode::k2Pulse};
-
-        void Robot::RobotInit() {
-            // Set up the input channels for the counter
-            counter.SetUpSource(1);
-            counter.SetDownSource(2);
-
-            // Set the decoding type to 2X
-            counter.SetUpSourceEdge(true, true);
-            counter.SetDownSourceEdge(true, true);
-
-Semi-period mode
-~~~~~~~~~~~~~~~~
+    ```java
+    // Create a new Counter object in two-pulse mode
+    Counter counter = new Counter(Counter.Mode.k2Pulse);
+    @Override
+    public void robotInit() {
+        // Set up the input channels for the counter
+        counter.setUpSource(1);
+        counter.setDownSource(2);
+        // Set the decoding type to 2X
+        counter.setUpSourceEdge(true, true);
+        counter.setDownSourceEdge(true, true);
+    }
+    ```
+
+    ```c++
+    // Create a new Counter object in two-pulse mode
+    frc::Counter counter{frc::Counter::Mode::k2Pulse};
+    void Robot::RobotInit() {
+        // Set up the input channels for the counter
+        counter.SetUpSource(1);
+        counter.SetDownSource(2);
+        // Set the decoding type to 2X
+        counter.SetUpSourceEdge(true, true);
+        counter.SetDownSourceEdge(true, true);
+    ```
+
+#### Semi-period mode
 
 In semi-period mode, the :code:`Counter` will count the duration of the pulses on a channel, either from a rising edge to the next falling edge, or from a falling edge to the next rising edge.  A counter can be initialized in semi-period mode with the following code:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Create a new Counter object in two-pulse mode
-        Counter counter = new Counter(Counter.Mode.kSemiperiod);
-
-        @Override
-        public void robotInit() {
-            // Set up the input channel for the counter
-            counter.setUpSource(1);
-
-            // Set the encoder to count pulse duration from rising edge to falling edge
-            counter.setSemiPeriodMode(true);
-        }
-
-    .. code-block:: c++
-
-        // Create a new Counter object in two-pulse mode
-        frc::Counter counter{frc::Counter::Mode::kSemiperiod};
-
-        void Robot() {
-            // Set up the input channel for the counter
-            counter.SetUpSource(1);
-
-            // Set the encoder to count pulse duration from rising edge to falling edge
-            counter.SetSemiPeriodMode(true);
+    ```java
+    // Create a new Counter object in two-pulse mode
+    Counter counter = new Counter(Counter.Mode.kSemiperiod);
+    @Override
+    public void robotInit() {
+        // Set up the input channel for the counter
+        counter.setUpSource(1);
+        // Set the encoder to count pulse duration from rising edge to falling edge
+        counter.setSemiPeriodMode(true);
+    }
+    ```
+
+    ```c++
+    // Create a new Counter object in two-pulse mode
+    frc::Counter counter{frc::Counter::Mode::kSemiperiod};
+    void Robot() {
+        // Set up the input channel for the counter
+        counter.SetUpSource(1);
+        // Set the encoder to count pulse duration from rising edge to falling edge
+        counter.SetSemiPeriodMode(true);
+    ```
 
 To get the pulse width, call the :code:`getPeriod()` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Return the measured pulse width in seconds
-        counter.getPeriod();
+    ```java
+    // Return the measured pulse width in seconds
+    counter.getPeriod();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Return the measured pulse width in seconds
+    counter.GetPeriod();
+    ```
 
-        // Return the measured pulse width in seconds
-        counter.GetPeriod();
-
-Pulse-length mode
-~~~~~~~~~~~~~~~~~
+#### Pulse-length mode
 
 In pulse-length mode, the counter will count either up or down depending on the length of the pulse. A pulse below the specified threshold time will be interpreted as a forward count and a pulse above the threshold is a reverse count. This is useful for some gear tooth sensors which encode direction in this manner.  A counter can be initialized in this mode as follows:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Create a new Counter object in two-pulse mode
-        Counter counter = new Counter(Counter.Mode.kPulseLength);
-
-        @Override
-        public void robotInit() {
-            // Set up the input channel for the counter
-            counter.setUpSource(1);
-
-            // Set the decoding type to 2X
-            counter.setUpSourceEdge(true, true);
-
-            // Set the counter to count down if the pulses are longer than .05 seconds
-            counter.setPulseLengthMode(.05)
-        }
-
-    .. code-block:: c++
-
-        // Create a new Counter object in two-pulse mode
-        frc::Counter counter{frc::Counter::Mode::kPulseLength};
-
-        void Robot::RobotInit() {
-            // Set up the input channel for the counter
-            counter.SetUpSource(1);
-
-            // Set the decoding type to 2X
-            counter.SetUpSourceEdge(true, true);
-
-            // Set the counter to count down if the pulses are longer than .05 seconds
-            counter.SetPulseLengthMode(.05)
-
-External direction mode
-~~~~~~~~~~~~~~~~~~~~~~~
+    ```java
+    // Create a new Counter object in two-pulse mode
+    Counter counter = new Counter(Counter.Mode.kPulseLength);
+    @Override
+    public void robotInit() {
+        // Set up the input channel for the counter
+        counter.setUpSource(1);
+        // Set the decoding type to 2X
+        counter.setUpSourceEdge(true, true);
+        // Set the counter to count down if the pulses are longer than .05 seconds
+        counter.setPulseLengthMode(.05)
+    }
+    ```
+
+    ```c++
+    // Create a new Counter object in two-pulse mode
+    frc::Counter counter{frc::Counter::Mode::kPulseLength};
+    void Robot::RobotInit() {
+        // Set up the input channel for the counter
+        counter.SetUpSource(1);
+        // Set the decoding type to 2X
+        counter.SetUpSourceEdge(true, true);
+        // Set the counter to count down if the pulses are longer than .05 seconds
+        counter.SetPulseLengthMode(.05)
+    ```
+
+#### External direction mode
 
 In external direction mode, the counter counts either up or down depending on the level on the second channel. If the direction source is low, the counter will increase; if the direction source is high, the counter will decrease (to reverse this, see the next section). A counter can be initialized in this mode as follows:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Create a new Counter object in two-pulse mode
-        Counter counter = new Counter(Counter.Mode.kExternalDirection);
-
-        @Override
-        public void robotInit() {
-            // Set up the input channels for the counter
-            counter.setUpSource(1);
-            counter.setDownSource(2);
-
-            // Set the decoding type to 2X
-            counter.setUpSourceEdge(true, true);
-        }
-
-    .. code-block:: c++
-
-        // Create a new Counter object in two-pulse mode
-        frc::Counter counter{frc::Counter::Mode::kExternalDirection};
-
-        void RobotInit() {
-            // Set up the input channels for the counter
-            counter.SetUpSource(1);
-            counter.SetDownSource(2);
-
-            // Set the decoding type to 2X
-            counter.SetUpSourceEdge(true, true);
-
-Configuring counter parameters
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    ```java
+    // Create a new Counter object in two-pulse mode
+    Counter counter = new Counter(Counter.Mode.kExternalDirection);
+    @Override
+    public void robotInit() {
+        // Set up the input channels for the counter
+        counter.setUpSource(1);
+        counter.setDownSource(2);
+        // Set the decoding type to 2X
+        counter.setUpSourceEdge(true, true);
+    }
+    ```
+
+    ```c++
+    // Create a new Counter object in two-pulse mode
+    frc::Counter counter{frc::Counter::Mode::kExternalDirection};
+    void RobotInit() {
+        // Set up the input channels for the counter
+        counter.SetUpSource(1);
+        counter.SetDownSource(2);
+        // Set the decoding type to 2X
+        counter.SetUpSourceEdge(true, true);
+    ```
+
+### Configuring counter parameters
 
 .. note:: The :code:`Counter` class does not make any assumptions about units of distance; it will return values in whatever units were used to calculate the distance-per-pulse value.  Users thus have complete control over the distance units used.  However, units of time are *always* in seconds.
 
@@ -194,68 +168,57 @@ Apart from the mode-specific configurations, the :code:`Counter` class offers a
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Configures the counter to return a distance of 4 for every 256 pulses
-        // Also changes the units of getRate
-        counter.setDistancePerPulse(4./256.);
-
-        // Configures the counter to consider itself stopped after .1 seconds
-        counter.setMaxPeriod(.1);
-
-        // Configures the counter to consider itself stopped when its rate is below 10
-        counter.setMinRate(10);
-
-        // Reverses the direction of the counter
-        counter.setReverseDirection(true);
-
-        // Configures an counter to average its period measurement over 5 samples
-        // Can be between 1 and 127 samples
-        counter.setSamplesToAverage(5);
-
-    .. code-block:: c++
-
-        // Configures the counter to return a distance of 4 for every 256 pulses
-        // Also changes the units of getRate
-        counter.SetDistancePerPulse(4./256.);
-
-        // Configures the counter to consider itself stopped after .1 seconds
-        counter.SetMaxPeriod(.1);
-
-        // Configures the counter to consider itself stopped when its rate is below 10
-        counter.SetMinRate(10);
-
-        // Reverses the direction of the counter
-        counter.SetReverseDirection(true);
-
-        // Configures an counter to average its period measurement over 5 samples
-        // Can be between 1 and 127 samples
-        counter.SetSamplesToAverage(5);
-
-Reading information from counters
----------------------------------
+    ```java
+    // Configures the counter to return a distance of 4 for every 256 pulses
+    // Also changes the units of getRate
+    counter.setDistancePerPulse(4./256.);
+    // Configures the counter to consider itself stopped after .1 seconds
+    counter.setMaxPeriod(.1);
+    // Configures the counter to consider itself stopped when its rate is below 10
+    counter.setMinRate(10);
+    // Reverses the direction of the counter
+    counter.setReverseDirection(true);
+    // Configures an counter to average its period measurement over 5 samples
+    // Can be between 1 and 127 samples
+    counter.setSamplesToAverage(5);
+    ```
+
+    ```c++
+    // Configures the counter to return a distance of 4 for every 256 pulses
+    // Also changes the units of getRate
+    counter.SetDistancePerPulse(4./256.);
+    // Configures the counter to consider itself stopped after .1 seconds
+    counter.SetMaxPeriod(.1);
+    // Configures the counter to consider itself stopped when its rate is below 10
+    counter.SetMinRate(10);
+    // Reverses the direction of the counter
+    counter.SetReverseDirection(true);
+    // Configures an counter to average its period measurement over 5 samples
+    // Can be between 1 and 127 samples
+    counter.SetSamplesToAverage(5);
+    ```
+
+## Reading information from counters
 
 Regardless of mode, there is some information that the :code:`Counter` class always exposes to users:
 
-Count
-^^^^^
+### Count
 
 Users can obtain the current count with the :code:`get()` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // returns the current count
-        counter.get();
+    ```java
+    // returns the current count
+    counter.get();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // returns the current count
+    counter.Get();
+    ```
 
-        // returns the current count
-        counter.Get();
-
-Distance
-^^^^^^^^
+### Distance
 
 .. note:: Counters measure *relative* distance, not absolute; the distance value returned will depend on the position of the encoder when the robot was turned on or the encoder value was last :ref:`reset <docs/software/hardware-apis/sensors/counters:Resetting a Counter>`.
 
@@ -263,18 +226,17 @@ If the :ref:`distance per pulse <docs/software/hardware-apis/sensors/counters:Co
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // returns the current distance
-        counter.getDistance();
+    ```java
+    // returns the current distance
+    counter.getDistance();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // returns the current distance
+    counter.GetDistance();
+    ```
 
-        // returns the current distance
-        counter.GetDistance();
-
-Rate
-~~~~
+#### Rate
 
 .. note:: Units of time for the :code:`Counter` class are *always* in seconds.
 
@@ -282,52 +244,49 @@ Users can obtain the current rate of change of the counter with the :code:`getRa
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets the current rate of the counter
-        counter.getRate();
+    ```java
+    // Gets the current rate of the counter
+    counter.getRate();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Gets the current rate of the counter
+    counter.GetRate();
+    ```
 
-        // Gets the current rate of the counter
-        counter.GetRate();
-
-Stopped
-^^^^^^^
+### Stopped
 
 Users can obtain whether the counter is stationary with the :code:`getStopped()` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets whether the counter is stopped
-        counter.getStopped();
+    ```java
+    // Gets whether the counter is stopped
+    counter.getStopped();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Gets whether the counter is stopped
+    counter.GetStopped();
+    ```
 
-        // Gets whether the counter is stopped
-        counter.GetStopped();
-
-Direction
-~~~~~~~~~
+#### Direction
 
 Users can obtain the direction in which the counter last moved with the :code:`getDirection()` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets the last direction in which the counter moved
-        counter.getDirection();
+    ```java
+    // Gets the last direction in which the counter moved
+    counter.getDirection();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Gets the last direction in which the counter moved
+    counter.GetDirection();
+    ```
 
-        // Gets the last direction in which the counter moved
-        counter.GetDirection();
-
-Period
-^^^^^^
+### Period
 
 .. note:: In :ref:`semi-period mode <docs/software/hardware-apis/sensors/counters:Semi-period mode>`, this method returns the duration of the pulse, not of the period.
 
@@ -335,34 +294,32 @@ Users can obtain the duration (in seconds) of the most-recent period with the :c
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // returns the current period in seconds
-        counter.getPeriod();
+    ```java
+    // returns the current period in seconds
+    counter.getPeriod();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // returns the current period in seconds
+    counter.GetPeriod();
+    ```
 
-        // returns the current period in seconds
-        counter.GetPeriod();
-
-Resetting a counter
--------------------
+## Resetting a counter
 
 To reset a counter to a distance reading of zero, call the :code:`reset()` method.  This is useful for ensuring that the measured distance corresponds to the actual desired physical measurement.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Resets the encoder to read a distance of zero
-        counter.reset();
-
-    .. code-block:: c++
+    ```java
+    // Resets the encoder to read a distance of zero
+    counter.reset();
+    ```
 
-        // Resets the encoder to read a distance of zero
-        counter.Reset();
+    ```c++
+    // Resets the encoder to read a distance of zero
+    counter.Reset();
+    ```
 
-Using counters in code
-----------------------
+## Using counters in code
 
 Counters are useful for a wide variety of robot applications - but since the :code:`Counter` class is so varied, it is difficult to provide a good summary of them here.  Many of these applications overlap with the :code:`Encoder` class - a simple counter is often a cheaper alternative to a quadrature encoder.  For a summary of potential uses for encoders in code, see :ref:`docs/software/hardware-apis/sensors/encoders-software:Encoders - Software`.
diff --git a/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst b/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst
index e2793fe96a..8738e7131c 100644
--- a/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst
+++ b/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst
@@ -1,85 +1,76 @@
 .. include:: <isonum.txt>
 
-Digital Inputs - Software
-=========================
+# Digital Inputs - Software
 
 .. note:: This section covers digital inputs in software.  For a hardware guide to digital inputs, see :ref:`docs/hardware/sensors/digital-inputs-hardware:Digital Inputs - Hardware`.
 
-The roboRIO's FPGA supports up to 26 digital inputs.  10 of these are made available through the built-in DIO ports on the RIO itself, while the other 16 are available through the MXP breakout port.
+The roboRIO's FPGA supports up to 26 digital inputs.  10 of these are made available through the built-in DIO ports on the RIO itself, while the other 16 are available through the :term:`MXP` breakout port.
 
-Digital inputs read one of two states - "high" or "low."  By default, the built-in ports on the RIO will read "high" due to internal pull-up resistors (for more information, see :ref:`docs/hardware/sensors/digital-inputs-hardware:Digital Inputs - Hardware`).  Accordingly, digital inputs are most-commonly used with switches of some sort.  Support for this usage is provided through the :code:`DigitalInput` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/DigitalInput.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_digital_input.html>`__).
+Digital inputs read one of two states - "high" or "low."  By default, the built-in ports on the RIO will read "high" due to internal pull-up resistors (for more information, see :ref:`docs/hardware/sensors/digital-inputs-hardware:Digital Inputs - Hardware`).  Accordingly, digital inputs are most-commonly used with switches of some sort.  Support for this usage is provided through the :code:`DigitalInput` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/DigitalInput.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_digital_input.html)).
 
-The DigitalInput class
-----------------------
+## The DigitalInput class
 
 A :code:`DigitalInput` can be initialized as follows:
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Initializes a DigitalInput on DIO 0
+    DigitalInput input = new DigitalInput(0);
+    ```
 
-        // Initializes a DigitalInput on DIO 0
-        DigitalInput input = new DigitalInput(0);
+    ```c++
+    // Initializes a DigitalInput on DIO 0
+    frc::DigitalInput input{0};
+    ```
 
-    .. code-block:: c++
-
-        // Initializes a DigitalInput on DIO 0
-        frc::DigitalInput input{0};
-
-Reading the value of the DigitalInput
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Reading the value of the DigitalInput
 
 The state of the :code:`DigitalInput` can be polled with the :code:`get` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets the value of the digital input.  Returns true if the circuit is open.
-        input.get();
+    ```java
+    // Gets the value of the digital input.  Returns true if the circuit is open.
+    input.get();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Gets the value of the digital input.  Returns true if the circuit is open.
+    input.Get();
+    ```
 
-        // Gets the value of the digital input.  Returns true if the circuit is open.
-        input.Get();
-
-Creating a DigitalInput from an AnalogInput
--------------------------------------------
+## Creating a DigitalInput from an AnalogInput
 
 .. note:: An :code:`AnalogTrigger` constructed with a port number argument can share that analog port with a separate :code:`AnalogInput`, but two `AnalogInput` objects may not share the same port.
 
-Sometimes, it is desirable to use an analog input as a digital input.  This can be easily achieved using the :code:`AnalogTrigger` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/AnalogTrigger.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_analog_trigger.html>`__).
+Sometimes, it is desirable to use an analog input as a digital input.  This can be easily achieved using the :code:`AnalogTrigger` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/AnalogTrigger.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_analog_trigger.html)).
 
 An :code:`AnalogTrigger` may be initialized as follows.  As with :code:`AnalogPotentiometer`, an :code:`AnalogInput` may be passed explicitly if the user wishes to customize the sampling settings:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Initializes an AnalogTrigger on port 0
-        AnalogTrigger trigger0 = new AnalogTrigger(0);
-
-        // Initializes an AnalogInput on port 1 and enables 2-bit oversampling
-        AnalogInput input = new AnalogInput(1);
-        input.setAverageBits(2);
-
-        // Initializes an AnalogTrigger using the above input
-        AnalogTrigger trigger1 = new AnalogTrigger(input);
-
-    .. code-block:: c++
-
-        // Initializes an AnalogTrigger on port 0
-        frc::AnalogTrigger trigger0{0};
-
-        // Initializes an AnalogInput on port 1 and enables 2-bit oversampling
-        frc::AnalogInput input{1};
-        input.SetAverageBits(2);
-
-        // Initializes an AnalogTrigger using the above input
-        frc::AnalogTrigger trigger1{input};
-
-Setting the trigger points
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+    ```java
+    // Initializes an AnalogTrigger on port 0
+    AnalogTrigger trigger0 = new AnalogTrigger(0);
+    // Initializes an AnalogInput on port 1 and enables 2-bit oversampling
+    AnalogInput input = new AnalogInput(1);
+    input.setAverageBits(2);
+    // Initializes an AnalogTrigger using the above input
+    AnalogTrigger trigger1 = new AnalogTrigger(input);
+    ```
+
+    ```c++
+    // Initializes an AnalogTrigger on port 0
+    frc::AnalogTrigger trigger0{0};
+    // Initializes an AnalogInput on port 1 and enables 2-bit oversampling
+    frc::AnalogInput input{1};
+    input.SetAverageBits(2);
+    // Initializes an AnalogTrigger using the above input
+    frc::AnalogTrigger trigger1{input};
+    ```
+
+### Setting the trigger points
 
 .. note:: For details on the scaling of "raw" :code:`AnalogInput` values, see :doc:`analog-inputs-software`.
 
@@ -87,68 +78,59 @@ To convert the analog signal to a digital one, it is necessary to specify at wha
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Sets the trigger to enable at a raw value of 3500, and disable at a value of 1000
+    trigger.setLimitsRaw(1000, 3500);
+    // Sets the trigger to enable at a voltage of 4 volts, and disable at a value of 1.5 volts
+    trigger.setLimitsVoltage(1.5, 4);
+    ```
 
-        // Sets the trigger to enable at a raw value of 3500, and disable at a value of 1000
-        trigger.setLimitsRaw(1000, 3500);
+    ```c++
+    // Sets the trigger to enable at a raw value of 3500, and disable at a value of 1000
+    trigger.SetLimitsRaw(1000, 3500);
+    // Sets the trigger to enable at a voltage of 4 volts, and disable at a value of 1.5 volts
+    trigger.SetLimitsVoltage(1.5, 4);
+    ```
 
-        // Sets the trigger to enable at a voltage of 4 volts, and disable at a value of 1.5 volts
-        trigger.setLimitsVoltage(1.5, 4);
-
-    .. code-block:: c++
-
-        // Sets the trigger to enable at a raw value of 3500, and disable at a value of 1000
-        trigger.SetLimitsRaw(1000, 3500);
-
-        // Sets the trigger to enable at a voltage of 4 volts, and disable at a value of 1.5 volts
-        trigger.SetLimitsVoltage(1.5, 4);
-
-Using DigitalInputs in code
----------------------------
+## Using DigitalInputs in code
 
 As almost all switches on the robot will be used through a :code:`DigitalInput`. This class is extremely important for effective robot control.
 
-Limiting the motion of a mechanism
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Limiting the motion of a mechanism
 
 Nearly all motorized mechanisms (such as arms and elevators) in FRC\ |reg| should be given some form of "limit switch" to prevent them from damaging themselves at the end of their range of motions.  A short example is given below:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        Spark spark = new Spark(0);
-
-        // Limit switch on DIO 2
-        DigitalInput limit = new DigitalInput(2);
-
-        public void autonomousPeriodic() {
-            // Runs the motor forwards at half speed, unless the limit is pressed
-            if(!limit.get()) {
-                spark.set(.5);
-            } else {
-                spark.set(0);
-            }
+    ```java
+    Spark spark = new Spark(0);
+    // Limit switch on DIO 2
+    DigitalInput limit = new DigitalInput(2);
+    public void autonomousPeriodic() {
+        // Runs the motor forwards at half speed, unless the limit is pressed
+        if(!limit.get()) {
+            spark.set(.5);
+        } else {
+            spark.set(0);
         }
-
-    .. code-block:: c++
-
-        // Motor for the mechanism
-        frc::Spark spark{0};
-
-        // Limit switch on DIO 2
-        frc::DigitalInput limit{2};
-
-        void AutonomousPeriodic() {
-            // Runs the motor forwards at half speed, unless the limit is pressed
-            if(!limit.Get()) {
-                spark.Set(.5);
-            } else {
-                spark.Set(0);
-            }
+    }
+    ```
+
+    ```c++
+    // Motor for the mechanism
+    frc::Spark spark{0};
+    // Limit switch on DIO 2
+    frc::DigitalInput limit{2};
+    void AutonomousPeriodic() {
+        // Runs the motor forwards at half speed, unless the limit is pressed
+        if(!limit.Get()) {
+            spark.Set(.5);
+        } else {
+            spark.Set(0);
         }
+    }
+    ```
 
-Homing a mechanism
-^^^^^^^^^^^^^^^^^^
+### Homing a mechanism
 
 Limit switches are very important for being able to "home" a mechanism with an encoder.  For an example of this, see :ref:`docs/software/hardware-apis/sensors/encoders-software:Homing a mechanism`.
diff --git a/source/docs/software/hardware-apis/sensors/encoders-software.rst b/source/docs/software/hardware-apis/sensors/encoders-software.rst
index ab85455312..132c3c055f 100644
--- a/source/docs/software/hardware-apis/sensors/encoders-software.rst
+++ b/source/docs/software/hardware-apis/sensors/encoders-software.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Encoders - Software
-===================
+# Encoders - Software
 
 .. note:: This section covers encoders in software.  For a hardware guide to encoders, see :ref:`docs/hardware/sensors/encoders-hardware:Encoders - Hardware`.
 
@@ -9,10 +8,9 @@ Encoders are devices used to measure motion (usually, the rotation of a shaft).
 
 .. important:: The classes in this document are only used for encoders that are plugged directly into the roboRIO! Please reference the appropriate vendors' documentation for using encoders plugged into motor controllers.
 
-Quadrature Encoders - The :code:`Encoder` Class
------------------------------------------------
+## Quadrature Encoders - The :code:`Encoder` Class
 
-WPILib provides support for quadrature encoders through the :code:`Encoder` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Encoder.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_encoder.html>`__).  This class provides a simple API for configuring and reading data from encoders.
+WPILib provides support for quadrature encoders through the :code:`Encoder` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Encoder.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_encoder.html)).  This class provides a simple API for configuring and reading data from encoders.
 
 .. image:: images/encoders-software/encoding-direction.png
     :alt: Quadrature Encoders determine direction by observing which pulse channel (A or B) receives a pulse first.
@@ -26,34 +24,32 @@ The FPGA handles quadrature encoders either through a counter module or an encod
 
 Examples of quadrature encoders:
 
-- `AMT103-V <https://www.cuidevices.com/product/motion/rotary-encoders/incremental/modular/amt10-v-kit/amt103-v>`__ available through FIRST Choice
-- `CIMcoder <https://www.andymark.com/products/cimcoder-encoder-cim-motor-high-resolution>`__
-- `CTRE Mag Encoder <https://store.ctr-electronics.com/srx-mag-encoder/>`_
-- `Grayhill 63r <https://www.grayhill.com/documents/63R-Datasheet>`__
-- `REV Through Bore Encoder <https://www.revrobotics.com/rev-11-1271/>`__
-- `US Digital E4T <https://www.andymark.com/products/e4t-oem-miniature-optical-encoder-kit>`__
+- [AMT103-V](https://www.cuidevices.com/product/motion/rotary-encoders/incremental/modular/amt10-v-kit/amt103-v) available through FIRST Choice
+- [CIMcoder](https://www.andymark.com/products/cimcoder-encoder-cim-motor-high-resolution)
+- [CTRE Mag Encoder](https://store.ctr-electronics.com/srx-mag-encoder/)
+- [Grayhill 63r](https://www.mouser.com/datasheet/2/626/grhls00779_1-2289364.pdf)
+- [REV Through Bore Encoder](https://www.revrobotics.com/rev-11-1271/)
+- [US Digital E4T](https://www.andymark.com/products/e4t-oem-miniature-optical-encoder-kit)
 
-Initializing a Quadrature Encoder
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Initializing a Quadrature Encoder
 
 A quadrature encoder can be instantiated as follows:
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Initializes an encoder on DIO pins 0 and 1
+    // Defaults to 4X decoding and non-inverted
+    Encoder encoder = new Encoder(0, 1);
+    ```
 
-        // Initializes an encoder on DIO pins 0 and 1
-        // Defaults to 4X decoding and non-inverted
-        Encoder encoder = new Encoder(0, 1);
+    ```c++
+    // Initializes an encoder on DIO pins 0 and 1
+    // Defaults to 4X decoding and non-inverted
+    frc::Encoder encoder{0, 1};
+    ```
 
-    .. code-block:: c++
-
-        // Initializes an encoder on DIO pins 0 and 1
-        // Defaults to 4X decoding and non-inverted
-        frc::Encoder encoder{0, 1};
-
-Decoding Type
-~~~~~~~~~~~~~
+#### Decoding Type
 
 The WPILib :code:`Encoder` class can decode encoder signals in three different modes:
 
@@ -65,20 +61,19 @@ The WPILib :code:`Encoder` class can decode encoder signals in three different m
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Initializes an encoder on DIO pins 0 and 1
-        // 2X encoding and non-inverted
-        Encoder encoder = new Encoder(0, 1, false, Encoder.EncodingType.k2X);
+    ```java
+    // Initializes an encoder on DIO pins 0 and 1
+    // 2X encoding and non-inverted
+    Encoder encoder = new Encoder(0, 1, false, Encoder.EncodingType.k2X);
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Initializes an encoder on DIO pins 0 and 1
+    // 2X encoding and non-inverted
+    frc::Encoder encoder{0, 1, false, frc::Encoder::EncodingType::k2X};
+    ```
 
-        // Initializes an encoder on DIO pins 0 and 1
-        // 2X encoding and non-inverted
-        frc::Encoder encoder{0, 1, false, frc::Encoder::EncodingType::k2X};
-
-Configuring Quadrature Encoder Parameters
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Configuring Quadrature Encoder Parameters
 
 .. note:: The :code:`Encoder` class does not make any assumptions about units of distance; it will return values in whatever units were used to calculate the distance-per-pulse value.  Users thus have complete control over the distance units used.  However, units of time are *always* in seconds.
 
@@ -88,51 +83,41 @@ The :code:`Encoder` class offers a number of configuration methods:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Configures the encoder to return a distance of 4 for every 256 pulses
-        // Also changes the units of getRate
-        encoder.setDistancePerPulse(4.0/256.0);
-
-        // Configures the encoder to consider itself stopped after .1 seconds
-        encoder.setMaxPeriod(0.1);
-
-        // Configures the encoder to consider itself stopped when its rate is below 10
-        encoder.setMinRate(10);
-
-        // Reverses the direction of the encoder
-        encoder.setReverseDirection(true);
-
-        // Configures an encoder to average its period measurement over 5 samples
-        // Can be between 1 and 127 samples
-        encoder.setSamplesToAverage(5);
-
-    .. code-block:: c++
-
-        // Configures the encoder to return a distance of 4 for every 256 pulses
-        // Also changes the units of getRate
-        encoder.SetDistancePerPulse(4.0/256.0);
-
-        // Configures the encoder to consider itself stopped after .1 seconds
-        encoder.SetMaxPeriod(0.1);
-
-        // Configures the encoder to consider itself stopped when its rate is below 10
-        encoder.SetMinRate(10);
-
-        // Reverses the direction of the encoder
-        encoder.SetReverseDirection(true);
-
-        // Configures an encoder to average its period measurement over 5 samples
-        // Can be between 1 and 127 samples
-        encoder.SetSamplesToAverage(5);
-
-Reading information from Quadrature Encoders
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    ```java
+    // Configures the encoder to return a distance of 4 for every 256 pulses
+    // Also changes the units of getRate
+    encoder.setDistancePerPulse(4.0/256.0);
+    // Configures the encoder to consider itself stopped after .1 seconds
+    encoder.setMaxPeriod(0.1);
+    // Configures the encoder to consider itself stopped when its rate is below 10
+    encoder.setMinRate(10);
+    // Reverses the direction of the encoder
+    encoder.setReverseDirection(true);
+    // Configures an encoder to average its period measurement over 5 samples
+    // Can be between 1 and 127 samples
+    encoder.setSamplesToAverage(5);
+    ```
+
+    ```c++
+    // Configures the encoder to return a distance of 4 for every 256 pulses
+    // Also changes the units of getRate
+    encoder.SetDistancePerPulse(4.0/256.0);
+    // Configures the encoder to consider itself stopped after .1 seconds
+    encoder.SetMaxPeriod(0.1);
+    // Configures the encoder to consider itself stopped when its rate is below 10
+    encoder.SetMinRate(10);
+    // Reverses the direction of the encoder
+    encoder.SetReverseDirection(true);
+    // Configures an encoder to average its period measurement over 5 samples
+    // Can be between 1 and 127 samples
+    encoder.SetSamplesToAverage(5);
+    ```
+
+### Reading information from Quadrature Encoders
 
 The :code:`Encoder` class provides a wealth of information to the user about the motion of the encoder.
 
-Distance
-~~~~~~~~
+#### Distance
 
 .. note:: Quadrature encoders measure *relative* distance, not absolute; the distance value returned will depend on the position of the encoder when the robot was turned on or the encoder value was last :ref:`reset <docs/software/hardware-apis/sensors/encoders-software:Resetting a quadrature encoder>`.
 
@@ -140,18 +125,17 @@ Users can obtain the total distance traveled by the encoder with the :code:`getD
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets the distance traveled
-        encoder.getDistance();
+    ```java
+    // Gets the distance traveled
+    encoder.getDistance();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Gets the distance traveled
+    encoder.GetDistance();
+    ```
 
-        // Gets the distance traveled
-        encoder.GetDistance();
-
-Rate
-~~~~
+#### Rate
 
 .. note:: Units of time for the :code:`Encoder` class are *always* in seconds.
 
@@ -159,118 +143,111 @@ Users can obtain the current rate of change of the encoder with the :code:`getRa
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets the current rate of the encoder
-        encoder.getRate();
-
-    .. code-block:: c++
+    ```java
+    // Gets the current rate of the encoder
+    encoder.getRate();
+    ```
 
-        // Gets the current rate of the encoder
-        encoder.GetRate();
+    ```c++
+    // Gets the current rate of the encoder
+    encoder.GetRate();
+    ```
 
-Stopped
-~~~~~~~
+#### Stopped
 
 Users can obtain whether the encoder is stationary with the :code:`getStopped()` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets whether the encoder is stopped
-        encoder.getStopped();
-
-    .. code-block:: c++
+    ```java
+    // Gets whether the encoder is stopped
+    encoder.getStopped();
+    ```
 
-        // Gets whether the encoder is stopped
-        encoder.GetStopped();
+    ```c++
+    // Gets whether the encoder is stopped
+    encoder.GetStopped();
+    ```
 
-Direction
-~~~~~~~~~
+#### Direction
 
 Users can obtain the direction in which the encoder last moved with the :code:`getDirection()` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Gets the last direction in which the encoder moved
+    encoder.getDirection();
+    ```
 
-        // Gets the last direction in which the encoder moved
-        encoder.getDirection();
+    ```c++
+    // Gets the last direction in which the encoder moved
+    encoder.GetDirection();
+    ```
 
-    .. code-block:: c++
-
-        // Gets the last direction in which the encoder moved
-        encoder.GetDirection();
-
-Period
-~~~~~~
+#### Period
 
 Users can obtain the period of the encoder pulses (in seconds) with the :code:`getPeriod()` method:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets the current period of the encoder
-        encoder.getPeriod();
+    ```java
+    // Gets the current period of the encoder
+    encoder.getPeriod();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Gets the current period of the encoder
+    encoder.GetPeriod();
+    ```
 
-        // Gets the current period of the encoder
-        encoder.GetPeriod();
-
-Resetting a Quadrature Encoder
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Resetting a Quadrature Encoder
 
 To reset a quadrature encoder to a distance reading of zero, call the :code:`reset()` method.  This is useful for ensuring that the measured distance corresponds to the actual desired physical measurement, and is often called during a :ref:`homing <docs/software/hardware-apis/sensors/encoders-software:Homing a mechanism>` routine:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Resets the encoder to read a distance of zero
-        encoder.reset();
-
-    .. code-block:: c++
+    ```java
+    // Resets the encoder to read a distance of zero
+    encoder.reset();
+    ```
 
-        // Resets the encoder to read a distance of zero
-        encoder.Reset();
+    ```c++
+    // Resets the encoder to read a distance of zero
+    encoder.Reset();
+    ```
 
-Duty Cycle Encoders - The :code:`DutyCycleEncoder` class
---------------------------------------------------------
+## Duty Cycle Encoders - The :code:`DutyCycleEncoder` class
 
-WPILib provides support for duty cycle (also marketed as PWM) encoders through the :code:`DutyCycleEncoder` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/DutyCycleEncoder.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_duty_cycle_encoder.html>`__).  This class provides a simple API for configuring and reading data from duty cycle encoders.
+WPILib provides support for duty cycle (also marketed as :term:`PWM`) encoders through the :code:`DutyCycleEncoder` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/DutyCycleEncoder.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_duty_cycle_encoder.html)).  This class provides a simple API for configuring and reading data from duty cycle encoders.
 
 The roboRIO's FPGA handles duty cycle encoders automatically.
 
 Examples of duty cycle encoders:
 
-- `AndyMark Mag Encoder <https://www.andymark.com/products/am-mag-encoder>`__
-- `CTRE Mag Encoder <https://store.ctr-electronics.com/srx-mag-encoder/>`__
-- `REV Through Bore Encoder <https://www.revrobotics.com/rev-11-1271/>`__
-- `Team 221 Lamprey2 <https://www.andymark.com/products/lamprey-absolute-encoder>`__
-- `US Digital MA3 <https://www.usdigital.com/products/encoders/absolute/shaft/ma3/>`__
+- [AndyMark Mag Encoder](https://www.andymark.com/products/am-mag-encoder)
+- [CTRE Mag Encoder](https://store.ctr-electronics.com/srx-mag-encoder/)
+- [REV Through Bore Encoder](https://www.revrobotics.com/rev-11-1271/)
+- [Team 221 Lamprey2](https://www.andymark.com/products/lamprey-absolute-encoder)
+- [US Digital MA3](https://www.usdigital.com/products/encoders/absolute/shaft/ma3/)
 
-Initializing a Duty Cycle Encoder
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Initializing a Duty Cycle Encoder
 
 A duty cycle encoder can be instantiated as follows:
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Initializes a duty cycle encoder on DIO pins 0
+    DutyCycleEncoder encoder = new DutyCycleEncoder(0);
+    ```
 
-        // Initializes a duty cycle encoder on DIO pins 0
-        DutyCycleEncoder encoder = new DutyCycleEncoder(0);
+    ```c++
+    // Initializes a duty cycle encoder on DIO pins 0
+    frc::DutyCycleEncoder encoder{0};
+    ```
 
-    .. code-block:: c++
-
-        // Initializes a duty cycle encoder on DIO pins 0
-        frc::DutyCycleEncoder encoder{0};
-
-Configuring Duty Cycle Encoder Parameters
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Configuring Duty Cycle Encoder Parameters
 
 .. note:: The :code:`DutyCycleEncoder` class does not make any assumptions about units of distance; it will return values in whatever units were used to calculate the distance-per-rotation value.  Users thus have complete control over the distance units used.
 
@@ -278,18 +255,17 @@ The :code:`DutyCycleEncoder` class offers a number of configuration methods:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Configures the encoder to return a distance of 4 for every rotation
-        encoder.setDistancePerRotation(4.0);
+    ```java
+    // Configures the encoder to return a distance of 4 for every rotation
+    encoder.setDistancePerRotation(4.0);
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Configures the encoder to return a distance of 4 for every rotation
+    encoder.SetDistancePerRotation(4.0);
+    ```
 
-        // Configures the encoder to return a distance of 4 for every rotation
-        encoder.SetDistancePerRotation(4.0);
-
-Reading Distance from Duty Cycle Encoders
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Reading Distance from Duty Cycle Encoders
 
 .. note:: Duty Cycle encoders measure absolute distance. It does not depend on the starting position of the encoder.
 
@@ -297,94 +273,83 @@ Users can obtain the distance measured by the encoder with the :code:`getDistanc
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets the distance traveled
-        encoder.getDistance();
+    ```java
+    // Gets the distance traveled
+    encoder.getDistance();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Gets the distance traveled
+    encoder.GetDistance();
+    ```
 
-        // Gets the distance traveled
-        encoder.GetDistance();
-
-
-Detecting a Duty Cycle Encoder is Connected
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Detecting a Duty Cycle Encoder is Connected
 
 As duty cycle encoders output a continuous set of pulses, it is possible to detect that the encoder has been unplugged.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets if the encoder is connected
-        encoder.isConnected();
+    ```java
+    // Gets if the encoder is connected
+    encoder.isConnected();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Gets if the encoder is connected
+    encoder.IsConnected();
+    ```
 
-        // Gets if the encoder is connected
-        encoder.IsConnected();
-
-
-Resetting a Duty Cycle Encoder
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Resetting a Duty Cycle Encoder
 
 To reset an encoder so the current distance is 0, call the :code:`reset()` method.  This is useful for ensuring that the measured distance corresponds to the actual desired physical measurement. Unlike quadrature encoders, duty cycle encoders don't need to be homed. However, after reset, the position offset can be stored to be set when the program starts so that the reset doesn't have to be performed again. The :doc:`Preferences class </docs/software/basic-programming/robot-preferences>` provides a method to save and retrieve the values on the roboRIO.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Resets the encoder to read a distance of zero at the current position
-        encoder.reset();
-
-        // get the position offset from when the encoder was reset
-        encoder.getPositionOffset();
-
-        // set the position offset to half a rotation
-        encoder.setPositionOffset(0.5);
-
-    .. code-block:: c++
-
-        // Resets the encoder to read a distance of zero at the current position
-        encoder.Reset();
-
-        // get the position offset from when the encoder was reset
-        encoder.GetPositionOffset();
+    ```java
+    // Resets the encoder to read a distance of zero at the current position
+    encoder.reset();
+    // get the position offset from when the encoder was reset
+    encoder.getPositionOffset();
+    // set the position offset to half a rotation
+    encoder.setPositionOffset(0.5);
+    ```
 
-        // set the position offset to half a rotation
-        encoder.SetPositionOffset(0.5);
+    ```c++
+    // Resets the encoder to read a distance of zero at the current position
+    encoder.Reset();
+    // get the position offset from when the encoder was reset
+    encoder.GetPositionOffset();
+    // set the position offset to half a rotation
+    encoder.SetPositionOffset(0.5);
+    ```
 
-Analog Encoders - The :code:`AnalogEncoder` Class
--------------------------------------------------
+## Analog Encoders - The :code:`AnalogEncoder` Class
 
-WPILib provides support for analog absolute encoders through the :code:`AnalogEncoder` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/AnalogEncoder.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_analog_encoder.html>`__).  This class provides a simple API for configuring and reading data from duty cycle encoders.
+WPILib provides support for analog absolute encoders through the :code:`AnalogEncoder` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/AnalogEncoder.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_analog_encoder.html)).  This class provides a simple API for configuring and reading data from duty cycle encoders.
 
 Examples of analog encoders:
 
-- `Team 221 Lamprey2 <https://www.andymark.com/products/lamprey-absolute-encoder>`__
-- `Thrifty Absolute Magnetic Encoder <https://www.thethriftybot.com/products/thrifty-absolute-magnetic-encoder>`__
-- `US Digital MA3 <https://www.usdigital.com/products/encoders/absolute/shaft/ma3/>`__
+- [Team 221 Lamprey2](https://www.andymark.com/products/lamprey-absolute-encoder)
+- [Thrifty Absolute Magnetic Encoder](https://www.thethriftybot.com/products/thrifty-absolute-magnetic-encoder)
+- [US Digital MA3](https://www.usdigital.com/products/encoders/absolute/shaft/ma3/)
 
-Initializing an Analog Encoder
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Initializing an Analog Encoder
 
 An analog encoder can be instantiated as follows:
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Initializes a duty cycle encoder on Analog Input pins 0
+    AnalogEncoder encoder = new AnalogEncoder(0);
+    ```
 
-        // Initializes a duty cycle encoder on Analog Input pins 0
-        AnalogEncoder encoder = new AnalogEncoder(0);
+    ```c++
+    // Initializes a duty cycle encoder on DIO pins 0
+    frc::AnalogEncoder encoder{0};
+    ```
 
-    .. code-block:: c++
-
-        // Initializes a duty cycle encoder on DIO pins 0
-        frc::AnalogEncoder encoder{0};
-
-Configuring Analog Encoder Parameters
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Configuring Analog Encoder Parameters
 
 .. note:: The :code:`AnalogEncoder` class does not make any assumptions about units of distance; it will return values in whatever units were used to calculate the distance-per-rotation value.  Users thus have complete control over the distance units used.
 
@@ -392,18 +357,17 @@ The :code:`AnalogEncoder` class offers a number of configuration methods:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Configures the encoder to return a distance of 4 for every rotation
-        encoder.setDistancePerRotation(4.0);
+    ```java
+    // Configures the encoder to return a distance of 4 for every rotation
+    encoder.setDistancePerRotation(4.0);
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Configures the encoder to return a distance of 4 for every rotation
+    encoder.SetDistancePerRotation(4.0);
+    ```
 
-        // Configures the encoder to return a distance of 4 for every rotation
-        encoder.SetDistancePerRotation(4.0);
-
-Reading Distance from Analog Encoders
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Reading Distance from Analog Encoders
 
 .. note:: Analog encoders measure absolute distance. It does not depend on the starting position of the encoder.
 
@@ -411,54 +375,45 @@ Users can obtain the distance measured by the encoder with the :code:`getDistanc
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Gets the distance measured
-        encoder.getDistance();
-
-    .. code-block:: c++
+    ```java
+    // Gets the distance measured
+    encoder.getDistance();
+    ```
 
-        // Gets the distance measured
-        encoder.GetDistance();
+    ```c++
+    // Gets the distance measured
+    encoder.GetDistance();
+    ```
 
-
-
-Resetting an Analog Encoder
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Resetting an Analog Encoder
 
 To reset an analog encoder so the current distance is 0, call the :code:`reset()` method.  This is useful for ensuring that the measured distance corresponds to the actual desired physical measurement. Unlike quadrature encoders, duty cycle encoders don't need to be homed. However, after reset, the position offset can be stored to be set when the program starts so that the reset doesn't have to be performed again. The :doc:`Preferences class </docs/software/basic-programming/robot-preferences>` provides a method to save and retrieve the values on the roboRIO.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Resets the encoder to read a distance of zero at the current position
-        encoder.reset();
-
-        // get the position offset from when the encoder was reset
-        encoder.getPositionOffset();
-
-        // set the position offset to half a rotation
-        encoder.setPositionOffset(0.5);
-
-    .. code-block:: c++
-
-        // Resets the encoder to read a distance of zero at the current position
-        encoder.Reset();
-
-        // get the position offset from when the encoder was reset
-        encoder.GetPositionOffset();
-
-        // set the position offset to half a rotation
-        encoder.SetPositionOffset(0.5);
-
-Using Encoders in Code
-----------------------
+    ```java
+    // Resets the encoder to read a distance of zero at the current position
+    encoder.reset();
+    // get the position offset from when the encoder was reset
+    encoder.getPositionOffset();
+    // set the position offset to half a rotation
+    encoder.setPositionOffset(0.5);
+    ```
+
+    ```c++
+    // Resets the encoder to read a distance of zero at the current position
+    encoder.Reset();
+    // get the position offset from when the encoder was reset
+    encoder.GetPositionOffset();
+    // set the position offset to half a rotation
+    encoder.SetPositionOffset(0.5);
+    ```
+
+## Using Encoders in Code
 
 Encoders are some of the most useful sensors in FRC\ |reg|; they are very nearly a requirement to make a robot capable of nontrivially-automated actuations and movement.  The potential applications of encoders in robot code are too numerous to summarize fully here, but an example is provided below:
 
-Driving to a Distance
-^^^^^^^^^^^^^^^^^^^^^
+### Driving to a Distance
 
 Encoders can be used on a robot drive to create a simple "drive to distance" routine.  This is useful in autonomous mode, but has the disadvantage that the robot's momentum will cause it to overshoot the intended distance. Better methods include using a :doc:`PID Controller </docs/software/advanced-controls/introduction/introduction-to-pid>` or using :doc:`Path Planning </docs/software/pathplanning/index>`
 
@@ -466,76 +421,70 @@ Encoders can be used on a robot drive to create a simple "drive to distance" rou
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Creates an encoder on DIO ports 0 and 1
-        Encoder encoder = new Encoder(0, 1);
-
-        // Initialize motor controllers and drive
-        Spark left1 = new Spark(0);
-        Spark left2 = new Spark(1);
-
-        Spark right1 = new Spark(2);
-        Spark right2 = new Spark(3);
-
-        MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
-        MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
-
-        DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
-
-        @Override
-        public void robotInit() {
-            // Configures the encoder's distance-per-pulse
-            // The robot moves forward 1 foot per encoder rotation
-            // There are 256 pulses per encoder rotation
-            encoder.setDistancePerPulse(1./256.);
+    ```java
+    // Creates an encoder on DIO ports 0 and 1
+    Encoder encoder = new Encoder(0, 1);
+    // Initialize motor controllers and drive
+    Spark leftLeader = new Spark(0);
+    Spark leftFollower = new Spark(1);
+    Spark rightLeader = new Spark(2);
+    Spark rightFollower = new Spark(3);
+    DifferentialDrive drive = new DifferentialDrive(leftLeader::set, rightLeader::set);
+    @Override
+    public void robotInit() {
+        // Configures the encoder's distance-per-pulse
+        // The robot moves forward 1 foot per encoder rotation
+        // There are 256 pulses per encoder rotation
+        encoder.setDistancePerPulse(1./256.);
+        // Invert the right side of the drivetrain. You might have to invert the other side
+        rightLeader.setInverted(true);
+        // Configure the followers to follow the leaders
+        leftLeader.addFollower(leftFollower);
+        rightLeader.addFollower(rightFollower);
+    }
+    @Override
+    public void autonomousPeriodic() {
+        // Drives forward at half speed until the robot has moved 5 feet, then stops:
+        if(encoder.getDistance() < 5) {
+            drive.tankDrive(0.5, 0.5);
+        } else {
+            drive.tankDrive(0, 0);
         }
-
-        @Override
-        public void autonomousPeriodic() {
-            // Drives forward at half speed until the robot has moved 5 feet, then stops:
-            if(encoder.getDistance() < 5) {
-                drive.tankDrive(0.5, 0.5);
-            } else {
-                drive.tankDrive(0, 0);
-            }
-        }
-
-    .. code-block:: c++
-
-        // Creates an encoder on DIO ports 0 and 1.
-        frc::Encoder encoder{0, 1};
-
-        // Initialize motor controllers and drive
-        frc::Spark left1{0};
-        frc::Spark left2{1};
-
-        frc::Spark right1{2};
-        frc::Spark right2{3};
-
-        frc::MotorControllerGroup leftMotors{left1, left2};
-        frc::MotorControllerGroup rightMotors{right1, right2};
-
-        frc::DifferentialDrive drive{leftMotors, rightMotors};
-
+    }
+    ```
+
+    ```c++
+     // Creates an encoder on DIO ports 0 and 1.
+    frc::Encoder encoder{0, 1};
+    // Initialize motor controllers and drive
+    frc::Spark leftLeader{0};
+    frc::Spark leftFollower{1};
+    frc::Spark rightLeader{2};
+    frc::Spark rightFollower{3};
+    frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
+                                 [&](double output) { rightLeader.Set(output); }};
         void Robot::RobotInit() {
-            // Configures the encoder's distance-per-pulse
-            // The robot moves forward 1 foot per encoder rotation
-            // There are 256 pulses per encoder rotation
-            encoder.SetDistancePerPulse(1.0/256.0);
-        }
-
-        void Robot:AutonomousPeriodic() {
-            // Drives forward at half speed until the robot has moved 5 feet, then stops:
-            if(encoder.GetDistance() < 5) {
-                drive.TankDrive(0.5, 0.5);
-            } else {
-                drive.TankDrive(0, 0);
-            }
+        // Configures the encoder's distance-per-pulse
+        // The robot moves forward 1 foot per encoder rotation
+        // There are 256 pulses per encoder rotation
+        encoder.SetDistancePerPulse(1.0/256.0);
+        // Invert the right side of the drivetrain. You might have to invert the other side
+        rightLeader.SetInverted(true);
+        // Configure the followers to follow the leaders
+        leftLeader.AddFollower(leftFollower);
+        rightLeader.AddFollower(rightFollower);
+    }
+    void Robot::AutonomousPeriodic() {
+        // Drives forward at half speed until the robot has moved 5 feet, then stops:
+        if(encoder.GetDistance() < 5) {
+            drive.TankDrive(0.5, 0.5);
+        } else {
+            drive.TankDrive(0, 0);
         }
+    }
+    ```
 
-Homing a Mechanism
-^^^^^^^^^^^^^^^^^^
+### Homing a Mechanism
 
 Since quadrature encoders measure *relative* distance, it is often important to ensure that their "zero-point" is in the right place.  A typical way to do this is a "homing routine," in which a mechanism is moved until it hits a known position (usually accomplished with a limit switch), or "home," and then the encoder is reset.  The following code provides a basic example:
 
@@ -543,42 +492,37 @@ Since quadrature encoders measure *relative* distance, it is often important to
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        Encoder encoder = new Encoder(0, 1);
-
-        Spark spark = new Spark(0);
-
-        // Limit switch on DIO 2
-        DigitalInput limit = new DigitalInput(2);
-
-        public void autonomousPeriodic() {
-            // Runs the motor backwards at half speed until the limit switch is pressed
-            // then turn off the motor and reset the encoder
-            if(!limit.get()) {
-                spark.set(-0.5);
-            } else {
-                spark.set(0);
-                encoder.reset();
-            }
+    ```java
+    Encoder encoder = new Encoder(0, 1);
+    Spark spark = new Spark(0);
+    // Limit switch on DIO 2
+    DigitalInput limit = new DigitalInput(2);
+    public void autonomousPeriodic() {
+        // Runs the motor backwards at half speed until the limit switch is pressed
+        // then turn off the motor and reset the encoder
+        if(!limit.get()) {
+            spark.set(-0.5);
+        } else {
+            spark.set(0);
+            encoder.reset();
         }
-
-    .. code-block:: c++
-
-        frc::Encoder encoder{0,1};
-
-        frc::Spark spark{0};
-
-        // Limit switch on DIO 2
-        frc::DigitalInput limit{2};
-
-        void AutonomousPeriodic() {
-            // Runs the motor backwards at half speed until the limit switch is pressed
-            // then turn off the motor and reset the encoder
-            if(!limit.Get()) {
-                spark.Set(-0.5);
-            } else {
-                spark.Set(0);
-                encoder.Reset();
-            }
+    }
+    ```
+
+    ```c++
+    frc::Encoder encoder{0,1};
+    frc::Spark spark{0};
+    // Limit switch on DIO 2
+    frc::DigitalInput limit{2};
+    void AutonomousPeriodic() {
+        // Runs the motor backwards at half speed until the limit switch is pressed
+        // then turn off the motor and reset the encoder
+        if(!limit.Get()) {
+            spark.Set(-0.5);
+        } else {
+            spark.Set(0);
+            encoder.Reset();
         }
+    }
+    ```
+
diff --git a/source/docs/software/hardware-apis/sensors/gyros-software.rst b/source/docs/software/hardware-apis/sensors/gyros-software.rst
index 720f5b2040..51827c21b9 100644
--- a/source/docs/software/hardware-apis/sensors/gyros-software.rst
+++ b/source/docs/software/hardware-apis/sensors/gyros-software.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Gyroscopes - Software
-=====================
+# Gyroscopes - Software
 
 .. note:: This section covers gyros in software.  For a hardware guide to gyros, see :ref:`docs/hardware/sensors/gyros-hardware:Gyroscopes - Hardware`.
 
@@ -11,154 +10,187 @@ There are getters the current angular rate and heading and functions for zeroing
 
 .. note:: It is crucial that the robot remain stationary while calibrating a gyro.
 
-ADIS16448
----------
+## ADIS16448
 
-The ADIS16448 uses the :code:`ADIS16448_IMU` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/ADIS16448_IMU.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_a_d_i_s16448___i_m_u.html>`__).  See the `Analog Devices ADIS16448 documentation <https://wiki.analog.com/first/adis16448_imu_frc>`__ for additional information and examples.
+The ADIS16448 uses the :code:`ADIS16448_IMU` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/ADIS16448_IMU.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_a_d_i_s16448___i_m_u.html), :external:py:class:[Python](wpilib.ADIS16448_IMU)).  See the [Analog Devices ADIS16448 documentation](https://wiki.analog.com/first/adis16448_imu_frc) for additional information and examples.
 
 .. warning:: The Analog Devices documentation linked above contains outdated instructions for software installation as the ADIS16448 is now built into WPILib.
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // ADIS16448 plugged into the MXP port
+    ADIS16448_IMU gyro = new ADIS16448_IMU();
+    ```
 
-        // ADIS16448 plugged into the MXP port
-        ADIS16448_IMU gyro = new ADIS16448_IMU();
+    ```c++
+    // ADIS16448 plugged into the MXP port
+    ADIS16448_IMU gyro;
+    ```
 
-    .. code-block:: c++
+    ```python
+    from wpilib import ADIS16448_IMU
+    # ADIS16448 plugged into the MXP port
+    self.gyro = ADIS16448_IMU()
+    ```
 
-        // ADIS16448 plugged into the MXP port
-        ADIS16448_IMU gyro;
+## ADIS16470
 
-ADIS16470
----------
-
-The ADIS16470 uses the :code:`ADIS16470_IMU` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/ADIS16470_IMU.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_a_d_i_s16470___i_m_u.html>`__).  See the `Analog Devices ADIS16470 documentation <https://wiki.analog.com/first/adis16470_imu_frc>`__ for additional information and examples.
+The ADIS16470 uses the :code:`ADIS16470_IMU` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/ADIS16470_IMU.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_a_d_i_s16470___i_m_u.html), :external:py:class:[Python](wpilib.ADIS16470_IMU)).  See the [Analog Devices ADIS16470 documentation](https://wiki.analog.com/first/adis16470_imu_frc) for additional information and examples.
 
 .. warning:: The Analog Devices documentation linked above contains outdated instructions for software installation as the ADIS16470 is now built into WPILib.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // ADIS16470 plugged into the MXP port
-        ADIS16470_IMU gyro = new ADIS16470_IMU();
+    ```java
+    // ADIS16470 plugged into the SPI port
+    ADIS16470_IMU gyro = new ADIS16470_IMU();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // ADIS16470 plugged into the SPI port
+    ADIS16470_IMU gyro;
+    ```
 
-        // ADIS16470 plugged into the MXP port
-        ADIS16470_IMU gyro;
+    ```python
+    # ADIS16470 plugged into the SPI port
+    self.gyro = ADIS16470_IMU()
+    ```
 
-ADXRS450_Gyro
--------------
+## ADXRS450_Gyro
 
-The :code:`ADXRS450_Gyro` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_a_d_x_r_s450___gyro.html>`__) provides support for the Analog Devices ADXRS450 gyro available in the kit of parts, which connects over the SPI bus.
+The :code:`ADXRS450_Gyro` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_a_d_x_r_s450___gyro.html), :external:py:class:`Python <wpilib.ADXRS450_Gyro>`) provides support for the Analog Devices ADXRS450 gyro available in the kit of parts, which connects over the SPI bus.
 
 .. note:: ADXRS450 Gyro accumulation is handled through special circuitry in the FPGA; accordingly only a single instance of :code:`ADXRS450_Gyro` may be used.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Creates an ADXRS450_Gyro object on the onboard SPI port
-        ADXRS450_Gyro gyro = new ADXRS450_Gyro();
+    ```java
+    // Creates an ADXRS450_Gyro object on the onboard SPI port
+    ADXRS450_Gyro gyro = new ADXRS450_Gyro();
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // Creates an ADXRS450_Gyro object on the onboard SPI port
+    frc::ADXRS450_Gyro gyro;
+    ```
 
-        // Creates an ADXRS450_Gyro object on the onboard SPI port
-        frc::ADXRS450_Gyro gyro;
+    ```python
+    # Creates an ADXRS450_Gyro object on the onboard SPI port
+    self.gyro = ADXRS450_Gyro()
+    ```
 
-AnalogGyro
-----------
+## AnalogGyro
 
-The :code:`AnalogGyro` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/AnalogGyro.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_analog_gyro.html>`__) provides support for any single-axis gyro with an analog output.
+The :code:`AnalogGyro` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/AnalogGyro.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_analog_gyro.html), :external:py:class:`Python <wpilib.AnalogGyro>`) provides support for any single-axis gyro with an analog output.
 
 .. note:: Gyro accumulation is handled through special circuitry in the FPGA; accordingly, :code:`AnalogGyro`\`s may only be used on analog ports 0 and 1.
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // Creates an AnalogGyro object on port 0
+    AnalogGyro gyro = new AnalogGyro(0);
+    ```
 
-        // Creates an AnalogGyro object on port 0
-        AnalogGyro gyro = new AnalogGyro(0);
+    ```c++
+    // Creates an AnalogGyro object on port 0
+    frc::AnalogGyro gyro{0};
+    ```
 
-    .. code-block:: c++
+    ```python
+    # Creates an AnalogGyro object on port 0
+    self.gyro = AnalogGyro(0)
+    ```
 
-        // Creates an AnalogGyro object on port 0
-        frc::AnalogGyro gyro{0};
+## navX
 
-navX
-----
-
-The navX uses the :code:`AHRS` class.  See the `navX documentation <https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/>`__ for additional connection types.
+The navX uses the :code:`AHRS` class.  See the [navX documentation](https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/) for additional connection types.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // navX MXP using SPI
-        AHRS gyro = new AHRS(SPI.Port.kMXP);
+    ```java
+    // navX MXP using SPI
+    AHRS gyro = new AHRS(SPI.Port.kMXP);
+    ```
 
-    .. code-block:: c++
+    ```c++
+    // navX MXP using SPI
+    AHRS gyro{SPI::Port::kMXP};
+    ```
 
-        // navX MXP using SPI
-        AHRS gyro{SPI::Port::kMXP};
+    ```python
+    import navx
+    # navX MXP using SPI
+    self.gyro = navx.AHRS(SPI.Port.kMXP)
+    ```
 
-Pigeon
-------
+## Pigeon
 
-The Pigeon should use the :code:`WPI_PigeonIMU` class.  The Pigeon can either be connected with CAN or by data cable to a TalonSRX.  The `Pigeon IMU User's Guide <https://store.ctr-electronics.com/content/user-manual/Pigeon%20IMU%20User's%20Guide.pdf>`__ contains full details on using the Pigeon.
+The Pigeon should use the :code:`WPI_PigeonIMU` class.  The Pigeon can either be connected with CAN or by data cable to a TalonSRX.  The [Pigeon IMU User's Guide](https://store.ctr-electronics.com/content/user-manual/Pigeon%20IMU%20User's%20Guide.pdf) contains full details on using the Pigeon.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        WPI_PigeonIMU gyro = new WPI_PigeonIMU(0); // Pigeon is on CAN Bus with device ID 0
-        // OR (choose one or the other based on your connection)
-        TalonSRX talon = new TalonSRX(0); // TalonSRX is on CAN Bus with device ID 0
-        WPI_PigeonIMU gyro = new WPI_PigeonIMU(talon); // Pigeon uses the talon created above
-
-    .. code-block:: c++
-
-        WPI_PigeonIMU gyro{0}; // Pigeon is on CAN Bus with device ID 0
-        // OR (choose one or the other based on your connection)
-        TalonSRX talon{0}; // TalonSRX is on CAN Bus with device ID 0
-        WPI_PigeonIMU gyro{talon}; // Pigeon uses the talon created above
-
-Using gyros in code
--------------------
+    ```java
+    WPI_PigeonIMU gyro = new WPI_PigeonIMU(0); // Pigeon is on CAN Bus with device ID 0
+    // OR (choose one or the other based on your connection)
+    TalonSRX talon = new TalonSRX(0); // TalonSRX is on CAN Bus with device ID 0
+    WPI_PigeonIMU gyro = new WPI_PigeonIMU(talon); // Pigeon uses the talon created above
+    ```
+
+    ```c++
+    WPI_PigeonIMU gyro{0}; // Pigeon is on CAN Bus with device ID 0
+    // OR (choose one or the other based on your connection)
+    TalonSRX talon{0}; // TalonSRX is on CAN Bus with device ID 0
+    WPI_PigeonIMU gyro{talon}; // Pigeon uses the talon created above
+    ```
+
+    ```python
+    import phoenix5
+    import ctre.sensors
+    self.gyro = ctre.WPI_PigeonIMU(0); # Pigeon is on CAN Bus with device ID 0
+    # OR (choose one or the other based on your connection)
+    talon = ctre.TalonSRX(0); # TalonSRX is on CAN Bus with device ID 0
+    self.gyro = ctre.WPI_PigeonIMU(talon) # Pigeon uses the talon created above
+    ```
+
+## Using gyros in code
 
 .. note:: As gyros measure rate rather than position, position is inferred by integrating (adding up) the rate signal to get the total change in angle.  Thus, gyro angle measurements are always relative to some arbitrary zero angle (determined by the angle of the gyro when either the robot was turned on or a zeroing method was called), and are also subject to accumulated errors (called "drift") that increase in magnitude the longer the gyro is used.  The amount of drift varies with the type of gyro.
 
 Gyros are extremely useful in FRC for both measuring and controlling robot heading.  Since FRC matches are generally short, total gyro drift over the course of an FRC match tends to be manageably small (on the order of a couple of degrees for a good-quality gyro).  Moreover, not all useful gyro applications require the absolute heading measurement to remain accurate over the course of the entire match.
 
-Displaying the robot heading on the dashboard
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Displaying the robot heading on the dashboard
 
 :ref:`Shuffleboard <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour:Tour of Shuffleboard>` includes a widget for displaying heading data from a gyro in the form of a compass.  This can be helpful for viewing the robot heading when sight lines to the robot are obscured:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Use gyro declaration from above here
-
-        public void robotInit() {
-            // Places a compass indicator for the gyro heading on the dashboard
-            Shuffleboard.getTab("Example tab").add(gyro);
-        }
-
-    .. code-block:: c++
-
-        // Use gyro declaration from above here
-
-        void Robot::RobotInit() {
-            // Places a compass indicator for the gyro heading on the dashboard
-            frc::Shuffleboard.GetTab("Example tab").Add(gyro);
-        }
-
-Stabilizing heading while driving
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    ```java
+    // Use gyro declaration from above here
+    public void robotInit() {
+        // Places a compass indicator for the gyro heading on the dashboard
+        Shuffleboard.getTab("Example tab").add(gyro);
+    }
+    ```
+
+    ```c++
+    // Use gyro declaration from above here
+    void Robot::RobotInit() {
+        // Places a compass indicator for the gyro heading on the dashboard
+        frc::Shuffleboard.GetTab("Example tab").Add(gyro);
+    }
+    ```
+
+    ```python
+    from wpilib.shuffleboard import Shuffleboard
+    def robotInit(self):
+        # Use gyro declaration from above here
+        # Places a compass indicator for the gyro heading on the dashboard
+        Shuffleboard.getTab("Example tab").add(self.gyro)
+    ```
+
+### Stabilizing heading while driving
 
 A very common use for a gyro is to stabilize robot heading while driving, so that the robot drives straight.  This is especially important for holonomic drives such as mecanum and swerve, but is extremely useful for tank drives as well.
 
@@ -166,167 +198,191 @@ This is typically achieved by closing a PID controller on either the turn rate o
 
 .. warning:: Like with all control loops, users should be careful to ensure that the sensor direction and the turning direction are consistent.  If they are not, the loop will be unstable and the robot will turn wildly.
 
-Example: Tank drive stabilization using turn rate
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Example: Tank drive stabilization using turn rate
 
 The following example shows how to stabilize heading using a simple P loop closed on the turn rate.  Since a robot that is not turning should have a turn rate of zero, the setpoint for the loop is implicitly zero, making this method very simple.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Use gyro declaration from above here
-
-        // The gain for a simple P loop
-        double kP = 1;
-
-        // Initialize motor controllers and drive
-        Spark left1 = new Spark(0);
-        Spark left2 = new Spark(1);
-
-        Spark right1 = new Spark(2);
-        Spark right2 = new Spark(3);
-
-        MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
-        MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
-
-        DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
-
-        @Override
-        public void robotInit() {
-            rightMotors.setInverted(true);
-        }
-
-        @Override
-        public void autonomousPeriodic() {
-            // Setpoint is implicitly 0, since we don't want the heading to change
-            double error = -gyro.getRate();
-
-            // Drives forward continuously at half speed, using the gyro to stabilize the heading
-            drive.tankDrive(.5 + kP * error, .5 - kP * error);
-        }
-
-    .. code-block:: c++
-
-        // Use gyro declaration from above here
-
-        // The gain for a simple P loop
-        double kP = 1;
-
-        // Initialize motor controllers and drive
-        frc::Spark left1{0};
-        frc::Spark left2{1};
-        frc::Spark right1{2};
-        frc::Spark right2{3};
-
-        frc::MotorControllerGroup leftMotors{left1, left2};
-        frc::MotorControllerGroup rightMotors{right1, right2};
-
-        frc::DifferentialDrive drive{leftMotors, rightMotors};
-
-        void Robot::RobotInit() {
-          rightMotors.SetInverted(true);
-        }
-
-        void Robot::AutonomousPeriodic() {
-            // Setpoint is implicitly 0, since we don't want the heading to change
-            double error = -gyro.GetRate();
-
-            // Drives forward continuously at half speed, using the gyro to stabilize the heading
-            drive.TankDrive(.5 + kP * error, .5 - kP * error);
-        }
+    ```java
+    // Use gyro declaration from above here
+    // The gain for a simple P loop
+    double kP = 1;
+    // Initialize motor controllers and drive
+    Spark leftLeader = new Spark(0);
+    Spark leftFollower = new Spark(1);
+    Spark rightLeader = new Spark(2);
+    Spark rightFollower = new Spark(3);
+    DifferentialDrive drive = new DifferentialDrive(leftLeader::set, rightLeader::set);
+    @Override
+    public void robotInit() {
+        // Configures the encoder's distance-per-pulse
+        // The robot moves forward 1 foot per encoder rotation
+        // There are 256 pulses per encoder rotation
+        encoder.setDistancePerPulse(1./256.);
+        // Invert the right side of the drivetrain. You might have to invert the other side
+        rightLeader.setInverted(true);
+        // Configure the followers to follow the leaders
+        leftLeader.addFollower(leftFollower);
+        rightLeader.addFollower(rightFollower);
+    }
+    @Override
+    public void autonomousPeriodic() {
+        // Setpoint is implicitly 0, since we don't want the heading to change
+        double error = -gyro.getRate();
+        // Drives forward continuously at half speed, using the gyro to stabilize the heading
+        drive.tankDrive(.5 + kP * error, .5 - kP * error);
+    }
+    ```
+
+    ```c++
+    // Use gyro declaration from above here
+    // The gain for a simple P loop
+    double kP = 1;
+    // Initialize motor controllers and drive
+    frc::Spark leftLeader{0};
+    frc::Spark leftFollower{1};
+    frc::Spark rightLeader{2};
+    frc::Spark rightFollower{3};
+    frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
+                                 [&](double output) { rightLeader.Set(output); }};
+    void Robot::RobotInit() {
+        // Invert the right side of the drivetrain. You might have to invert the other side
+        rightLeader.SetInverted(true);
+        // Configure the followers to follow the leaders
+        leftLeader.AddFollower(leftFollower);
+        rightLeader.AddFollower(rightFollower);
+    }
+    void Robot::AutonomousPeriodic() {
+        // Setpoint is implicitly 0, since we don't want the heading to change
+        double error = -gyro.GetRate();
+        // Drives forward continuously at half speed, using the gyro to stabilize the heading
+        drive.TankDrive(.5 + kP * error, .5 - kP * error);
+    }
+    ```
+
+    ```python
+    from wpilib import Spark
+    from wpilib import MotorControllerGroup
+    from wpilib.drive import DifferentialDrive
+    def robotInit(self):
+        # Use gyro declaration from above here
+        # The gain for a simple P loop
+        self.kP = 1
+        # Initialize motor controllers and drive
+        left1 = Spark(0)
+        left2 = Spark(1)
+        right1 = Spark(2)
+        right2 = Spark(3)
+        leftMotors = MotorControllerGroup(left1, left2)
+        rightMotors = MotorControllerGroup(right1, right2)
+        self.drive = DifferentialDrive(leftMotors, rightMotors)
+        rightMotors.setInverted(true)
+    def autonomousPeriodic(self):
+        # Setpoint is implicitly 0, since we don't want the heading to change
+        error = -self.gyro.getRate()
+        # Drives forward continuously at half speed, using the gyro to stabilize the heading
+        self.drive.tankDrive(.5 + self.kP * error, .5 - self.kP * error)
+    ```
+
+.. note:: MotorControllerGroup is :term:`deprecated` in 2024. Can you help update the Python example?
 
 More-advanced implementations can use a more-complicated control loop.  When closing the loop on the turn rate for heading stabilization, PI loops are particularly effective.
 
-Example: Tank drive stabilization using heading
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Example: Tank drive stabilization using heading
 
 The following example shows how to stabilize heading using a simple P loop closed on the heading.  Unlike in the turn rate example, we will need to set the setpoint to the current heading before starting motion, making this method slightly more-complicated.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Use gyro declaration from above here
-
-        // The gain for a simple P loop
-        double kP = 1;
-
-        // The heading of the robot when starting the motion
-        double heading;
-
-        // Initialize motor controllers and drive
-        Spark left1 = new Spark(0);
-        Spark left2 = new Spark(1);
-
-        Spark right1 = new Spark(2);
-        Spark right2 = new Spark(3);
-
-        MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
-        MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
-
-        DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
-
-        @Override
-        public void robotInit() {
-            rightMotors.setInverted(true);
-        }
-
-        @Override
-        public void autonomousInit() {
-            // Set setpoint to current heading at start of auto
-            heading = gyro.getAngle();
-        }
-
-        @Override
-        public void autonomousPeriodic() {
-            double error = heading - gyro.getAngle();
-
-            // Drives forward continuously at half speed, using the gyro to stabilize the heading
-            drive.tankDrive(.5 + kP * error, .5 - kP * error);
-        }
-
-    .. code-block:: c++
-
-        // Use gyro declaration from above here
-
-        // The gain for a simple P loop
-        double kP = 1;
-
-        // The heading of the robot when starting the motion
-        double heading;
-
-        // Initialize motor controllers and drive
-        frc::Spark left1{0};
-        frc::Spark left2{1};
-        frc::Spark right1{2};
-        frc::Spark right2{3};
-
-        frc::MotorControllerGroup leftMotors{left1, left2};
-        frc::MotorControllerGroup rightMotors{right1, right2};
-
-        frc::DifferentialDrive drive{leftMotors, rightMotors};
-
-        void Robot::RobotInit() {
-          rightMotors.SetInverted(true);
-        }
-
-        void Robot::AutonomousInit() {
-            // Set setpoint to current heading at start of auto
-            heading = gyro.GetAngle();
-        }
-
-        void Robot::AutonomousPeriodic() {
-            double error = heading - gyro.GetAngle();
-
-            // Drives forward continuously at half speed, using the gyro to stabilize the heading
-            drive.TankDrive(.5 + kP * error, .5 - kP * error);
-        }
+    ```java
+    // Use gyro declaration from above here
+    // The gain for a simple P loop
+    double kP = 1;
+    // The heading of the robot when starting the motion
+    double heading;
+    // Initialize motor controllers and drive
+    Spark left1 = new Spark(0);
+    Spark left2 = new Spark(1);
+    Spark right1 = new Spark(2);
+    Spark right2 = new Spark(3);
+    MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
+    MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
+    DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
+    @Override
+    public void robotInit() {
+        rightMotors.setInverted(true);
+    }
+    @Override
+    public void autonomousInit() {
+        // Set setpoint to current heading at start of auto
+        heading = gyro.getAngle();
+    }
+    @Override
+    public void autonomousPeriodic() {
+        double error = heading - gyro.getAngle();
+        // Drives forward continuously at half speed, using the gyro to stabilize the heading
+        drive.tankDrive(.5 + kP * error, .5 - kP * error);
+    }
+    ```
+
+    ```c++
+    // Use gyro declaration from above here
+    // The gain for a simple P loop
+    double kP = 1;
+    // The heading of the robot when starting the motion
+    double heading;
+    // Initialize motor controllers and drive
+    frc::Spark left1{0};
+    frc::Spark left2{1};
+    frc::Spark right1{2};
+    frc::Spark right2{3};
+    frc::MotorControllerGroup leftMotors{left1, left2};
+    frc::MotorControllerGroup rightMotors{right1, right2};
+    frc::DifferentialDrive drive{leftMotors, rightMotors};
+    void Robot::RobotInit() {
+      rightMotors.SetInverted(true);
+    }
+    void Robot::AutonomousInit() {
+        // Set setpoint to current heading at start of auto
+        heading = gyro.GetAngle();
+    }
+    void Robot::AutonomousPeriodic() {
+        double error = heading - gyro.GetAngle();
+        // Drives forward continuously at half speed, using the gyro to stabilize the heading
+        drive.TankDrive(.5 + kP * error, .5 - kP * error);
+    }
+    ```
+
+    ```python
+    from wpilib import Spark
+    from wpilib import MotorControllerGroup
+    from wpilib.drive import DifferentialDrive
+    def robotInit(self):
+        # Use gyro declaration from above here
+        # The gain for a simple P loop
+        self.kP = 1
+        # Initialize motor controllers and drive
+        left1 = Spark(0)
+        left2 = Spark(1)
+        right1 = Spark(2)
+        right2 = Spark(3)
+        leftMotors = MotorControllerGroup(left1, left2)
+        rightMotors = MotorControllerGroup(right1, right2)
+        self.drive = DifferentialDrive(leftMotors, rightMotors)
+        rightMotors.setInverted(true)
+    def autonomousInit(self):
+        # Set setpoint to current heading at start of auto
+        self.heading = self.gyro.getAngle()
+        def autonomousPeriodic(self):
+        error = self.heading - self.gyro.getAngle()
+        # Drives forward continuously at half speed, using the gyro to stabilize the heading
+        self.drive.tankDrive(.5 + self.kP * error, .5 - self.kP * error)
+    ```
 
 More-advanced implementations can use a more-complicated control loop.  When closing the loop on the heading for heading stabilization, PD loops are particularly effective.
 
-Turning to a set heading
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Turning to a set heading
 
 Another common and highly-useful application for a gyro is turning a robot to face a specified direction.  This can be a component of an autonomous driving routine, or can be used during teleoperated control to help align a robot with field elements.
 
@@ -334,68 +390,77 @@ Much like with heading stabilization, this is often accomplished with a PID loop
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // Use gyro declaration from above here
-
-        // The gain for a simple P loop
-        double kP = 0.05;
-
-        // Initialize motor controllers and drive
-        Spark left1 = new Spark(0);
-        Spark left2 = new Spark(1);
-
-        Spark right1 = new Spark(2);
-        Spark right2 = new Spark(3);
-
-        MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
-        MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
-
-        DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
-
-        @Override
-        public void robotInit() {
-            rightMotors.setInverted(true);
-        }
-
-        @Override
-        public void autonomousPeriodic() {
-            // Find the heading error; setpoint is 90
-            double error = 90 - gyro.getAngle();
-
-            // Turns the robot to face the desired direction
-            drive.tankDrive(kP * error, -kP * error);
-        }
-
-    .. code-block:: c++
-
-        // Use gyro declaration from above here
-
-        // The gain for a simple P loop
-        double kP = 0.05;
-
-        // Initialize motor controllers and drive
-        frc::Spark left1{0};
-        frc::Spark left2{1};
-        frc::Spark right1{2};
-        frc::Spark right2{3};
-
-        frc::MotorControllerGroup leftMotors{left1, left2};
-        frc::MotorControllerGroup rightMotors{right1, right2};
-
-        frc::DifferentialDrive drive{leftMotors, rightMotors};
-
-        void Robot::RobotInit() {
-          rightMotors.SetInverted(true);
-        }
-
-        void Robot::AutonomousPeriodic() {
-            // Find the heading error; setpoint is 90
-            double error = 90 - gyro.GetAngle();
-
-            // Turns the robot to face the desired direction
-            drive.TankDrive(kP * error, -kP * error);
-        }
+    ```java
+    // Use gyro declaration from above here
+    // The gain for a simple P loop
+    double kP = 0.05;
+    // Initialize motor controllers and drive
+    Spark left1 = new Spark(0);
+    Spark left2 = new Spark(1);
+    Spark right1 = new Spark(2);
+    Spark right2 = new Spark(3);
+    MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
+    MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
+    DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
+    @Override
+    public void robotInit() {
+        rightMotors.setInverted(true);
+    }
+    @Override
+    public void autonomousPeriodic() {
+        // Find the heading error; setpoint is 90
+        double error = 90 - gyro.getAngle();
+        // Turns the robot to face the desired direction
+        drive.tankDrive(kP * error, -kP * error);
+    }
+    ```
+
+    ```c++
+    // Use gyro declaration from above here
+    // The gain for a simple P loop
+    double kP = 0.05;
+    // Initialize motor controllers and drive
+    frc::Spark left1{0};
+    frc::Spark left2{1};
+    frc::Spark right1{2};
+    frc::Spark right2{3};
+    frc::MotorControllerGroup leftMotors{left1, left2};
+    frc::MotorControllerGroup rightMotors{right1, right2};
+    frc::DifferentialDrive drive{leftMotors, rightMotors};
+    void Robot::RobotInit() {
+      rightMotors.SetInverted(true);
+    }
+    void Robot::AutonomousPeriodic() {
+        // Find the heading error; setpoint is 90
+        double error = 90 - gyro.GetAngle();
+        // Turns the robot to face the desired direction
+        drive.TankDrive(kP * error, -kP * error);
+    }
+    ```
+
+    ```python
+    from wpilib import Spark
+    from wpilib import MotorControllerGroup
+    from wpilib.drive import DifferentialDrive
+    def robotInit(self):
+        # Use gyro declaration from above here
+        # The gain for a simple P loop
+        self.kP = 0.05
+        # Initialize motor controllers and drive
+        left1 = Spark(0)
+        left2 = Spark(1)
+        right1 = Spark(2)
+        right2 = Spark(3)
+        leftMotors = MotorControllerGroup(left1, left2)
+        rightMotors = MotorControllerGroup(right1, right2)
+        self.drive = DifferentialDrive(leftMotors, rightMotors)
+        rightMotors.setInverted(true)
+    def autonomousPeriodic(self):
+        # Find the heading error; setpoint is 90
+        error = 90 - self.gyro.getAngle()
+        # Drives forward continuously at half speed, using the gyro to stabilize the heading
+        self.drive.tankDrive(self.kP * error, -self.kP * error)
+    ```
 
 As before, more-advanced implementations can use more-complicated control loops.
 
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diff --git a/source/docs/software/hardware-apis/sensors/index.rst b/source/docs/software/hardware-apis/sensors/index.rst
index 31003994d0..c334866f02 100644
--- a/source/docs/software/hardware-apis/sensors/index.rst
+++ b/source/docs/software/hardware-apis/sensors/index.rst
@@ -1,5 +1,4 @@
-Sensors
-=======
+# Sensors
 
 Sensors are an integral way of having your robot hardware and software communicate with each other. This section highlights interfacing with those sensors at a software level.
 
diff --git a/source/docs/software/hardware-apis/sensors/limit-switch.rst b/source/docs/software/hardware-apis/sensors/limit-switch.rst
index a2d4a72168..8f78514634 100644
--- a/source/docs/software/hardware-apis/sensors/limit-switch.rst
+++ b/source/docs/software/hardware-apis/sensors/limit-switch.rst
@@ -1,74 +1,69 @@
-Programming Limit Switches
-==========================
+# Programming Limit Switches
 
 Limit switches are often used to control mechanisms on robots. While limit switches are simple to use, they only can sense a single position of a moving part. This makes them ideal for ensuring that movement doesn't exceed some limit but not so good at controlling the speed of the movement as it approaches the limit. For example, a rotational shoulder joint on a robot arm would best be controlled using a potentiometer or an absolute encoder. A limit switch could make sure that if the potentiometer ever failed, the limit switch would stop the robot from going too far and causing damage.
 
 Limit switches can have "normally open" or "normally closed" outputs.  This will control if a high signal means the switch is opened or closed.  To learn more about limit switch hardware see this :ref:`article <docs/hardware/sensors/proximity-switches:Mechanical Proximity Switches ("limit switches")>`.
 
-Controlling a Motor with Two Limit Switches
--------------------------------------------
+## Controlling a Motor with Two Limit Switches
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   DigitalInput toplimitSwitch = new DigitalInput(0);
+   DigitalInput bottomlimitSwitch = new DigitalInput(1);
+   PWMVictorSPX motor = new PWMVictorSPX(0);
+   Joystick joystick = new Joystick(0);
+   @Override
+   public void teleopPeriodic() {
+       setMotorSpeed(joystick.getRawAxis(2));
+   }
+   public void setMotorSpeed(double speed) {
+       if (speed > 0) {
+           if (toplimitSwitch.get()) {
+               // We are going up and top limit is tripped so stop
+               motor.set(0);
+           } else {
+               // We are going up but top limit is not tripped so go at commanded speed
+               motor.set(speed);
+           }
+       } else {
+           if (bottomlimitSwitch.get()) {
+               // We are going down and bottom limit is tripped so stop
+               motor.set(0);
+           } else {
+               // We are going down but bottom limit is not tripped so go at commanded speed
+               motor.set(speed);
+           }
+       }
+   }
+   ```
 
-     DigitalInput toplimitSwitch = new DigitalInput(0);
-     DigitalInput bottomlimitSwitch = new DigitalInput(1);
-     PWMVictorSPX motor = new PWMVictorSPX(0);
-     Joystick joystick = new Joystick(0);
+   ```c++
+   frc::DigitalInput toplimitSwitch {0};
+   frc::DigitalInput bottomlimitSwitch {1};
+   frc::PWMVictorSPX motor {0};
+   frc::Joystick joystick {0};
+   void TeleopPeriodic() {
+       SetMotorSpeed(joystick.GetRawAxis(2));
+   }
+   void SetMotorSpeed(double speed) {
+       if (speed > 0) {
+           if (toplimitSwitch.Get()) {
+               // We are going up and top limit is tripped so stop
+               motor.Set(0);
+           } else {
+               // We are going up but top limit is not tripped so go at commanded speed
+               motor.Set(speed);
+           }
+       } else {
+           if (bottomlimitSwitch.Get()) {
+               // We are going down and bottom limit is tripped so stop
+               motor.Set(0);
+           } else {
+               // We are going down but bottom limit is not tripped so go at commanded speed
+               motor.Set(speed);
+           }
+       }
+   }
+   ```
 
-     @Override
-     public void teleopPeriodic() {
-         setMotorSpeed(joystick.getRawAxis(2));
-     }
-
-     public void setMotorSpeed(double speed) {
-         if (speed > 0) {
-             if (toplimitSwitch.get()) {
-                 // We are going up and top limit is tripped so stop
-                 motor.set(0);
-             } else {
-                 // We are going up but top limit is not tripped so go at commanded speed
-                 motor.set(speed);
-             }
-         } else {
-             if (bottomlimitSwitch.get()) {
-                 // We are going down and bottom limit is tripped so stop
-                 motor.set(0);
-             } else {
-                 // We are going down but bottom limit is not tripped so go at commanded speed
-                 motor.set(speed);
-             }
-         }
-     }
-
-   .. code-block:: cpp
-
-     frc::DigitalInput toplimitSwitch {0};
-     frc::DigitalInput bottomlimitSwitch {1};
-     frc::PWMVictorSPX motor {0};
-     frc::Joystick joystick {0};
-
-     void TeleopPeriodic() {
-         SetMotorSpeed(joystick.GetRawAxis(2));
-     }
-
-     void SetMotorSpeed(double speed) {
-         if (speed > 0) {
-             if (toplimitSwitch.Get()) {
-                 // We are going up and top limit is tripped so stop
-                 motor.Set(0);
-             } else {
-                 // We are going up but top limit is not tripped so go at commanded speed
-                 motor.Set(speed);
-             }
-         } else {
-             if (bottomlimitSwitch.Get()) {
-                 // We are going down and bottom limit is tripped so stop
-                 motor.Set(0);
-             } else {
-                 // We are going down but bottom limit is not tripped so go at commanded speed
-                 motor.Set(speed);
-             }
-         }
-     }
diff --git a/source/docs/software/hardware-apis/sensors/sensor-overview-software.rst b/source/docs/software/hardware-apis/sensors/sensor-overview-software.rst
index 8652038e7f..64f4ec61e9 100644
--- a/source/docs/software/hardware-apis/sensors/sensor-overview-software.rst
+++ b/source/docs/software/hardware-apis/sensors/sensor-overview-software.rst
@@ -1,5 +1,4 @@
-Sensor Overview - Software
-==========================
+# Sensor Overview - Software
 
 .. note:: This section covers using sensors in software.  For a guide to sensor hardware, see :ref:`docs/hardware/sensors/sensor-overview-hardware:Sensor Overview - Hardware`.
 
@@ -7,8 +6,7 @@ Sensor Overview - Software
 
 In order to be effective, it is often vital for robots to be able to gather information about their surroundings.  Devices that provide feedback to the robot on the state of its environment are called "sensors."  WPILib innately supports a large variety of sensors through classes included in the library.  This section will provide a guide to both using common sensor types through WPILib, as well as writing code for sensors without official support.
 
-What sensors does WPILIB support?
----------------------------------
+## What sensors does WPILIB support?
 
 The roboRIO includes an :term:`FPGA` which allows accurate real-time measuring of a variety of sensor input.  WPILib, in turn, provides a number of classes for accessing this functionality.
 
diff --git a/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst b/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst
index 3525e15310..1ed2a1571d 100644
--- a/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst
+++ b/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst
@@ -1,5 +1,4 @@
-Ultrasonics - Software
-======================
+# Ultrasonics - Software
 
 .. note:: This section covers ultrasonics in software.  For a hardware guide to ultrasonics, see :ref:`docs/hardware/sensors/ultrasonics-hardware:Ultrasonics - Hardware`.
 
@@ -10,25 +9,24 @@ There are two primary types of ultrasonics supported natively by WPILib:
 - `Ping-response ultrasonics`_
 - `Analog ultrasonics`_
 
-Ping-response ultrasonics
--------------------------
+## Ping-response ultrasonics
 
-The :code:`Ultrasonic` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Ultrasonic.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_ultrasonic.html>`__) provides support for ping-response ultrasonics.  As ping-response ultrasonics (per the name) require separate pins for both sending the ping and measuring the response, users must specify DIO pin numbers for both output and input when constructing an :code:`Ultrasonic` instance:
+The :code:`Ultrasonic` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Ultrasonic.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_ultrasonic.html)) provides support for ping-response ultrasonics.  As ping-response ultrasonics (per the name) require separate pins for both sending the ping and measuring the response, users must specify DIO pin numbers for both output and input when constructing an :code:`Ultrasonic` instance:
 
 .. tab-set::
 
    .. tab-item:: Java
      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
          :language: java
          :lines: 17-18
 
    .. tab-item:: C++
      :sync: C++
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Ultrasonic/include/Robot.h
-         :language: cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/Ultrasonic/include/Robot.h
+         :language: c++
          :lines: 23-24
 
 The measurement can then be retrieved in either inches or millimeters in Java; in C++ the :ref:`units library <docs/software/basic-programming/cpp-units:The C++ Units Library>` is used to automatically convert to any desired length unit:
@@ -38,54 +36,51 @@ The measurement can then be retrieved in either inches or millimeters in Java; i
    .. tab-item:: Java
      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
          :language: java
          :lines: 29-32
 
    .. tab-item:: C++
      :sync: C++
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
-         :language: cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
+         :language: c++
          :lines: 18-22
 
-Analog ultrasonics
-------------------
+## Analog ultrasonics
 
 Some ultrasonic sensors simply return an analog voltage corresponding to the measured distance.  These sensors can may simply be used with the :doc:`AnalogPotentiometer <analog-potentiometers-software>` class.
 
-Third-party ultrasonics
------------------------
+## Third-party ultrasonics
 
 Other ultrasonic sensors offered by third-parties may use more complicated communications protocols (such as I2C or SPI).  WPILib does not provide native support for any such ultrasonics; they will typically be controlled with vendor libraries.
 
-Using ultrasonics in code
--------------------------
+## Using ultrasonics in code
 
-Ultrasonic sensors are very useful for determining spacing during autonomous routines.  For example, the following code from the UltrasonicPID example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/UltrasonicPID>`__)will move the robot to 1 meter away from the nearest object the sensor detects:
+Ultrasonic sensors are very useful for determining spacing during autonomous routines.  For example, the following code from the UltrasonicPID example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/UltrasonicPID)) will move the robot to 1 meter away from the nearest object the sensor detects:
 
 .. tab-set::
 
    .. tab-item:: Java
      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
          :language: java
-         :lines: 18-61, 71-71
+         :lines: 19-68, 77-77
 
    .. tab-item:: C++ (Header)
      :sync: C++ (Header)
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
-         :language: cpp
-         :lines: 19-51
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
+         :language: c++
+         :lines: 19-52
 
    .. tab-item:: C++ (Source)
      :sync: C++ (Source)
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
-         :language: cpp
-         :lines: 7-19
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
+         :language: c++
+         :lines: 12-24
 
 Additionally, ping-response ultrasonics can be sent to :ref:`Shuffleboard <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour:Tour of Shuffleboard>`, where they will be displayed with their own widgets:
 
@@ -94,13 +89,13 @@ Additionally, ping-response ultrasonics can be sent to :ref:`Shuffleboard <docs/
    .. tab-item:: Java
      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
          :language: java
          :lines: 22-24
 
    .. tab-item:: C++
      :sync: C++
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
-         :language: cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
+         :language: c++
          :lines: 12-14
diff --git a/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst b/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst
index 3bbc1302b8..79872e21c8 100644
--- a/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst
+++ b/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst
@@ -1,88 +1,107 @@
-Differential Drive Kinematics
-=============================
+# Differential Drive Kinematics
 The ``DifferentialDriveKinematics`` class is a useful tool that converts between a ``ChassisSpeeds`` object and a ``DifferentialDriveWheelSpeeds`` object, which contains velocities for the left and right sides of a differential drive robot.
 
-Constructing the Kinematics Object
-----------------------------------
+## Constructing the Kinematics Object
 The ``DifferentialDriveKinematics`` object accepts one constructor argument, which is the track width of the robot. This represents the distance between the two sets of wheels on a differential drive.
 
-.. note:: In Java, the track width must be in meters. In C++, the units library can be used to pass in the track width using any length unit.
+.. note:: In Java and Python, the track width must be in meters. In C++, the units library can be used to pass in the track width using any length unit.
 
-Converting Chassis Speeds to Wheel Speeds
------------------------------------------
-The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java) / ``ToWheelSpeeds(ChassisSpeeds speeds)`` (C++) method should be used to convert a ``ChassisSpeeds`` object to a ``DifferentialDriveWheelSpeeds`` object. This is useful in situations where you have to convert a linear velocity (``vx``) and an angular velocity (``omega``) to left and right wheel velocities.
+## Converting Chassis Speeds to Wheel Speeds
+The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(ChassisSpeeds speeds)`` (C++) method should be used to convert a ``ChassisSpeeds`` object to a ``DifferentialDriveWheelSpeeds`` object. This is useful in situations where you have to convert a linear velocity (``vx``) and an angular velocity (``omega``) to left and right wheel velocities.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Creating my kinematics object: track width of 27 inches
-      DifferentialDriveKinematics kinematics =
-        new DifferentialDriveKinematics(Units.inchesToMeters(27.0));
-
-      // Example chassis speeds: 2 meters per second linear velocity,
-      // 1 radian per second angular velocity.
-      var chassisSpeeds = new ChassisSpeeds(2.0, 0, 1.0);
-
-      // Convert to wheel speeds
-      DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
-
-      // Left velocity
-      double leftVelocity = wheelSpeeds.leftMetersPerSecond;
-
-      // Right velocity
-      double rightVelocity = wheelSpeeds.rightMetersPerSecond;
-
-   .. code-block:: c++
-
-      // Creating my kinematics object: track width of 27 inches
-      frc::DifferentialDriveKinematics kinematics{27_in};
-
-      // Example chassis speeds: 2 meters per second linear velocity,
-      // 1 radian per second angular velocity.
-      frc::ChassisSpeeds chassisSpeeds{2_mps, 0_mps, 1_rad_per_s};
-
-      // Convert to wheel speeds. Here, we can use C++17's structured bindings
-      // feature to automatically split the DifferentialDriveWheelSpeeds
-      // struct into left and right velocities.
-      auto [left, right] = kinematics.ToWheelSpeeds(chassisSpeeds);
-
-Converting Wheel Speeds to Chassis Speeds
------------------------------------------
-One can also use the kinematics object to convert individual wheel speeds (left and right) to a singular ``ChassisSpeeds`` object. The ``toChassisSpeeds(DifferentialDriveWheelSpeeds speeds)`` (Java) / ``ToChassisSpeeds(DifferentialDriveWheelSpeeds speeds)`` (C++) method should be used to achieve this.
+   ```java
+   // Creating my kinematics object: track width of 27 inches
+   DifferentialDriveKinematics kinematics =
+     new DifferentialDriveKinematics(Units.inchesToMeters(27.0));
+   // Example chassis speeds: 2 meters per second linear velocity,
+   // 1 radian per second angular velocity.
+   var chassisSpeeds = new ChassisSpeeds(2.0, 0, 1.0);
+   // Convert to wheel speeds
+   DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
+   // Left velocity
+   double leftVelocity = wheelSpeeds.leftMetersPerSecond;
+   // Right velocity
+   double rightVelocity = wheelSpeeds.rightMetersPerSecond;
+   ```
+
+   ```c++
+   // Creating my kinematics object: track width of 27 inches
+   frc::DifferentialDriveKinematics kinematics{27_in};
+   // Example chassis speeds: 2 meters per second linear velocity,
+   // 1 radian per second angular velocity.
+   frc::ChassisSpeeds chassisSpeeds{2_mps, 0_mps, 1_rad_per_s};
+   // Convert to wheel speeds. Here, we can use C++17's structured bindings
+   // feature to automatically split the DifferentialDriveWheelSpeeds
+   // struct into left and right velocities.
+   auto [left, right] = kinematics.ToWheelSpeeds(chassisSpeeds);
+   ```
+
+   ```python
+   from wpimath.kinematics import DifferentialDriveKinematics
+   from wpimath.kinematics import ChassisSpeeds
+   from wpimath.units import inchesToMeters
+   # Creating my kinematics object: track width of 27 inches
+   kinematics = DifferentialDriveKinematics(Units.inchesToMeters(27.0))
+   # Example chassis speeds: 2 meters per second linear velocity,
+   # 1 radian per second angular velocity.
+   chassisSpeeds = ChassisSpeeds(2.0, 0, 1.0)
+   # Convert to wheel speeds
+   wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds)
+   # Left velocity
+   leftVelocity = wheelSpeeds.left
+   # Right velocity
+   rightVelocity = wheelSpeeds.right
+   ```
+
+## Converting Wheel Speeds to Chassis Speeds
+One can also use the kinematics object to convert individual wheel speeds (left and right) to a singular ``ChassisSpeeds`` object. The ``toChassisSpeeds(DifferentialDriveWheelSpeeds speeds)`` (Java / Python) / ``ToChassisSpeeds(DifferentialDriveWheelSpeeds speeds)`` (C++) method should be used to achieve this.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Creating my kinematics object: track width of 27 inches
-      DifferentialDriveKinematics kinematics =
-        new DifferentialDriveKinematics(Units.inchesToMeters(27.0));
-
-      // Example differential drive wheel speeds: 2 meters per second
-      // for the left side, 3 meters per second for the right side.
-      var wheelSpeeds = new DifferentialDriveWheelSpeeds(2.0, 3.0);
-
-      // Convert to chassis speeds.
-      ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(wheelSpeeds);
-
-      // Linear velocity
-      double linearVelocity = chassisSpeeds.vxMetersPerSecond;
-
-      // Angular velocity
-      double angularVelocity = chassisSpeeds.omegaRadiansPerSecond;
-
-   .. code-block:: c++
-
-      // Creating my kinematics object: track width of 27 inches
-      frc::DifferentialDriveKinematics kinematics{27_in};
-
-      // Example differential drive wheel speeds: 2 meters per second
-      // for the left side, 3 meters per second for the right side.
-      frc::DifferentialDriveWheelSpeeds wheelSpeeds{2_mps, 3_mps};
+   ```java
+   // Creating my kinematics object: track width of 27 inches
+   DifferentialDriveKinematics kinematics =
+     new DifferentialDriveKinematics(Units.inchesToMeters(27.0));
+   // Example differential drive wheel speeds: 2 meters per second
+   // for the left side, 3 meters per second for the right side.
+   var wheelSpeeds = new DifferentialDriveWheelSpeeds(2.0, 3.0);
+   // Convert to chassis speeds.
+   ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(wheelSpeeds);
+   // Linear velocity
+   double linearVelocity = chassisSpeeds.vxMetersPerSecond;
+   // Angular velocity
+   double angularVelocity = chassisSpeeds.omegaRadiansPerSecond;
+   ```
+
+   ```c++
+   // Creating my kinematics object: track width of 27 inches
+   frc::DifferentialDriveKinematics kinematics{27_in};
+   // Example differential drive wheel speeds: 2 meters per second
+   // for the left side, 3 meters per second for the right side.
+   frc::DifferentialDriveWheelSpeeds wheelSpeeds{2_mps, 3_mps};
+   // Convert to chassis speeds. Here we can use C++17's structured bindings
+   // feature to automatically split the ChassisSpeeds struct into its 3 components.
+   // Note that because a differential drive is non-holonomic, the vy variable
+   // will be equal to zero.
+   auto [linearVelocity, vy, angularVelocity] = kinematics.ToChassisSpeeds(wheelSpeeds);
+   ```
+
+   ```python
+   from wpimath.kinematics import DifferentialDriveKinematics
+   from wpimath.kinematics import DifferentialDriveWheelSpeeds
+   from wpimath.units import inchesToMeters
+   # Creating my kinematics object: track width of 27 inches
+   kinematics = DifferentialDriveKinematics(inchesToMeters(27.0))
+   # Example differential drive wheel speeds: 2 meters per second
+   # for the left side, 3 meters per second for the right side.
+   wheelSpeeds = DifferentialDriveWheelSpeeds(2.0, 3.0)
+   # Convert to chassis speeds.
+   chassisSpeeds = kinematics.toChassisSpeeds(wheelSpeeds)
+   # Linear velocity
+   linearVelocity = chassisSpeeds.vx
+   # Angular velocity
+   angularVelocity = chassisSpeeds.omega
+   ```
 
-      // Convert to chassis speeds. Here we can use C++17's structured bindings
-      // feature to automatically split the ChassisSpeeds struct into its 3 components.
-      // Note that because a differential drive is non-holonomic, the vy variable
-      // will be equal to zero.
-      auto [linearVelocity, vy, angularVelocity] = kinematics.ToChassisSpeeds(wheelSpeeds);
diff --git a/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst b/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst
index ce17da81af..7eb7362f70 100644
--- a/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst
+++ b/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst
@@ -1,83 +1,99 @@
-Differential Drive Odometry
-===========================
+# Differential Drive Odometry
 A user can use the differential drive kinematics classes in order to perform :ref:`odometry <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:What is odometry?>`. WPILib contains a ``DifferentialDriveOdometry`` class that can be used to track the position of a differential drive robot on the field.
 
 .. note:: Because this method only uses encoders and a gyro, the estimate of the robot's position on the field will drift over time, especially as your robot comes into contact with other robots during gameplay. However, odometry is usually very accurate during the autonomous period.
 
-Creating the Odometry Object
-----------------------------
+## Creating the Odometry Object
 The ``DifferentialDriveOdometry`` class constructor requires three mandatory arguments and one optional argument. The mandatory arguments are:
 
 * The angle reported by your gyroscope (as a ``Rotation2d``)
-* The initial left and right encoder readings. In Java, these are each a ``double``, and must represent the distance traveled by each side in meters.  In C++, the :doc:`units library </docs/software/basic-programming/cpp-units>` must be used to represent your wheel positions.
+* The initial left and right encoder readings. In Java / Python, these are a number that represents the distance traveled by each side in meters.  In C++, the :doc:`units library </docs/software/basic-programming/cpp-units>` must be used to represent your wheel positions.
 
 The optional argument is the starting pose of your robot on the field (as a ``Pose2d``). By default, the robot will start at ``x = 0, y = 0, theta = 0``.
 
-.. note:: 0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase. The ``Gyro`` interface supplies ``getRotation2d``/``GetRotation2d`` that you can use for this purpose. See :ref:`Field Coordinate System <docs/software/advanced-controls/geometry/coordinate-systems:Field Coordinate System>` for more information about the coordinate system.
+.. note:: 0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase. The ``Gyro`` interface supplies ``getRotation2d``/``GetRotation2d`` that you can use for this purpose. See :doc:`/docs/software/basic-programming/coordinate-system` for more information about the coordinate system.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Creating my odometry object. Here,
-      // our starting pose is 5 meters along the long end of the field and in the
-      // center of the field along the short end, facing forward.
-      DifferentialDriveOdometry m_odometry = new DifferentialDriveOdometry(
-        m_gyro.getRotation2d(),
-        m_leftEncoder.getDistance(), m_rightEncoder.getDistance(),
-        new Pose2d(5.0, 13.5, new Rotation2d()));
-
-   .. code-block:: c++
-
-      // Creating my odometry object. Here,
-      // our starting pose is 5 meters along the long end of the field and in the
-      // center of the field along the short end, facing forward.
-      frc::DifferentialDriveOdometry m_odometry{
-        m_gyro.GetRotation2d(),
-        units::meter_t{m_leftEncoder.GetDistance()},
-        units::meter_t{m_rightEncoder.GetDistance()},
-        frc::Pose2d{5_m, 13.5_m, 0_rad}};
-
-
-Updating the Robot Pose
------------------------
+   ```java
+   // Creating my odometry object. Here,
+   // our starting pose is 5 meters along the long end of the field and in the
+   // center of the field along the short end, facing forward.
+   DifferentialDriveOdometry m_odometry = new DifferentialDriveOdometry(
+     m_gyro.getRotation2d(),
+     m_leftEncoder.getDistance(), m_rightEncoder.getDistance(),
+     new Pose2d(5.0, 13.5, new Rotation2d()));
+   ```
+
+   ```c++
+   // Creating my odometry object. Here,
+   // our starting pose is 5 meters along the long end of the field and in the
+   // center of the field along the short end, facing forward.
+   frc::DifferentialDriveOdometry m_odometry{
+     m_gyro.GetRotation2d(),
+     units::meter_t{m_leftEncoder.GetDistance()},
+     units::meter_t{m_rightEncoder.GetDistance()},
+     frc::Pose2d{5_m, 13.5_m, 0_rad}};
+   ```
+
+   ```python
+   from wpimath.kinematics import DifferentialDriveOdometry
+   from wpimath.geometry import Pose2d
+   from wpimath.geometry import Rotation2d
+   # Creating my odometry object. Here,
+   # our starting pose is 5 meters along the long end of the field and in the
+   # center of the field along the short end, facing forward.
+   m_odometry = DifferentialDriveOdometry(
+     m_gyro.getRotation2d(),
+     m_leftEncoder.getDistance(), m_rightEncoder.getDistance(),
+     Pose2d(5.0, 13.5, Rotation2d()))
+   ```
+
+## Updating the Robot Pose
 The ``update`` method can be used to update the robot's position on the field. This method must be called periodically, preferably in the ``periodic()`` method of a :ref:`Subsystem <docs/software/commandbased/subsystems:Subsystems>`. The ``update`` method returns the new updated pose of the robot. This method takes in the gyro angle of the robot, along with the left encoder distance and right encoder distance.
 
 .. note:: If the robot is moving forward in a straight line, **both** distances (left and right) must be increasing positively -- the rate of change must be positive.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      @Override
-      public void periodic() {
-        // Get the rotation of the robot from the gyro.
-        var gyroAngle = m_gyro.getRotation2d();
-
-        // Update the pose
-        m_pose = m_odometry.update(gyroAngle,
-          m_leftEncoder.getDistance(),
-          m_rightEncoder.getDistance());
-      }
-
-   .. code-block:: c++
-
-      void Periodic() override {
-        // Get the rotation of the robot from the gyro.
-        frc::Rotation2d gyroAngle = m_gyro.GetRotation2d();
-
-        // Update the pose
-        m_pose = m_odometry.Update(gyroAngle,
-          units::meter_t{m_leftEncoder.GetDistance()},
-          units::meter_t{m_rightEncoder.GetDistance()});
-      }
-
-Resetting the Robot Pose
-------------------------
+   ```java
+   @Override
+   public void periodic() {
+     // Get the rotation of the robot from the gyro.
+     var gyroAngle = m_gyro.getRotation2d();
+     // Update the pose
+     m_pose = m_odometry.update(gyroAngle,
+       m_leftEncoder.getDistance(),
+       m_rightEncoder.getDistance());
+   }
+   ```
+
+   ```c++
+   void Periodic() override {
+     // Get the rotation of the robot from the gyro.
+     frc::Rotation2d gyroAngle = m_gyro.GetRotation2d();
+     // Update the pose
+     m_pose = m_odometry.Update(gyroAngle,
+       units::meter_t{m_leftEncoder.GetDistance()},
+       units::meter_t{m_rightEncoder.GetDistance()});
+   }
+   ```
+
+   ```python
+   def periodic(self):
+     # Get the rotation of the robot from the gyro.
+     gyroAngle = m_gyro.getRotation2d()
+     # Update the pose
+     m_pose = m_odometry.update(gyroAngle,
+       m_leftEncoder.getDistance(),
+       m_rightEncoder.getDistance())
+   ```
+
+## Resetting the Robot Pose
 The robot pose can be reset via the ``resetPosition`` method. This method accepts four arguments: the current gyro angle, the left and right wheel positions, and the new field-relative pose.
 
 .. important:: If at any time, you decide to reset your gyroscope or encoders, the ``resetPosition`` method MUST be called with the new gyro angle and wheel distances.
 
-.. note:: A full example of a differential drive robot with odometry is available here: `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot>`_ / `Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot>`_.
+.. note:: A full example of a differential drive robot with odometry is available here: [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot) / [Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot) / [Python](https://github.com/robotpy/examples/tree/main/DifferentialDriveBot)
 
-In addition, the ``GetPose`` (C++) / ``getPoseMeters`` (Java) methods can be used to retrieve the current robot pose without an update.
+In addition, the ``GetPose`` (C++) / ``getPoseMeters`` (Java / Python) methods can be used to retrieve the current robot pose without an update.
diff --git a/source/docs/software/kinematics-and-odometry/images/advantagescope-swerve.png b/source/docs/software/kinematics-and-odometry/images/advantagescope-swerve.png
new file mode 100644
index 0000000000..768a118e96
Binary files /dev/null and b/source/docs/software/kinematics-and-odometry/images/advantagescope-swerve.png differ
diff --git a/source/docs/software/kinematics-and-odometry/index.rst b/source/docs/software/kinematics-and-odometry/index.rst
index a457abc0c2..1a7568fbde 100644
--- a/source/docs/software/kinematics-and-odometry/index.rst
+++ b/source/docs/software/kinematics-and-odometry/index.rst
@@ -1,5 +1,4 @@
-Kinematics and Odometry
-=======================
+# Kinematics and Odometry
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/kinematics-and-odometry/intro-and-chassis-speeds.rst b/source/docs/software/kinematics-and-odometry/intro-and-chassis-speeds.rst
index c16791bd3d..902974f060 100644
--- a/source/docs/software/kinematics-and-odometry/intro-and-chassis-speeds.rst
+++ b/source/docs/software/kinematics-and-odometry/intro-and-chassis-speeds.rst
@@ -1,16 +1,15 @@
-Introduction to Kinematics and The Chassis Speeds Class
-==================================================================
+# Introduction to Kinematics and The ChassisSpeeds Class
 
-What is kinematics?
--------------------
-The brand new kinematics suite contains classes for differential drive, swerve drive, and mecanum drive kinematics and odometry. The kinematics classes help convert between a universal ``ChassisSpeeds`` object, containing linear and angular velocities for a robot to usable speeds for each individual type of drivetrain i.e. left and right wheel speeds for a differential drive, four wheel speeds for a mecanum drive, or individual module states (speed and angle) for a swerve drive.
+.. note:: Kinematics and odometry uses a common coordinate system. You may wish to reference the :doc:`/docs/software/basic-programming/coordinate-system` section for details.
 
-What is odometry?
------------------
+## What is kinematics?
+
+The kinematics suite contains classes for differential drive, swerve drive, and mecanum drive kinematics and odometry. The kinematics classes help convert between a universal ``ChassisSpeeds`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/structfrc_1_1_chassis_speeds.html), :external:py:class:`Python <wpimath.kinematics.ChassisSpeeds>`)object, containing linear and angular velocities for a robot to usable speeds for each individual type of drivetrain i.e. left and right wheel speeds for a differential drive, four wheel speeds for a mecanum drive, or individual module states (speed and angle) for a swerve drive.
+
+## What is odometry?
 Odometry involves using sensors on the robot to create an estimate of the position of the robot on the field. In FRC, these sensors are typically several encoders (the exact number depends on the drive type) and a gyroscope to measure robot angle. The odometry classes utilize the kinematics classes along with periodic user inputs about speeds (and angles in the case of swerve) to create an estimate of the robot's location on the field.
 
-The Chassis Speeds Class
-------------------------
+## The ChassisSpeeds Class
 The ``ChassisSpeeds`` object is essential to the new WPILib kinematics and odometry suite. The ``ChassisSpeeds`` object represents the speeds of a robot chassis. This struct has three components:
 
 * ``vx``: The velocity of the robot in the x (forward) direction.
@@ -19,54 +18,73 @@ The ``ChassisSpeeds`` object is essential to the new WPILib kinematics and odome
 
 .. note:: A non-holonomic drivetrain (i.e. a drivetrain that cannot move sideways, ex: a differential drive) will have a ``vy`` component of zero because of its inability to move sideways.
 
-Constructing a ChassisSpeeds object
------------------------------------
-The constructor for the ``ChassisSpeeds`` object is very straightforward, accepting three arguments for ``vx``, ``vy``, and ``omega``. In Java, ``vx`` and ``vy`` must be in meters per second. In C++, the units library may be used to provide a linear velocity using any linear velocity unit.
+## Constructing a ChassisSpeeds object
+The constructor for the ``ChassisSpeeds`` object is very straightforward, accepting three arguments for ``vx``, ``vy``, and ``omega``. In Java and Python, ``vx`` and ``vy`` must be in meters per second. In C++, the units library may be used to provide a linear velocity using any linear velocity unit.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // The robot is moving at 3 meters per second forward, 2 meters
-      // per second to the right, and rotating at half a rotation per
-      // second counterclockwise.
-      var speeds = new ChassisSpeeds(3.0, -2.0, Math.PI);
-
-   .. code-block:: c++
-
-      // The robot is moving at 3 meters per second forward, 2 meters
-      // per second to the right, and rotating at half a rotation per
-      // second counterclockwise.
-      frc::ChassisSpeeds speeds{3.0_mps, -2.0_mps,
-        units::radians_per_second_t(std::numbers::pi)};
-
-
-Creating a ChassisSpeeds Object from Field-Relative Speeds
-----------------------------------------------------------
+   ```java
+   // The robot is moving at 3 meters per second forward, 2 meters
+   // per second to the right, and rotating at half a rotation per
+   // second counterclockwise.
+   var speeds = new ChassisSpeeds(3.0, -2.0, Math.PI);
+   ```
+
+   ```c++
+   // The robot is moving at 3 meters per second forward, 2 meters
+   // per second to the right, and rotating at half a rotation per
+   // second counterclockwise.
+   frc::ChassisSpeeds speeds{3.0_mps, -2.0_mps,
+     units::radians_per_second_t(std::numbers::pi)};
+   ```
+
+   ```python
+   import math
+   from wpimath.kinematics import ChassisSpeeds
+   # The robot is moving at 3 meters per second forward, 2 meters
+   # per second to the right, and rotating at half a rotation per
+   # second counterclockwise.
+   speeds = ChassisSpeeds(3.0, -2.0, math.pi)
+      ```
+
+## Creating a ChassisSpeeds Object from Field-Relative Speeds
 A ``ChassisSpeeds`` object can also be created from a set of field-relative speeds when the robot angle is given. This converts a set of desired velocities relative to the field (for example, toward the opposite alliance station and toward the right field boundary) to a ``ChassisSpeeds`` object which represents speeds that are relative to the robot frame. This is useful for implementing field-oriented controls for a swerve or mecanum drive robot.
 
-The static ``ChassisSpeeds.fromFieldRelativeSpeeds`` (Java) / ``ChassisSpeeds::FromFieldRelativeSpeeds`` (C++) method can be used to generate the ``ChassisSpeeds`` object from field-relative speeds. This method accepts the ``vx`` (relative to the field), ``vy`` (relative to the field), ``omega``, and the robot angle.
+The static ``ChassisSpeeds.fromFieldRelativeSpeeds`` (Java / Python) / ``ChassisSpeeds::FromFieldRelativeSpeeds`` (C++) method can be used to generate the ``ChassisSpeeds`` object from field-relative speeds. This method accepts the ``vx`` (relative to the field), ``vy`` (relative to the field), ``omega``, and the robot angle.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // The desired field relative speed here is 2 meters per second
-      // toward the opponent's alliance station wall, and 2 meters per
-      // second toward the left field boundary. The desired rotation
-      // is a quarter of a rotation per second counterclockwise. The current
-      // robot angle is 45 degrees.
-      ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
-        2.0, 2.0, Math.PI / 2.0, Rotation2d.fromDegrees(45.0));
-
-   .. code-block:: c++
-
-      // The desired field relative speed here is 2 meters per second
-      // toward the opponent's alliance station wall, and 2 meters per
-      // second toward the left field boundary. The desired rotation
-      // is a quarter of a rotation per second counterclockwise. The current
-      // robot angle is 45 degrees.
-      frc::ChassisSpeeds speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
-        2_mps, 2_mps, units::radians_per_second_t(std::numbers::pi / 2.0), Rotation2d(45_deg));
+   ```java
+   // The desired field relative speed here is 2 meters per second
+   // toward the opponent's alliance station wall, and 2 meters per
+   // second toward the left field boundary. The desired rotation
+   // is a quarter of a rotation per second counterclockwise. The current
+   // robot angle is 45 degrees.
+   ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
+     2.0, 2.0, Math.PI / 2.0, Rotation2d.fromDegrees(45.0));
+   ```
+
+   ```c++
+   // The desired field relative speed here is 2 meters per second
+   // toward the opponent's alliance station wall, and 2 meters per
+   // second toward the left field boundary. The desired rotation
+   // is a quarter of a rotation per second counterclockwise. The current
+   // robot angle is 45 degrees.
+   frc::ChassisSpeeds speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
+     2_mps, 2_mps, units::radians_per_second_t(std::numbers::pi / 2.0), Rotation2d(45_deg));
+   ```
+
+   ```python
+   import math
+   from wpimath.kinematics import ChassisSpeeds
+   from wpimath.geometry  import Rotation2d
+   # The desired field relative speed here is 2 meters per second
+   # toward the opponent's alliance station wall, and 2 meters per
+   # second toward the left field boundary. The desired rotation
+   # is a quarter of a rotation per second counterclockwise. The current
+   # robot angle is 45 degrees.
+   speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
+     2.0, 2.0, math.pi / 2.0, Rotation2d.fromDegrees(45.0))
+   ```
 
 .. note:: The angular velocity is not explicitly stated to be "relative to the field" because the angular velocity is the same as measured from a field perspective or a robot perspective.
diff --git a/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst b/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst
index 3e6472e6c1..f25b923ba0 100644
--- a/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst
+++ b/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst
@@ -1,139 +1,176 @@
-Mecanum Drive Kinematics
-========================
+# Mecanum Drive Kinematics
 The ``MecanumDriveKinematics`` class is a useful tool that converts between a ``ChassisSpeeds`` object and a ``MecanumDriveWheelSpeeds`` object, which contains velocities for each of the four wheels on a mecanum drive.
 
-Constructing the Kinematics Object
-----------------------------------
+.. note:: Mecanum kinematics uses a common coordinate system. You may wish to reference the :doc:`/docs/software/basic-programming/coordinate-system` section for details.
+
+## Constructing the Kinematics Object
 The ``MecanumDriveKinematics`` class accepts four constructor arguments, with each argument being the location of a wheel relative to the robot center (as a ``Translation2d``). The order for the arguments is front left, front right, back left, and back right. The locations for the wheels must be relative to the center of the robot. Positive x values represent moving toward the front of the robot whereas positive y values represent moving toward the left of the robot.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Locations of the wheels relative to the robot center.
-      Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
-      Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
-      Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
-      Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
-
-      // Creating my kinematics object using the wheel locations.
-      MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
-        m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
-      );
-
-
-   .. code-block:: c++
-
-      // Locations of the wheels relative to the robot center.
-      frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
-      frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
-      frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
-      frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
-
-      // Creating my kinematics object using the wheel locations.
-      frc::MecanumDriveKinematics m_kinematics{
-        m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
-        m_backRightLocation};
-
-Converting Chassis Speeds to Wheel Speeds
------------------------------------------
-The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java) / ``ToWheelSpeeds(ChassisSpeeds speeds)`` (C++) method should be used to convert a ``ChassisSpeeds`` object to a ``MecanumDriveWheelSpeeds`` object. This is useful in situations where you have to convert a forward velocity, sideways velocity, and an angular velocity into individual wheel speeds.
+   ```java
+   // Locations of the wheels relative to the robot center.
+   Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
+   Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
+   Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
+   Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
+   // Creating my kinematics object using the wheel locations.
+   MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
+     m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
+   );
+   ```
+
+   ```c++
+   // Locations of the wheels relative to the robot center.
+   frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
+   frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
+   frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
+   frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+   // Creating my kinematics object using the wheel locations.
+   frc::MecanumDriveKinematics m_kinematics{
+     m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
+     m_backRightLocation};
+   ```
+
+   ```python
+   from wpimath.geometry import Translation2d
+   from wpimath.kinematics import MecanumDriveKinematics
+   # Locations of the wheels relative to the robot center.
+   frontLeftLocation = Translation2d(0.381, 0.381)
+   frontRightLocation = Translation2d(0.381, -0.381)
+   backLeftLocation = Translation2d(-0.381, 0.381)
+   backRightLocation = Translation2d(-0.381, -0.381)
+   # Creating my kinematics object using the wheel locations.
+   self.kinematics = MecanumDriveKinematics(
+     frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
+   )
+   ```
+
+## Converting Chassis Speeds to Wheel Speeds
+The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(ChassisSpeeds speeds)`` (C++) method should be used to convert a ``ChassisSpeeds`` object to a ``MecanumDriveWheelSpeeds`` object. This is useful in situations where you have to convert a forward velocity, sideways velocity, and an angular velocity into individual wheel speeds.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Example chassis speeds: 1 meter per second forward, 3 meters
-      // per second to the left, and rotation at 1.5 radians per second
-      // counterclockwise.
-      ChassisSpeeds speeds = new ChassisSpeeds(1.0, 3.0, 1.5);
-
-      // Convert to wheel speeds
-      MecanumDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(speeds);
-
-      // Get the individual wheel speeds
-      double frontLeft = wheelSpeeds.frontLeftMetersPerSecond
-      double frontRight = wheelSpeeds.frontRightMetersPerSecond
-      double backLeft = wheelSpeeds.rearLeftMetersPerSecond
-      double backRight = wheelSpeeds.rearRightMetersPerSecond
-
-   .. code-block:: c++
-
-      // Example chassis speeds: 1 meter per second forward, 3 meters
-      // per second to the left, and rotation at 1.5 radians per second
-      // counterclockwise.
-      frc::ChassisSpeeds speeds{1_mps, 3_mps, 1.5_rad_per_s};
-
-      // Convert to wheel speeds. Here, we can use C++17's structured
-      // bindings feature to automatically split up the MecanumDriveWheelSpeeds
-      // struct into it's individual components
-      auto [fl, fr, bl, br] = kinematics.ToWheelSpeeds(speeds);
-
-Field-oriented drive
-~~~~~~~~~~~~~~~~~~~~
+   ```java
+   // Example chassis speeds: 1 meter per second forward, 3 meters
+   // per second to the left, and rotation at 1.5 radians per second
+   // counterclockwise.
+   ChassisSpeeds speeds = new ChassisSpeeds(1.0, 3.0, 1.5);
+   // Convert to wheel speeds
+   MecanumDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(speeds);
+   // Get the individual wheel speeds
+   double frontLeft = wheelSpeeds.frontLeftMetersPerSecond
+   double frontRight = wheelSpeeds.frontRightMetersPerSecond
+   double backLeft = wheelSpeeds.rearLeftMetersPerSecond
+   double backRight = wheelSpeeds.rearRightMetersPerSecond
+   ```
+
+   ```c++
+   // Example chassis speeds: 1 meter per second forward, 3 meters
+   // per second to the left, and rotation at 1.5 radians per second
+   // counterclockwise.
+   frc::ChassisSpeeds speeds{1_mps, 3_mps, 1.5_rad_per_s};
+   // Convert to wheel speeds. Here, we can use C++17's structured
+   // bindings feature to automatically split up the MecanumDriveWheelSpeeds
+   // struct into it's individual components
+   auto [fl, fr, bl, br] = kinematics.ToWheelSpeeds(speeds);
+   ```
+
+   ```python
+   from wpimath.kinematics import ChassisSpeeds
+   # Example chassis speeds: 1 meter per second forward, 3 meters
+   # per second to the left, and rotation at 1.5 radians per second
+   # counterclockwise.
+   speeds = ChassisSpeeds(1.0, 3.0, 1.5)
+   # Convert to wheel speeds
+   frontLeft, frontRight, backLeft, backRight = self.kinematics.toWheelSpeeds(speeds)
+   ```
+
+#### Field-oriented drive
 :ref:`Recall <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:Creating a ChassisSpeeds object from field-relative speeds>` that a ``ChassisSpeeds`` object can be created from a set of desired field-oriented speeds. This feature can be used to get wheel speeds from a set of desired field-oriented speeds.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // The desired field relative speed here is 2 meters per second
-      // toward the opponent's alliance station wall, and 2 meters per
-      // second toward the left field boundary. The desired rotation
-      // is a quarter of a rotation per second counterclockwise. The current
-      // robot angle is 45 degrees.
-      ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
-        2.0, 2.0, Math.PI / 2.0, Rotation2d.fromDegrees(45.0));
-
-      // Now use this in our kinematics
-      MecanumDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(speeds);
-
-   .. code-block:: c++
-
-      // The desired field relative speed here is 2 meters per second
-      // toward the opponent's alliance station wall, and 2 meters per
-      // second toward the left field boundary. The desired rotation
-      // is a quarter of a rotation per second counterclockwise. The current
-      // robot angle is 45 degrees.
-      frc::ChassisSpeeds speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
-        2_mps, 2_mps, units::radians_per_second_t(std::numbers::pi / 2.0), Rotation2d(45_deg));
-
-      // Now use this in our kinematics
-      auto [fl, fr, bl, br] = kinematics.ToWheelSpeeds(speeds);
-
-Using custom centers of rotation
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+   ```java
+   // The desired field relative speed here is 2 meters per second
+   // toward the opponent's alliance station wall, and 2 meters per
+   // second toward the left field boundary. The desired rotation
+   // is a quarter of a rotation per second counterclockwise. The current
+   // robot angle is 45 degrees.
+   ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
+     2.0, 2.0, Math.PI / 2.0, Rotation2d.fromDegrees(45.0));
+   // Now use this in our kinematics
+   MecanumDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(speeds);
+   ```
+
+   ```c++
+   // The desired field relative speed here is 2 meters per second
+   // toward the opponent's alliance station wall, and 2 meters per
+   // second toward the left field boundary. The desired rotation
+   // is a quarter of a rotation per second counterclockwise. The current
+   // robot angle is 45 degrees.
+   frc::ChassisSpeeds speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
+     2_mps, 2_mps, units::radians_per_second_t(std::numbers::pi / 2.0), Rotation2d(45_deg));
+   // Now use this in our kinematics
+   auto [fl, fr, bl, br] = kinematics.ToWheelSpeeds(speeds);
+   ```
+
+   ```python
+   from wpimath.kinematics import ChassisSpeeds
+   import math
+   from wpimath.geometry import Rotation2d
+   # The desired field relative speed here is 2 meters per second
+   # toward the opponent's alliance station wall, and 2 meters per
+   # second toward the left field boundary. The desired rotation
+   # is a quarter of a rotation per second counterclockwise. The current
+   # robot angle is 45 degrees.
+   speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
+     2.0, 2.0, math.pi / 2.0, Rotation2d.fromDegrees(45.0))
+   # Now use this in our kinematics
+   wheelSpeeds = self.kinematics.toWheelSpeeds(speeds)
+   ```
+
+#### Using custom centers of rotation
 Sometimes, rotating around one specific corner might be desirable for certain evasive maneuvers. This type of behavior is also supported by the WPILib classes. The same ``ToWheelSpeeds()`` method accepts a second parameter for the center of rotation (as a ``Translation2d``). Just like the wheel locations, the ``Translation2d`` representing the center of rotation should be relative to the robot center.
 
 .. note:: Because all robots are a rigid frame, the provided ``vx`` and ``vy`` velocities from the ``ChassisSpeeds`` object will still apply for the entirety of the robot. However, the ``omega`` from the ``ChassisSpeeds`` object will be measured from the center of rotation.
 
 For example, one can set the center of rotation on a certain wheel and if the provided ``ChassisSpeeds`` object has a ``vx`` and ``vy`` of zero and a non-zero ``omega``, the robot will appear to rotate around that particular wheel.
 
-Converting wheel speeds to chassis speeds
------------------------------------------
-One can also use the kinematics object to convert a ``MecanumDriveWheelSpeeds`` object to a singular ``ChassisSpeeds`` object. The ``toChassisSpeeds(MecanumDriveWheelSpeeds speeds)`` (Java) / ``ToChassisSpeeds(MecanumDriveWheelSpeeds speeds)`` (C++) method can be used to achieve this.
+## Converting wheel speeds to chassis speeds
+One can also use the kinematics object to convert a ``MecanumDriveWheelSpeeds`` object to a singular ``ChassisSpeeds`` object. The ``toChassisSpeeds(MecanumDriveWheelSpeeds speeds)`` (Java / Python) / ``ToChassisSpeeds(MecanumDriveWheelSpeeds speeds)`` (C++) method can be used to achieve this.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Example wheel speeds
-      var wheelSpeeds = new MecanumDriveWheelSpeeds(-17.67, 20.51, -13.44, 16.26);
-
-      // Convert to chassis speeds
-      ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(wheelSpeeds);
-
-      // Getting individual speeds
-      double forward = chassisSpeeds.vxMetersPerSecond;
-      double sideways = chassisSpeeds.vyMetersPerSecond;
-      double angular = chassisSpeeds.omegaRadiansPerSecond;
-
-   .. code-block:: c++
-
-      // Example wheel speeds
-      frc::MecanumDriveWheelSpeeds wheelSpeeds{-17.67_mps, 20.51_mps, -13.44_mps, 16.26_mps};
+   ```java
+   // Example wheel speeds
+   var wheelSpeeds = new MecanumDriveWheelSpeeds(-17.67, 20.51, -13.44, 16.26);
+   // Convert to chassis speeds
+   ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(wheelSpeeds);
+   // Getting individual speeds
+   double forward = chassisSpeeds.vxMetersPerSecond;
+   double sideways = chassisSpeeds.vyMetersPerSecond;
+   double angular = chassisSpeeds.omegaRadiansPerSecond;
+   ```
+
+   ```c++
+   // Example wheel speeds
+   frc::MecanumDriveWheelSpeeds wheelSpeeds{-17.67_mps, 20.51_mps, -13.44_mps, 16.26_mps};
+   // Convert to chassis speeds. Here, we can use C++17's structured bindings
+   // feature to automatically break up the ChassisSpeeds struct into its
+   // three components.
+   auto [forward, sideways, angular] = kinematics.ToChassisSpeeds(wheelSpeeds);
+   ```
+
+   ```python
+   from wpimath.kinematics import MecanumDriveWheelSpeeds
+   # Example wheel speeds
+   wheelSpeeds = MecanumDriveWheelSpeeds(-17.67, 20.51, -13.44, 16.26)
+   # Convert to chassis speeds
+   chassisSpeeds = self.kinematics.toChassisSpeeds(wheelSpeeds)
+   # Getting individual speeds
+   forward = chassisSpeeds.vx
+   sideways = chassisSpeeds.vy
+   angular = chassisSpeeds.omega
+   ```
 
-      // Convert to chassis speeds. Here, we can use C++17's structured bindings
-      // feature to automatically break up the ChassisSpeeds struct into its
-      // three components.
-      auto [forward, sideways, angular] = kinematics.ToChassisSpeeds(wheelSpeeds);
diff --git a/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst b/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst
index 004fccc9a5..2a6fe09cd7 100644
--- a/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst
+++ b/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst
@@ -1,125 +1,155 @@
-Mecanum Drive Odometry
-===========================
+# Mecanum Drive Odometry
 A user can use the mecanum drive kinematics classes in order to perform :ref:`odometry <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:What is odometry?>`. WPILib contains a ``MecanumDriveOdometry`` class that can be used to track the position of a mecanum drive robot on the field.
 
 .. note:: Because this method only uses encoders and a gyro, the estimate of the robot's position on the field will drift over time, especially as your robot comes into contact with other robots during gameplay. However, odometry is usually very accurate during the autonomous period.
 
-Creating the odometry object
-----------------------------
+## Creating the odometry object
 The ``MecanumDriveOdometry`` class constructor requires three mandatory arguments and one optional argument.
 
 The mandatory arguments are:
 
 * The kinematics object that represents your mecanum drive (as a ``MecanumDriveKinematics`` instance)
 * The angle reported by your gyroscope (as a ``Rotation2d``)
-* The initial positions of the wheels (as ``MecanumDriveWheelPositions``). In Java, this must be constructed with each wheel position in meters. In C++, the :doc:`units library </docs/software/basic-programming/cpp-units>` must be used to represent your wheel positions.
+* The initial positions of the wheels (as ``MecanumDriveWheelPositions``). In Java / Python, this must be constructed with each wheel position in meters. In C++, the :doc:`units library </docs/software/basic-programming/cpp-units>` must be used to represent your wheel positions.
 
 The fourth optional argument is the starting pose of your robot on the field (as a ``Pose2d``). By default, the robot will start at ``x = 0, y = 0, theta = 0``.
 
-.. note:: 0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase.  The ``Gyro`` interface supplies ``getRotation2d``/``GetRotation2d`` that you can use for this purpose. See :ref:`Field Coordinate System <docs/software/advanced-controls/geometry/coordinate-systems:Field Coordinate System>` for more information about the coordinate system.
+.. note:: 0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase.  The ``Gyro`` interface supplies ``getRotation2d``/``GetRotation2d`` that you can use for this purpose. See :doc:`/docs/software/basic-programming/coordinate-system` for more information about the coordinate system.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Locations of the wheels relative to the robot center.
-      Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
-      Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
-      Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
-      Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
-
-      // Creating my kinematics object using the wheel locations.
-      MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
-        m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
-      );
-
-      // Creating my odometry object from the kinematics object and the initial wheel positions.
-      // Here, our starting pose is 5 meters along the long end of the field and in the
-      // center of the field along the short end, facing the opposing alliance wall.
-      MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(
-        m_kinematics,
-        m_gyro.getRotation2d(),
-        new MecanumDriveWheelPositions(
-          m_frontLeftEncoder.getDistance(), m_frontRightEncoder.getDistance(),
-          m_backLeftEncoder.getDistance(), m_backRightEncoder.getDistance()
-        ),
-        new Pose2d(5.0, 13.5, new Rotation2d())
-      );
-
-   .. code-block:: c++
-
-      // Locations of the wheels relative to the robot center.
-      frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
-      frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
-      frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
-      frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
-
-      // Creating my kinematics object using the wheel locations.
-      frc::MecanumDriveKinematics m_kinematics{
-        m_frontLeftLocation, m_frontRightLocation,
-        m_backLeftLocation, m_backRightLocation
-      };
-
-      // Creating my odometry object from the kinematics object. Here,
-      // our starting pose is 5 meters along the long end of the field and in the
-      // center of the field along the short end, facing forward.
-      frc::MecanumDriveOdometry m_odometry{
-        m_kinematics,
-        m_gyro.GetRotation2d(),
-        frc::MecanumDriveWheelPositions{
-          units::meter_t{m_frontLeftEncoder.GetDistance()},
-          units::meter_t{m_frontRightEncoder.GetDistance()},
-          units::meter_t{m_backLeftEncoder.GetDistance()},
-          units::meter_t{m_backRightEncoder.GetDistance()}
-        },
-        frc::Pose2d{5_m, 13.5_m, 0_rad}};
-
-
-Updating the robot pose
------------------------
+   ```java
+   // Locations of the wheels relative to the robot center.
+   Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
+   Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
+   Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
+   Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
+   // Creating my kinematics object using the wheel locations.
+   MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
+     m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
+   );
+   // Creating my odometry object from the kinematics object and the initial wheel positions.
+   // Here, our starting pose is 5 meters along the long end of the field and in the
+   // center of the field along the short end, facing the opposing alliance wall.
+   MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(
+     m_kinematics,
+     m_gyro.getRotation2d(),
+     new MecanumDriveWheelPositions(
+       m_frontLeftEncoder.getDistance(), m_frontRightEncoder.getDistance(),
+       m_backLeftEncoder.getDistance(), m_backRightEncoder.getDistance()
+     ),
+     new Pose2d(5.0, 13.5, new Rotation2d())
+   );
+   ```
+
+   ```c++
+   // Locations of the wheels relative to the robot center.
+   frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
+   frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
+   frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
+   frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+   // Creating my kinematics object using the wheel locations.
+   frc::MecanumDriveKinematics m_kinematics{
+     m_frontLeftLocation, m_frontRightLocation,
+     m_backLeftLocation, m_backRightLocation
+   };
+   // Creating my odometry object from the kinematics object. Here,
+   // our starting pose is 5 meters along the long end of the field and in the
+   // center of the field along the short end, facing forward.
+   frc::MecanumDriveOdometry m_odometry{
+     m_kinematics,
+     m_gyro.GetRotation2d(),
+     frc::MecanumDriveWheelPositions{
+       units::meter_t{m_frontLeftEncoder.GetDistance()},
+       units::meter_t{m_frontRightEncoder.GetDistance()},
+       units::meter_t{m_backLeftEncoder.GetDistance()},
+       units::meter_t{m_backRightEncoder.GetDistance()}
+     },
+     frc::Pose2d{5_m, 13.5_m, 0_rad}};
+   ```
+
+   ```python
+   from wpimath.geometry import Translation2d
+   from wpimath.kinematics import MecanumDriveKinematics
+   from wpimath.kinematics import MecanumDriveOdometry
+   from wpimath.kinematics import MecanumDriveWheelPositions
+   from wpimath.geometry import Pose2d
+   from wpimath.geometry import Rotation2d
+   # Locations of the wheels relative to the robot center.
+   frontLeftLocation = Translation2d(0.381, 0.381)
+   frontRightLocation = Translation2d(0.381, -0.381)
+   backLeftLocation = Translation2d(-0.381, 0.381)
+   backRightLocation = Translation2d(-0.381, -0.381)
+   # Creating my kinematics object using the wheel locations.
+   self.kinematics = MecanumDriveKinematics(
+     frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
+   )
+   # Creating my odometry object from the kinematics object and the initial wheel positions.
+   # Here, our starting pose is 5 meters along the long end of the field and in the
+   # center of the field along the short end, facing the opposing alliance wall.
+   self.odometry = MecanumDriveOdometry(
+     self.kinematics,
+     self.gyro.getRotation2d(),
+     MecanumDriveWheelPositions(
+       self.frontLeftEncoder.getDistance(), self.frontRightEncoder.getDistance(),
+       self.backLeftEncoder.getDistance(), self.backRightEncoder.getDistance()
+     ),
+     Pose2d(5.0, 13.5, Rotation2d())
+   )
+   ```
+
+## Updating the robot pose
 The ``update`` method of the odometry class updates the robot position on the field. The update method takes in the gyro angle of the robot, along with a ``MecanumDriveWheelPositions`` object representing the position of each of the 4 wheels on the robot. This ``update`` method must be called periodically, preferably in the ``periodic()`` method of a :ref:`Subsystem <docs/software/commandbased/subsystems:Subsystems>`. The ``update`` method returns the new updated pose of the robot.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      @Override
-      public void periodic() {
-        // Get my wheel positions
-        var wheelPositions = new MecanumDriveWheelPositions(
-          m_frontLeftEncoder.getDistance(), m_frontRightEncoder.getDistance(),
-          m_backLeftEncoder.getDistance(), m_backRightEncoder.getDistance());
-
-        // Get the rotation of the robot from the gyro.
-        var gyroAngle = m_gyro.getRotation2d();
-
-        // Update the pose
-        m_pose = m_odometry.update(gyroAngle, wheelPositions);
-      }
-
-   .. code-block:: c++
-
-      void Periodic() override {
-        // Get my wheel positions
-        frc::MecanumDriveWheelPositions wheelPositions{
-          units::meter_t{m_frontLeftEncoder.GetDistance()},
-          units::meter_t{m_frontRightEncoder.GetDistance()},
-          units::meter_t{m_backLeftEncoder.GetDistance()},
-          units::meter_t{m_backRightEncoder.GetDistance()}};
-
-        // Get the rotation of the robot from the gyro.
-        frc::Rotation2d gyroAngle = m_gyro.GetRotation2d();
-
-        // Update the pose
-        m_pose = m_odometry.Update(gyroAngle, wheelPositions);
-      }
-
-Resetting the Robot Pose
-------------------------
+   ```java
+   @Override
+   public void periodic() {
+     // Get my wheel positions
+     var wheelPositions = new MecanumDriveWheelPositions(
+       m_frontLeftEncoder.getDistance(), m_frontRightEncoder.getDistance(),
+       m_backLeftEncoder.getDistance(), m_backRightEncoder.getDistance());
+     // Get the rotation of the robot from the gyro.
+     var gyroAngle = m_gyro.getRotation2d();
+     // Update the pose
+     m_pose = m_odometry.update(gyroAngle, wheelPositions);
+   }
+   ```
+
+   ```c++
+   void Periodic() override {
+     // Get my wheel positions
+     frc::MecanumDriveWheelPositions wheelPositions{
+       units::meter_t{m_frontLeftEncoder.GetDistance()},
+       units::meter_t{m_frontRightEncoder.GetDistance()},
+       units::meter_t{m_backLeftEncoder.GetDistance()},
+       units::meter_t{m_backRightEncoder.GetDistance()}};
+     // Get the rotation of the robot from the gyro.
+     frc::Rotation2d gyroAngle = m_gyro.GetRotation2d();
+     // Update the pose
+     m_pose = m_odometry.Update(gyroAngle, wheelPositions);
+   }
+   ```
+
+   ```python
+   from wpimath.kinematics import MecanumDriveWheelPositions
+      def periodic(self):
+     # Get my wheel positions
+     wheelPositions = MecanumDriveWheelPositions(
+       self.frontLeftEncoder.getDistance(), self.frontRightEncoder.getDistance(),
+       self.backLeftEncoder.getDistance(), self.backRightEncoder.getDistance())
+     # Get the rotation of the robot from the gyro.
+     gyroAngle = gyro.getRotation2d()
+     # Update the pose
+     self.pose = odometry.update(gyroAngle, wheelPositions)
+   ```
+
+## Resetting the Robot Pose
 The robot pose can be reset via the ``resetPosition`` method. This method accepts three arguments: the current gyro angle, the current wheel positions, and the new field-relative pose.
 
 .. important:: If at any time, you decide to reset your gyroscope or encoders, the ``resetPosition`` method MUST be called with the new gyro angle and wheel positions.
 
-.. note:: A full example of a mecanum drive robot with odometry is available here: `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumBot>`_ / `Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot>`_.
+.. note:: A full example of a mecanum drive robot with odometry is available here: [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/MecanumBot) / [Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot) / [Python](https://github.com/robotpy/examples/tree/main/MecanumBot)
 
-In addition, the ``GetPose`` (C++) / ``getPoseMeters`` (Java) methods can be used to retrieve the current robot pose without an update.
+In addition, the ``GetPose`` (C++) / ``getPoseMeters`` (Java / Python) methods can be used to retrieve the current robot pose without an update.
diff --git a/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst b/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
index ff2d4d6151..5878415959 100644
--- a/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
+++ b/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
@@ -1,16 +1,15 @@
-Swerve Drive Kinematics
-=======================
+# Swerve Drive Kinematics
 The ``SwerveDriveKinematics`` class is a useful tool that converts between a ``ChassisSpeeds`` object and several ``SwerveModuleState`` objects, which contains velocities and angles for each swerve module of a swerve drive robot.
 
-The swerve module state class
------------------------------
+.. note:: Swerve drive kinematics uses a common coordinate system. You may wish to reference the :doc:`/docs/software/basic-programming/coordinate-system` section for details.
+
+## The swerve module state class
 The ``SwerveModuleState`` class contains information about the velocity and angle of a singular module of a swerve drive. The constructor for a ``SwerveModuleState`` takes in two arguments, the velocity of the wheel on the module, and the angle of the module.
 
-.. note:: In Java, the velocity of the wheel must be in meters per second. In C++, the units library can be used to provide the velocity using any linear velocity unit.
+.. note:: In Java / Python, the velocity of the wheel must be in meters per second. In C++, the units library can be used to provide the velocity using any linear velocity unit.
 .. note:: An angle of 0 corresponds to the modules facing forward.
 
-Constructing the kinematics object
-----------------------------------
+## Constructing the kinematics object
 The ``SwerveDriveKinematics`` class accepts a variable number of constructor arguments, with each argument being the location of a swerve module relative to the robot center (as a ``Translation2d``. The number of constructor arguments corresponds to the number of swerve modules.
 
 .. note:: A swerve drive must have 2 or more modules.
@@ -21,164 +20,306 @@ The locations for the modules must be relative to the center of the robot. Posit
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Locations for the swerve drive modules relative to the robot center.
-      Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
-      Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
-      Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
-      Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
-
-      // Creating my kinematics object using the module locations
-      SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
-        m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
-      );
-
-   .. code-block:: c++
-
-      // Locations for the swerve drive modules relative to the robot center.
-      frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
-      frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
-      frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
-      frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
-
-      // Creating my kinematics object using the module locations.
-      frc::SwerveDriveKinematics<4> m_kinematics{
-        m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
-        m_backRightLocation};
-
-Converting chassis speeds to module states
-------------------------------------------
-The ``toSwerveModuleStates(ChassisSpeeds speeds)`` (Java) / ``ToSwerveModuleStates(ChassisSpeeds speeds)`` (C++) method should be used to convert a ``ChassisSpeeds`` object to a an array of ``SwerveModuleState`` objects. This is useful in situations where you have to convert a forward velocity, sideways velocity, and an angular velocity into individual module states.
+   ```java
+   // Locations for the swerve drive modules relative to the robot center.
+   Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
+   Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
+   Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
+   Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
+   // Creating my kinematics object using the module locations
+   SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
+     m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
+   );
+   ```
+
+   ```c++
+   // Locations for the swerve drive modules relative to the robot center.
+   frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
+   frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
+   frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
+   frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+   // Creating my kinematics object using the module locations.
+   frc::SwerveDriveKinematics<4> m_kinematics{
+     m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
+     m_backRightLocation};
+   ```
+
+   ```python
+   # Python requires using the right class for the number of modules you have
+   from wpimath.geometry import Translation2d
+   from wpimath.kinematics import SwerveDrive4Kinematics
+   # Locations for the swerve drive modules relative to the robot center.
+   frontLeftLocation = Translation2d(0.381, 0.381)
+   frontRightLocation = Translation2d(0.381, -0.381)
+   backLeftLocation = Translation2d(-0.381, 0.381)
+   backRightLocation = Translation2d(-0.381, -0.381)
+   # Creating my kinematics object using the module locations
+   self.kinematics = SwerveDrive4Kinematics(
+     frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
+   )
+   ```
+
+## Converting chassis speeds to module states
+The ``toSwerveModuleStates(ChassisSpeeds speeds)`` (Java / Python) / ``ToSwerveModuleStates(ChassisSpeeds speeds)`` (C++) method should be used to convert a ``ChassisSpeeds`` object to a an array of ``SwerveModuleState`` objects. This is useful in situations where you have to convert a forward velocity, sideways velocity, and an angular velocity into individual module states.
 
 The elements in the array that is returned by this method are the same order in which the kinematics object was constructed. For example, if the kinematics object was constructed with the front left module location, front right module location, back left module location, and the back right module location in that order, the elements in the array would be the front left module state, front right module state, back left module state, and back right module state in that order.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Example chassis speeds: 1 meter per second forward, 3 meters
-      // per second to the left, and rotation at 1.5 radians per second
-      // counterclockwise.
-      ChassisSpeeds speeds = new ChassisSpeeds(1.0, 3.0, 1.5);
-
-      // Convert to module states
-      SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(speeds);
-
-      // Front left module state
-      SwerveModuleState frontLeft = moduleStates[0];
-
-      // Front right module state
-      SwerveModuleState frontRight = moduleStates[1];
-
-      // Back left module state
-      SwerveModuleState backLeft = moduleStates[2];
-
-      // Back right module state
-      SwerveModuleState backRight = moduleStates[3];
-
-   .. code-block:: c++
-
-      // Example chassis speeds: 1 meter per second forward, 3 meters
-      // per second to the left, and rotation at 1.5 radians per second
-      // counterclockwise.
-      frc::ChassisSpeeds speeds{1_mps, 3_mps, 1.5_rad_per_s};
-
-      // Convert to module states. Here, we can use C++17's structured
-      // bindings feature to automatically split up the array into its
-      // individual SwerveModuleState components.
-      auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(speeds);
-
-Module angle optimization
-^^^^^^^^^^^^^^^^^^^^^^^^^
+   ```java
+   // Example chassis speeds: 1 meter per second forward, 3 meters
+   // per second to the left, and rotation at 1.5 radians per second
+   // counterclockwise.
+   ChassisSpeeds speeds = new ChassisSpeeds(1.0, 3.0, 1.5);
+   // Convert to module states
+   SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(speeds);
+   // Front left module state
+   SwerveModuleState frontLeft = moduleStates[0];
+   // Front right module state
+   SwerveModuleState frontRight = moduleStates[1];
+   // Back left module state
+   SwerveModuleState backLeft = moduleStates[2];
+   // Back right module state
+   SwerveModuleState backRight = moduleStates[3];
+   ```
+
+   ```c++
+   // Example chassis speeds: 1 meter per second forward, 3 meters
+   // per second to the left, and rotation at 1.5 radians per second
+   // counterclockwise.
+   frc::ChassisSpeeds speeds{1_mps, 3_mps, 1.5_rad_per_s};
+   // Convert to module states. Here, we can use C++17's structured
+   // bindings feature to automatically split up the array into its
+   // individual SwerveModuleState components.
+   auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(speeds);
+   ```
+
+   ```python
+   from wpimath.kinematics import ChassisSpeeds
+   # Example chassis speeds: 1 meter per second forward, 3 meters
+   # per second to the left, and rotation at 1.5 radians per second
+   # counterclockwise.
+   speeds = ChassisSpeeds(1.0, 3.0, 1.5)
+   # Convert to module states
+   frontLeft, frontRight, backLeft, backRight = self.kinematics.toSwerveModuleStates(speeds)
+   ```
+
+### Module angle optimization
 The ``SwerveModuleState`` class contains a static ``optimize()`` (Java) / ``Optimize()`` (C++) method that is used to "optimize" the speed and angle setpoint of a given ``SwerveModuleState`` to minimize the change in heading. For example, if the angular setpoint of a certain module from inverse kinematics is 90 degrees, but your current angle is -89 degrees, this method will automatically negate the speed of the module setpoint and make the angular setpoint -90 degrees to reduce the distance the module has to travel.
 
 This method takes two parameters: the desired state (usually from the ``toSwerveModuleStates`` method) and the current angle. It will return the new optimized state which you can use as the setpoint in your feedback control loop.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      var frontLeftOptimized = SwerveModuleState.optimize(frontLeft,
-         new Rotation2d(m_turningEncoder.getDistance()));
-
-   .. code-block:: c++
-
-      auto flOptimized = frc::SwerveModuleState::Optimize(fl,
-         units::radian_t(m_turningEncoder.GetDistance()));
+   ```java
+   var frontLeftOptimized = SwerveModuleState.optimize(frontLeft,
+      new Rotation2d(m_turningEncoder.getDistance()));
+   ```
 
-Field-oriented drive
-^^^^^^^^^^^^^^^^^^^^
-:ref:`Recall <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:Creating a ChassisSpeeds object from field-relative speeds>` that a ``ChassisSpeeds`` object can be created from a set of desired field-oriented speeds. This feature can be used to get module states from a set of desired field-oriented speeds.
-
-.. tab-set-code::
+   ```c++
+   auto flOptimized = frc::SwerveModuleState::Optimize(fl,
+      units::radian_t(m_turningEncoder.GetDistance()));
+   ```
 
-   .. code-block:: java
+   ```python
+   from wpimath.kinematics import SwerveModuleState
+   from wpimath.geometry import Rotation2d
+   frontLeftOptimized = SwerveModuleState.optimize(frontLeft,
+      Rotation2d(self.m_turningEncoder.getDistance()))
+   ```
 
-      // The desired field relative speed here is 2 meters per second
-      // toward the opponent's alliance station wall, and 2 meters per
-      // second toward the left field boundary. The desired rotation
-      // is a quarter of a rotation per second counterclockwise. The current
-      // robot angle is 45 degrees.
-      ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
-        2.0, 2.0, Math.PI / 2.0, Rotation2d.fromDegrees(45.0));
+### Cosine compensation
+Cosine compensation is a technique that reduces the speed of a module when it is not pointing in the desired direction. This is done by multiplying the desired speed of the module by the cosine of the angle error.
 
-      // Now use this in our kinematics
-      SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(speeds);
+- If the wheel is pointing straight in the desired direction, then the speed remains unchanged as :math:`\cos(0^\circ) = 1`.
+- If the wheel is perpendicular to the desired direction of motion, then the speed is reduced to 0 as :math:`\cos(90^\circ) = 0`.
+- Everything in between follows the cosine curve.
 
-   .. code-block:: c++
+Cosine compensation has been shown to reduce the amount of "skew" a swerve drive experiences when changing direction.
 
-      // The desired field relative speed here is 2 meters per second
-      // toward the opponent's alliance station wall, and 2 meters per
-      // second toward the left field boundary. The desired rotation
-      // is a quarter of a rotation per second counterclockwise. The current
-      // robot angle is 45 degrees.
-      frc::ChassisSpeeds speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
-        2_mps, 2_mps, units::radians_per_second_t(std::numbers::pi / 2.0), Rotation2d(45_deg));
+.. tab-set-code::
+   ```java
+   var currentAngle = new Rotation2d.fromRadians(m_turningEncoder.getDistance());
+   var frontLeftOptimized = SwerveModuleState.optimize(frontLeft, currentAngle);
+   frontLeftOptimized.speedMetersPerSecond *= frontLeftOptimized.angle.minus(currentAngle).getCos();
+   ```
+
+   ```c++
+   Rotation2d currentAngle(m_turningEncoder.GetDistance());
+   auto flOptimized = frc::SwerveModuleState::Optimize(fl, currentAngle);
+   flOptimized.speed *= (flOptimized.angle - currentAngle).Cos();
+   ```
+
+   ```python
+   from wpimath.kinematics import SwerveModuleState
+   from wpimath.geometry import Rotation2d
+   currentAngle = Rotation2d(self.m_turningEncoder.getDistance())
+   frontLeftOptimized = SwerveModuleState.optimize(frontLeft, currentAngle)
+   frontLeftOptimized.speed *= (frontLeftOptimized.angle - currentAngle).cos()
+   ```
+
+### Field-oriented drive
+:ref:`Recall <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:Creating a ChassisSpeeds object from field-relative speeds>` that a ``ChassisSpeeds`` object can be created from a set of desired field-oriented speeds. This feature can be used to get module states from a set of desired field-oriented speeds.
 
-      // Now use this in our kinematics
-      auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(speeds);
+.. tab-set-code::
 
-Using custom centers of rotation
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+   ```java
+   // The desired field relative speed here is 2 meters per second
+   // toward the opponent's alliance station wall, and 2 meters per
+   // second toward the left field boundary. The desired rotation
+   // is a quarter of a rotation per second counterclockwise. The current
+   // robot angle is 45 degrees.
+   ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
+     2.0, 2.0, Math.PI / 2.0, Rotation2d.fromDegrees(45.0));
+   // Now use this in our kinematics
+   SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(speeds);
+   ```
+
+   ```c++
+   // The desired field relative speed here is 2 meters per second
+   // toward the opponent's alliance station wall, and 2 meters per
+   // second toward the left field boundary. The desired rotation
+   // is a quarter of a rotation per second counterclockwise. The current
+   // robot angle is 45 degrees.
+   frc::ChassisSpeeds speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
+     2_mps, 2_mps, units::radians_per_second_t(std::numbers::pi / 2.0), Rotation2d(45_deg));
+   // Now use this in our kinematics
+   auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(speeds);
+   ```
+
+   ```python
+   from wpimath.kinematics import ChassisSpeeds
+   import math
+   from wpimath.geometry import Rotation2d
+   # The desired field relative speed here is 2 meters per second
+   # toward the opponent's alliance station wall, and 2 meters per
+   # second toward the left field boundary. The desired rotation
+   # is a quarter of a rotation per second counterclockwise. The current
+   # robot angle is 45 degrees.
+   speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
+     2.0, 2.0, math.pi / 2.0, Rotation2d.fromDegrees(45.0))
+   # Now use this in our kinematics
+   self.moduleStates = self.kinematics.toSwerveModuleStates(speeds)
+   ```
+
+### Using custom centers of rotation
 Sometimes, rotating around one specific corner might be desirable for certain evasive maneuvers. This type of behavior is also supported by the WPILib classes. The same ``ToSwerveModuleStates()`` method accepts a second parameter for the center of rotation (as a ``Translation2d``). Just like the wheel locations, the ``Translation2d`` representing the center of rotation should be relative to the robot center.
 
 .. note:: Because all robots are a rigid frame, the provided ``vx`` and ``vy`` velocities from the ``ChassisSpeeds`` object will still apply for the entirety of the robot. However, the ``omega`` from the ``ChassisSpeeds`` object will be measured from the center of rotation.
 
 For example, one can set the center of rotation on a certain module and if the provided ``ChassisSpeeds`` object has a ``vx`` and ``vy`` of zero and a non-zero ``omega``, the robot will appear to rotate around that particular swerve module.
 
-Converting module states to chassis speeds
-------------------------------------------
-One can also use the kinematics object to convert an array of ``SwerveModuleState`` objects to a singular ``ChassisSpeeds`` object. The ``toChassisSpeeds(SwerveModuleState... states)`` (Java) / ``ToChassisSpeeds(SwerveModuleState... states)`` (C++) method can be used to achieve this.
+## Converting module states to chassis speeds
+One can also use the kinematics object to convert an array of ``SwerveModuleState`` objects to a singular ``ChassisSpeeds`` object. The ``toChassisSpeeds(SwerveModuleState... states)`` (Java / Python) / ``ToChassisSpeeds(SwerveModuleState... states)`` (C++) method can be used to achieve this.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Example module states
-      var frontLeftState = new SwerveModuleState(23.43, Rotation2d.fromDegrees(-140.19));
-      var frontRightState = new SwerveModuleState(23.43, Rotation2d.fromDegrees(-39.81));
-      var backLeftState = new SwerveModuleState(54.08, Rotation2d.fromDegrees(-109.44));
-      var backRightState = new SwerveModuleState(54.08, Rotation2d.fromDegrees(-70.56));
-
-      // Convert to chassis speeds
-      ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(
-        frontLeftState, frontRightState, backLeftState, backRightState);
+   ```java
+   // Example module states
+   var frontLeftState = new SwerveModuleState(23.43, Rotation2d.fromDegrees(-140.19));
+   var frontRightState = new SwerveModuleState(23.43, Rotation2d.fromDegrees(-39.81));
+   var backLeftState = new SwerveModuleState(54.08, Rotation2d.fromDegrees(-109.44));
+   var backRightState = new SwerveModuleState(54.08, Rotation2d.fromDegrees(-70.56));
+   // Convert to chassis speeds
+   ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(
+     frontLeftState, frontRightState, backLeftState, backRightState);
+   // Getting individual speeds
+   double forward = chassisSpeeds.vxMetersPerSecond;
+   double sideways = chassisSpeeds.vyMetersPerSecond;
+   double angular = chassisSpeeds.omegaRadiansPerSecond;
+   ```
+
+   ```c++
+   // Example module States
+   frc::SwerveModuleState frontLeftState{23.43_mps, Rotation2d(-140.19_deg)};
+   frc::SwerveModuleState frontRightState{23.43_mps, Rotation2d(-39.81_deg)};
+   frc::SwerveModuleState backLeftState{54.08_mps, Rotation2d(-109.44_deg)};
+   frc::SwerveModuleState backRightState{54.08_mps, Rotation2d(-70.56_deg)};
+   // Convert to chassis speeds. Here, we can use C++17's structured bindings
+   // feature to automatically break up the ChassisSpeeds struct into its
+   // three components.
+   auto [forward, sideways, angular] = kinematics.ToChassisSpeeds(
+     frontLeftState, frontRightState, backLeftState, backRightState);
+   ```
+
+   ```python
+   from wpimath.kinematics import SwerveModuleState
+   from wpimath.geometry import Rotation2d
+   # Example module states
+   frontLeftState = SwerveModuleState(23.43, Rotation2d.fromDegrees(-140.19))
+   frontRightState = SwerveModuleState(23.43, Rotation2d.fromDegrees(-39.81))
+   backLeftState = SwerveModuleState(54.08, Rotation2d.fromDegrees(-109.44))
+   backRightState = SwerveModuleState(54.08, Rotation2d.fromDegrees(-70.56))
+   # Convert to chassis speeds
+   chassisSpeeds = self.kinematics.toChassisSpeeds(
+     frontLeftState, frontRightState, backLeftState, backRightState)
+   # Getting individual speeds
+   forward = chassisSpeeds.vx
+   sideways = chassisSpeeds.vy
+   angular = chassisSpeeds.omega
+   ```
+
+## Module state visualization with AdvantageScope
+By recording a set of swerve module states using :ref:`NetworkTables <docs/software/networktables/networktables-intro:What is NetworkTables>` or :ref:`WPILib data logs <docs/software/telemetry/datalog:On-Robot Telemetry Recording Into Data Logs>`, :ref:`AdvantageScope <docs/software/dashboards/advantagescope:AdvantageScope>` can be used to visualize the state of a swerve drive. The code below shows how a set of ``SwerveModuleState`` objects can be published to NetworkTables.
 
-      // Getting individual speeds
-      double forward = chassisSpeeds.vxMetersPerSecond;
-      double sideways = chassisSpeeds.vyMetersPerSecond;
-      double angular = chassisSpeeds.omegaRadiansPerSecond;
-
-   .. code-block:: c++
-
-      // Example module States
-      frc::SwerveModuleState frontLeftState{23.43_mps, Rotation2d(-140.19_deg)};
-      frc::SwerveModuleState frontRightState{23.43_mps, Rotation2d(-39.81_deg)};
-      frc::SwerveModuleState backLeftState{54.08_mps, Rotation2d(-109.44_deg)};
-      frc::SwerveModuleState backRightState{54.08_mps, Rotation2d(-70.56_deg)};
+.. tab-set-code::
 
-      // Convert to chassis speeds. Here, we can use C++17's structured bindings
-      // feature to automatically break up the ChassisSpeeds struct into its
-      // three components.
-      auto [forward, sideways, angular] = kinematics.ToChassisSpeeds(
-        frontLeftState, frontRightState, backLeftState, backRightState);
+   ```java
+   public class Example {
+     private final StructArrayPublisher<SwerveModuleState> publisher;
+     public Example() {
+       // Start publishing an array of module states with the "/SwerveStates" key
+       publisher = NetworkTableInstance.getDefault()
+         .getStructArrayTopic("/SwerveStates", SwerveModuleState.struct).publish();
+     }
+     public void periodic() {
+       // Periodically send a set of module states
+       publisher.set(new SwerveModuleState[] {
+         frontLeftState,
+         frontRightState,
+         backLeftState,
+         backRightState
+       });
+     }
+   }
+   ```
+
+   ```c++
+   class Example {
+     nt::StructArrayPublisher<frc::SwerveModuleState> publisher
+    public:
+     Example() {
+       // Start publishing an array of module states with the "/SwerveStates" key
+       publisher = nt::NetworkTableInstance::GetDefault()
+         .GetStructArrayTopic<frc::SwerveModuleState>("/SwerveStates").Publish();
+     }
+     void Periodic() {
+       // Periodically send a set of module states
+       swervePublisher.Set(
+         std::vector{
+           frontLeftState,
+           frontRightState,
+           backLeftState,
+           backRightState
+         }
+       );
+     }
+   };
+   ```
+
+   ```python
+   import ntcore
+   from wpimath.kinematics import SwerveModuleState
+   # get the default instance of NetworkTables
+   nt = ntcore.NetworkTableInstance.getDefault()
+   # Start publishing an array of module states with the "/SwerveStates" key
+   topic = nt.getStructArrayTopic("/SwerveStates", SwerveModuleState)
+   self.pub = topic.publish()
+   def periodic(self):
+     # Periodically send a set of module states
+     self.pub.set([frontLeftState,frontRightState,backLeftState,backRightState])
+   ```
+
+See the documentation for the [swerve](https://docs.advantagescope.org/tab-reference/swerve) tab for more details on visualizing this data using AdvantageScope.
+
+.. image:: images/advantagescope-swerve.png
+   :alt: Screenshot of an AdvantageScope window displaying a swerve visualization.
diff --git a/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst b/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst
index bebdeedfdd..7ce9703f69 100644
--- a/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst
+++ b/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst
@@ -1,11 +1,9 @@
-Swerve Drive Odometry
-===========================
+# Swerve Drive Odometry
 A user can use the swerve drive kinematics classes in order to perform :ref:`odometry <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:What is odometry?>`. WPILib contains a ``SwerveDriveOdometry`` class that can be used to track the position of a swerve drive robot on the field.
 
 .. note:: Because this method only uses encoders and a gyro, the estimate of the robot's position on the field will drift over time, especially as your robot comes into contact with other robots during gameplay. However, odometry is usually very accurate during the autonomous period.
 
-Creating the odometry object
-----------------------------
+## Creating the odometry object
 The ``SwerveDriveOdometry<int NumModules>`` class constructor requires one template argument (only C++), three mandatory arguments, and one optional argument. The template argument (only C++) is an integer representing the number of swerve modules.
 
 The mandatory arguments are:
@@ -16,101 +14,137 @@ The mandatory arguments are:
 
 The fourth optional argument is the starting pose of your robot on the field (as a ``Pose2d``). By default, the robot will start at ``x = 0, y = 0, theta = 0``.
 
-.. note:: 0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase. The ``Gyro`` interface supplies ``getRotation2d``/``GetRotation2d`` that you can use for this purpose. See :ref:`Field Coordinate System <docs/software/advanced-controls/geometry/coordinate-systems:Field Coordinate System>` for more information about the coordinate system.
+.. note:: 0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase. The ``Gyro`` interface supplies ``getRotation2d``/``GetRotation2d`` that you can use for this purpose. See :doc:`/docs/software/basic-programming/coordinate-system` for more information about the coordinate system.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      // Locations for the swerve drive modules relative to the robot center.
-      Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
-      Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
-      Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
-      Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
-
-      // Creating my kinematics object using the module locations
-      SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
-        m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
-      );
-
-      // Creating my odometry object from the kinematics object and the initial wheel positions.
-      // Here, our starting pose is 5 meters along the long end of the field and in the
-      // center of the field along the short end, facing the opposing alliance wall.
-      SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(
-        m_kinematics, m_gyro.getRotation2d(),
-        new SwerveModulePosition[] {
-          m_frontLeftModule.getPosition(),
-          m_frontRightModule.getPosition(),
-          m_backLeftModule.getPosition(),
-          m_backRightModule.getPosition()
-        }, new Pose2d(5.0, 13.5, new Rotation2d()));
-
-   .. code-block:: c++
-
-      // Locations for the swerve drive modules relative to the robot center.
-      frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
-      frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
-      frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
-      frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
-
-      // Creating my kinematics object using the module locations.
-      frc::SwerveDriveKinematics<4> m_kinematics{
-        m_frontLeftLocation, m_frontRightLocation,
-        m_backLeftLocation, m_backRightLocation
-      };
-
-      // Creating my odometry object from the kinematics object. Here,
-      // our starting pose is 5 meters along the long end of the field and in the
-      // center of the field along the short end, facing forward.
-      frc::SwerveDriveOdometry<4> m_odometry{m_kinematics, m_gyro.GetRotation2d(),
-        {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
-        m_backLeft.GetPosition(), m_backRight.GetPosition()},
-        frc::Pose2d{5_m, 13.5_m, 0_rad}};
-
-
-Updating the robot pose
------------------------
+   ```java
+   // Locations for the swerve drive modules relative to the robot center.
+   Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
+   Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
+   Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
+   Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
+   // Creating my kinematics object using the module locations
+   SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
+     m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
+   );
+   // Creating my odometry object from the kinematics object and the initial wheel positions.
+   // Here, our starting pose is 5 meters along the long end of the field and in the
+   // center of the field along the short end, facing the opposing alliance wall.
+   SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(
+     m_kinematics, m_gyro.getRotation2d(),
+     new SwerveModulePosition[] {
+       m_frontLeftModule.getPosition(),
+       m_frontRightModule.getPosition(),
+       m_backLeftModule.getPosition(),
+       m_backRightModule.getPosition()
+     }, new Pose2d(5.0, 13.5, new Rotation2d()));
+   ```
+
+   ```c++
+   // Locations for the swerve drive modules relative to the robot center.
+   frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
+   frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
+   frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
+   frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+   // Creating my kinematics object using the module locations.
+   frc::SwerveDriveKinematics<4> m_kinematics{
+     m_frontLeftLocation, m_frontRightLocation,
+     m_backLeftLocation, m_backRightLocation
+   };
+   // Creating my odometry object from the kinematics object. Here,
+   // our starting pose is 5 meters along the long end of the field and in the
+   // center of the field along the short end, facing forward.
+   frc::SwerveDriveOdometry<4> m_odometry{m_kinematics, m_gyro.GetRotation2d(),
+     {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
+     m_backLeft.GetPosition(), m_backRight.GetPosition()},
+     frc::Pose2d{5_m, 13.5_m, 0_rad}};
+   ```
+
+   ```python
+   # Python requires using the right class for the number of modules you have
+   # For both the Kinematics and Odometry classes
+   from wpimath.geometry import Translation2d
+   from wpimath.kinematics import SwerveDrive4Kinematics
+   from wpimath.kinematics import SwerveDrive4Odometry
+   from wpimath.geometry import Pose2d
+   from wpimath.geometry import Rotation2d
+   class MyRobot:
+     def robotInit(self):
+       # Locations for the swerve drive modules relative to the robot center.
+       frontLeftLocation = Translation2d(0.381, 0.381)
+       frontRightLocation = Translation2d(0.381, -0.381)
+       backLeftLocation = Translation2d(-0.381, 0.381)
+       backRightLocation = Translation2d(-0.381, -0.381)
+       # Creating my kinematics object using the module locations
+       self.kinematics = SwerveDrive4Kinematics(
+         frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
+       )
+       # Creating my odometry object from the kinematics object and the initial wheel positions.
+       # Here, our starting pose is 5 meters along the long end of the field and in the
+       # center of the field along the short end, facing the opposing alliance wall.
+       self.odometry = SwerveDrive4Odometry(
+         self.kinematics, self.gyro.getRotation2d(),
+         (
+           self.frontLeftModule.getPosition(),
+           self.frontRightModule.getPosition(),
+           self.backLeftModule.getPosition(),
+           self.backRightModule.getPosition()
+         ),
+         Pose2d(5.0, 13.5, Rotation2d()))
+   ```
+
+## Updating the robot pose
 The ``update`` method of the odometry class updates the robot position on the field. The update method takes in the gyro angle of the robot, along with an array of ``SwerveModulePosition`` objects. It is important that the order in which you pass the ``SwerveModulePosition`` objects is the same as the order in which you created the kinematics object.
 
 This ``update`` method must be called periodically, preferably in the ``periodic()`` method of a :ref:`Subsystem <docs/software/commandbased/subsystems:Subsystems>`. The ``update`` method returns the new updated pose of the robot.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      @Override
-      public void periodic() {
-        // Get the rotation of the robot from the gyro.
-        var gyroAngle = m_gyro.getRotation2d();
-
-        // Update the pose
-        m_pose = m_odometry.update(gyroAngle,
-          new SwerveModulePosition[] {
-            m_frontLeftModule.getPosition(), m_frontRightModule.getPosition(),
-            m_backLeftModule.getPosition(), m_backRightModule.getPosition()
-          });
-      }
-
-   .. code-block:: c++
-
-      void Periodic() override {
-        // Get the rotation of the robot from the gyro.
-        frc::Rotation2d gyroAngle = m_gyro.GetRotation2d();
-
-        // Update the pose
-        m_pose = m_odometry.Update(gyroAngle,
-          {
-            m_frontLeftModule.GetPosition(), m_frontRightModule.GetPosition(),
-            m_backLeftModule.GetPosition(), m_backRightModule.GetPosition()
-          };
-      }
-
-Resetting the Robot Pose
-------------------------
+   ```java
+   @Override
+   public void periodic() {
+     // Get the rotation of the robot from the gyro.
+     var gyroAngle = m_gyro.getRotation2d();
+     // Update the pose
+     m_pose = m_odometry.update(gyroAngle,
+       new SwerveModulePosition[] {
+         m_frontLeftModule.getPosition(), m_frontRightModule.getPosition(),
+         m_backLeftModule.getPosition(), m_backRightModule.getPosition()
+       });
+   }
+   ```
+
+   ```c++
+   void Periodic() override {
+     // Get the rotation of the robot from the gyro.
+     frc::Rotation2d gyroAngle = m_gyro.GetRotation2d();
+     // Update the pose
+     m_pose = m_odometry.Update(gyroAngle,
+       {
+         m_frontLeftModule.GetPosition(), m_frontRightModule.GetPosition(),
+         m_backLeftModule.GetPosition(), m_backRightModule.GetPosition()
+       };
+     )
+   }
+   ```
+
+   ```python
+   def periodic(self):
+     # Get the rotation of the robot from the gyro.
+     self.gyroAngle = self.gyro.getRotation2d()
+     # Update the pose
+     self.pose = self.odometry.update(self.gyroAngle,
+         self.frontLeftModule.getPosition(), self.frontRightModule.getPosition(),
+         self.backLeftModule.getPosition(), self.backRightModule.getPosition()
+     )
+   ```
+
+## Resetting the Robot Pose
 The robot pose can be reset via the ``resetPosition`` method. This method accepts three arguments: the current gyro angle, an array of the current module positions (as in the constructor and update method), and the new field-relative pose.
 
 .. important::  If at any time, you decide to reset your gyroscope or wheel encoders, the ``resetPosition`` method MUST be called with the new gyro angle and wheel encoder positions.
 
-.. note:: The implementation of ``getPosition() / GetPosition()`` above is left to the user. The idea is to get the module position (distance and angle) from each module. For a full example, see here: `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveBot>`_ / `Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot>`_.
+.. note:: The implementation of ``getPosition() / GetPosition()`` above is left to the user. The idea is to get the module position (distance and angle) from each module. For a full example, see here: [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SwerveBot) / [Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot) / [Python](https://github.com/robotpy/examples/tree/main/SwerveBot)
 
-In addition, the ``GetPose`` (C++) / ``getPoseMeters`` (Java) methods can be used to retrieve the current robot pose without an update.
+In addition, the ``GetPose`` (C++) / ``getPoseMeters`` (Java / Python) methods can be used to retrieve the current robot pose without an update.
diff --git a/source/docs/software/labview/creating-robot-programs/command-and-control-tutorial.rst b/source/docs/software/labview/creating-robot-programs/command-and-control-tutorial.rst
index bc76a39d60..07f56ab517 100644
--- a/source/docs/software/labview/creating-robot-programs/command-and-control-tutorial.rst
+++ b/source/docs/software/labview/creating-robot-programs/command-and-control-tutorial.rst
@@ -1,29 +1,24 @@
 .. include:: <isonum.txt>
 
-Command and Control Tutorial
-============================
+# Command and Control Tutorial
 
-Introduction
-------------
+## Introduction
 
 Command and Control is a new LabVIEW template added for the 2016 season which organizes robot code into commands and controllers for a collection of robot-specific subsystems. Each subsystem has an independent control loop or state machine running at the appropriate rate for the mechanism and high-level commands that update desired operations and set points. This makes it very easy for autonomous code to build synchronous sequences of commands. Meanwhile, TeleOp benefits because it can use the same commands without needing to wait for completion, allowing for easy cancellation and initiation of new commands according to the drive team input. Each subsystem has a panel displaying its sensor and control values over time, and command tracing to aid in debugging.
 
-What is Command and Control?
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### What is Command and Control?
 
 Command and Control recognizes that FRC\ |reg| robots tend to be built up of relatively independent mechanisms such as Drive, Shooter, Arm, etc. Each of these is referred to as a subsystem and needs code that will coordinate the various sensors and actuators of the subsystem in order to complete requested commands, or actions, such as "Close Gripper" or "Lower Arm". One of the key principles of this framework is that subsystems will each have an independent controller loop that is solely responsible for updating motors and other actuators. Code outside of the subsystem controller can issue commands which may change the robot’s output, but should not directly change any outputs. The difference is very subtle but this means that outputs can only possibly be updated from one location in the project. This speeds up debugging a robot behaving unexpectedly by giving you the ability to look through a list of commands sent to the subsystem rather than searching your project for where an output may have been modified. It also becomes easier to add an additional sensor, change gearing, or disable a mechanism without needing to modify code outside of the controller.
 
 Game code, primarily consisting of Autonomous and TeleOp, will typically need to update set points and react to the state of certain mechanisms. For Autonomous, it is very common to define the robot’s operation as a  sequence of operations – drive here, pick that up, carry it there, shoot it, etc. Commands can be wired sequentially with additional logic to quickly build complex routines. For teleOp, the same commands can execute asynchronously, allowing the robot to always process the latest driver inputs, and if implemented properly, new commands will interrupt, allowing the drive team to quickly respond to field conditions while also taking advantage of automated commands and command sequences.
 
-Why should I use Command and Control?
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Why should I use Command and Control?
 
 Command and Control adds functionality to the existing LabVIEW project templates, allowing code to scale better with more sophisticated robots and robot code. Subsystems are used to abstract the details of the implementation, and game code is built from sequences of high level command VIs. The commands themselves are VIs that can update set points, perform numerical scaling/mapping between engineering units and mechanism units, and offer synchronization options. If physical changes are made to the robot, such as changing a gearing ratio, changes can be made to just a few command Vis to reflect this change across the entire code base.
 
 I/O encapsulation makes for more predictable operation and quicker debugging when resource conflicts do occur. Because each command is a VI, you are able to single step through commands or use the built in Trace functionality to view a list of all commands sent to each subsystem.The framework uses asynchronous notification and consistent data propagation making it easy to program a sequence of commands or add in simple logic to determine the correct command to run.
 
-Part 1: Project Explorer
-------------------------
+## Part 1: Project Explorer
 
 The Project Explorer provides organization for all of the Vis and files you will use for your robot system.  Below is a description of the major components in the Project Explorer to help with the expansion of our system.  The most frequently used items have been marked in bold.
 
@@ -33,10 +28,10 @@ My Computer
   The items that define operation on the computer that the project was loaded on. For a robot project, this is used as a simulation target and is populated with simulation files.
 
 Sim Support Files
-  The folder containing 3D CAD models and description files for the simulated robot.
+  The folder containing 3D :term:`CAD` models and description files for the simulated robot.
 
 Robot Simulation Readme.html
-  Documents the PWM channels and robot info you will need in order to write robot code that matches the wiring of the simulated robot.
+  Documents the :term:`PWM` channels and robot info you will need in order to write robot code that matches the wiring of the simulated robot.
 
 Dependencies
   Shows the files used by the simulated robot’s code. This will populate when you designate the code for the simulated robot target.
@@ -98,8 +93,7 @@ Build Specifications
 
 .. image:: images/command-and-control-tutorial/project-explorer-2.jpg
 
-Drive Subsystem Project Explorer
---------------------------------
+## Drive Subsystem Project Explorer
 .. image:: images/command-and-control-tutorial/drive-subsystem-project-explorer.jpg
 
 Commands:
@@ -107,8 +101,7 @@ Commands:
 
 .. note:: After creating a new command, you may need to edit ``Drive Setpoints.ctl`` to add or update fields that controller uses to define the new operation. You also need to go into the Drive Controller.vi and modify the case structure to add a case for every value.
 
-Implementation
-^^^^^^^^^^^^^^^
+### Implementation
 
 These are the VIs and Controls used to build the subsystem.
 
@@ -122,8 +115,7 @@ Infrastructure VIs
 - Drive Setpoint.ctl: It contains the data fields used by all operating modes of the Drive subsystem.
 - Drive Published Globals.vi: A useful place for publishing global information about the drive subsystem.
 
-Part 2: Initializing the Drive Subsystem
-----------------------------------------
+## Part 2: Initializing the Drive Subsystem
 
 There are green comments on the controller’s block diagram that point out key areas that you will want to know how to edit.
 
@@ -149,13 +141,11 @@ The primary goal of the controller is to update actuators for the subsystem. Thi
 
 .. image:: images/command-and-control-tutorial/step-5.jpg
 
-Part 3: Drive Subsystem Shipped Commands
-----------------------------------------
+## Part 3: Drive Subsystem Shipped Commands
 
 There are 3 shipped example commands for each new subsystem:
 
-Drive For Time.vi
-^^^^^^^^^^^^^^^^^
+### Drive For Time.vi
 
 .. image:: images/command-and-control-tutorial/drive-for-time.jpg
 
@@ -165,8 +155,7 @@ The Drive for Time case will operate the motors at the set point until the timer
 
 .. image:: images/command-and-control-tutorial/drive-for-time-diogram.jpg
 
-Drive Immediate.vi
-^^^^^^^^^^^^^^^^^^
+### Drive Immediate.vi
 
 .. image:: images/command-and-control-tutorial/drive-immediate.jpg
 
@@ -176,8 +165,7 @@ The Immediate case updates the motors to the set point defined by the command. T
 
 .. image:: images/command-and-control-tutorial/drive-immediate-diogram.jpg
 
-Stop Driving.vi
-^^^^^^^^^^^^^^^
+### Stop Driving.vi
 
 .. image:: images/command-and-control-tutorial/stop-driving.jpg
 
@@ -187,8 +175,7 @@ The Reserve command turns off the motors and waits for a new command. When used
 
 .. image:: images/command-and-control-tutorial/stop-driving-diogram.jpg
 
-Part 4: Creating New Commands
------------------------------
+## Part 4: Creating New Commands
 
 The Command and Control framework allows users to easily create new commands for a subsystem. To Create a new command open the subsystem folder/Commands In the project explorer window, choose one of the VI Templates to use as the starting point of your new command, right click, and select New From Template.
 
@@ -220,8 +207,7 @@ In order to access new setpoint fields, grow the "Access Cmd setpoints" unbundle
 
 .. image:: images/command-and-control-tutorial/add-encoder-logic.jpg
 
-Part 5: Creating a Subsystem
-----------------------------
+## Part 5: Creating a Subsystem
 
 In order to create a new subsystem, right click on the roboRIO target and select New» Subsystem. In the pop up dialog box, enter the name of the subsystem, list the operational modes, and specify the color of the icon.
 
diff --git a/source/docs/software/labview/creating-robot-programs/images/command-and-control-tutorial/project-explorer-1.png b/source/docs/software/labview/creating-robot-programs/images/command-and-control-tutorial/project-explorer-1.png
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diff --git a/source/docs/software/labview/creating-robot-programs/images/tank-drive-tutorial/roboRIO-project.png b/source/docs/software/labview/creating-robot-programs/images/tank-drive-tutorial/roboRIO-project.png
index e406f9e6b5..f28bed0563 100644
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diff --git a/source/docs/software/labview/creating-robot-programs/index.rst b/source/docs/software/labview/creating-robot-programs/index.rst
index 319a5e35b8..30c86485d2 100644
--- a/source/docs/software/labview/creating-robot-programs/index.rst
+++ b/source/docs/software/labview/creating-robot-programs/index.rst
@@ -1,5 +1,4 @@
-Creating Robot Programs
-=======================
+# Creating Robot Programs
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/labview/creating-robot-programs/tank-drive-tutorial.rst b/source/docs/software/labview/creating-robot-programs/tank-drive-tutorial.rst
index 063873ea3f..dc30d980f6 100644
--- a/source/docs/software/labview/creating-robot-programs/tank-drive-tutorial.rst
+++ b/source/docs/software/labview/creating-robot-programs/tank-drive-tutorial.rst
@@ -1,11 +1,10 @@
 .. include:: <isonum.txt>
 
-Tank Drive Tutorial
-===================
+# Tank Drive Tutorial
 
 **Question:** How do I get my robot to drive with two joysticks using tank drive?
 
-**Solution:** There are four components to consider when setting up tank drive for your robot.  The first thing you will want to do is make sure the tank drive.vi is used instead of the arcade drive.vi or whichever drive VI you were utilizing previously.  The second item to consider is how you want your joysticks to map to the direction you want to drive.  In tank drive, the left joystick is used to control the left motors and the right joystick is used to control the right motors.  For example, if you want to make your robot turn right by pushing up on the left joystick and down on the right joystick you will need to set your joystick’s accordingly in LabVIEW (this is shown in more detail below).  Next, you will want to confirm the PWM lines that you are wired into, are the same ones your joysticks will be controlling.  Lastly, make sure your motor controllers match the motor controllers specified in LabVIEW.  The steps below will discuss these ideas in more detail:
+**Solution:** There are four components to consider when setting up tank drive for your robot.  The first thing you will want to do is make sure the tank drive.vi is used instead of the arcade drive.vi or whichever drive VI you were utilizing previously.  The second item to consider is how you want your joysticks to map to the direction you want to drive.  In tank drive, the left joystick is used to control the left motors and the right joystick is used to control the right motors.  For example, if you want to make your robot turn right by pushing up on the left joystick and down on the right joystick you will need to set your joystick’s accordingly in LabVIEW (this is shown in more detail below).  Next, you will want to confirm the :term:`PWM` lines that you are wired into, are the same ones your joysticks will be controlling.  Lastly, make sure your motor controllers match the motor controllers specified in LabVIEW.  The steps below will discuss these ideas in more detail:
 
 1. Open LabVIEW and double click ``FRC roboRIO Project``.
 
diff --git a/source/docs/software/labview/index.rst b/source/docs/software/labview/index.rst
index 5b9f2e8e8e..55d6c5574c 100644
--- a/source/docs/software/labview/index.rst
+++ b/source/docs/software/labview/index.rst
@@ -1,5 +1,4 @@
-FRC LabVIEW Programming
-==============================
+# FRC LabVIEW Programming
 
 .. toctree::
    :maxdepth: 2
diff --git a/source/docs/software/labview/resources/add-an-independent-motor-to-a-project.rst b/source/docs/software/labview/resources/add-an-independent-motor-to-a-project.rst
index 94151d3021..37f0d09d96 100644
--- a/source/docs/software/labview/resources/add-an-independent-motor-to-a-project.rst
+++ b/source/docs/software/labview/resources/add-an-independent-motor-to-a-project.rst
@@ -1,11 +1,10 @@
-Add an Independent Motor to a Project
-======================================
+# Add an Independent Motor to a Project
 
 Once your drive that controls the wheels is all set, you might need to add an additional motor to control something completely independent of the wheels, such as an arm. Since this motor will not be part of your tank, arcade, or mecanum drive, you'll definitely want independent control of it.
 
 These VI Snippets show how to set up a single motor in a project that may already contain a multi-motor drive. If you see the HAND>ARROW>LABVIEW symbol, just drag the image into your block diagram, and voila: code! Ok, here's how you do it.
 
-FIRST, create a motor reference in the\ **Begin.vi**, using the \ **Motor Control Open VI** and \ **Motor Control Refnum Registry Set VI**. These can be found by right-clicking in the block diagram and going to **WPI Robotics Library>>RobotDrive>>Motor Control**. Choose your PWM line and name your motor. I named mine "Lift Motor" and connected it to PWM 7. (I also included and enabled the Motor Control Safety Config VI, which automatically turns off the motor if it loses connection.)
+FIRST, create a motor reference in the\ **Begin.vi**, using the \ **Motor Control Open VI** and \ **Motor Control Refnum Registry Set VI**. These can be found by right-clicking in the block diagram and going to **WPI Robotics Library>>RobotDrive>>Motor Control**. Choose your :term:`PWM` line and name your motor. I named mine "Lift Motor" and connected it to PWM 7. (I also included and enabled the Motor Control Safety Config VI, which automatically turns off the motor if it loses connection.)
 
 .. image:: images/add-an-independent-motor-to-a-project/1.png
 
diff --git a/source/docs/software/labview/resources/adding-safety-features-to-your-robot-code.rst b/source/docs/software/labview/resources/adding-safety-features-to-your-robot-code.rst
index 81f118699d..a1ff863f25 100644
--- a/source/docs/software/labview/resources/adding-safety-features-to-your-robot-code.rst
+++ b/source/docs/software/labview/resources/adding-safety-features-to-your-robot-code.rst
@@ -1,5 +1,4 @@
-Adding Safety Features to Your Robot Code
-=========================================
+# Adding Safety Features to Your Robot Code
 
 A common problem with complex projects is making sure that all of your code is executing when you expect it to. Problems can arise when tasks with high priority, long execution times, or frequent calls hog processing power on the roboRIO. This leads to what is known as "starvation" for the tasks that are not able to execute due to the processor being busy. In most cases this will simply slow the reaction time to your input from the joysticks and other devices. However, this can also cause the drive motors of your robot to stay on long after you try to stop them. To avoid any robotic catastrophes from this, you can implement safety features that check for task input starvation and automatically shut down potentially harmful operations.
 
@@ -8,7 +7,7 @@ There are built-in functions for the motors that allow easy implementation of sa
 - Robot Drive Safety Configuration
 - Motor Drive Safety Configuration
 - Relay Safety Configuration
-- PWM Safety Configuration
+- :term:`PWM` Safety Configuration
 - Solenoid Safety Configuration
 - Robot Drive Delay and Update Safety
 
diff --git a/source/docs/software/labview/resources/how-to-toggle-between-two-camera-modes.rst b/source/docs/software/labview/resources/how-to-toggle-between-two-camera-modes.rst
index 0ca5c7fbc1..32edafc6cf 100644
--- a/source/docs/software/labview/resources/how-to-toggle-between-two-camera-modes.rst
+++ b/source/docs/software/labview/resources/how-to-toggle-between-two-camera-modes.rst
@@ -1,5 +1,4 @@
-How To Toggle Between Two Camera Modes
-======================================
+# How To Toggle Between Two Camera Modes
 
 This code shows how to use a button to toggle between two distinct camera modes. The code consists of four stages.
 
diff --git a/source/docs/software/labview/resources/how-to-use-joystick-buttons-to-control-motors-or-solenoids.rst b/source/docs/software/labview/resources/how-to-use-joystick-buttons-to-control-motors-or-solenoids.rst
index 68483dafef..b52506991f 100644
--- a/source/docs/software/labview/resources/how-to-use-joystick-buttons-to-control-motors-or-solenoids.rst
+++ b/source/docs/software/labview/resources/how-to-use-joystick-buttons-to-control-motors-or-solenoids.rst
@@ -1,12 +1,10 @@
-How to Use Joystick Buttons to Control Motors or Solenoids
-==========================================================
+# How to Use Joystick Buttons to Control Motors or Solenoids
 
 As we all get our drive systems working, we are moving on to connecting our auxiliary devices such as motors and solenoids.  With this, we will generally use joystick buttons to control these devices.  To get started with this, we'll go through several ways to control devices with joystick buttons.
 
 Did you know that you can click and drag a VI Snippet from a document like this right into your LabVIEW code?  Try it with the snippets in this document.
 
-Setup:
-------
+## Setup:
 
 No matter what the configuration, you'll need to add one, two, or more (if you're really excited) joysticks to the "Begin.vi".  The first example uses 2 joysticks and the others only use one.  Give each one a unique name so we can use it in other places, like the snippet below.  I named them "LeftStick" and "RightStick" because they are on the left and right sides of my desk.  If your joysticks are already configured, great! You can skip this step.
 
@@ -14,8 +12,7 @@ No matter what the configuration, you'll need to add one, two, or more (if you'r
 
 The rest of the code in this document will be placed in the "Teleop.VI" This is where we will be programming our joystick buttons to control different aspects of our motors or solenoids.
 
-Scenario 1
-----------
+## Scenario 1
 
 **"I want a motor to move one way when I press one button and the other way when I press a different button."**
 
@@ -29,8 +26,7 @@ You may want to use multiple buttons from the same joystick for control.  For an
 
 Here I used joystick buttons 0 and 2, but feel free to use whatever buttons you need.
 
-Scenario 2
-----------
+## Scenario 2
 
 **"I want different joystick buttons move at various speeds."**
 
@@ -62,8 +58,7 @@ https://forums.ni.com/t5/Curriculum-and-Labs-for/Unit-3-Case-Structures-Lesson-3
 
 Since our requirements were simple, we only need a single constant in each case.  For case 1 (full ahead) we use a 1, for case 2 (half back) we use a -0.5, etc.  We can use any constant value between 1 and -1.  I left case 0 as the default so if multiple buttons are pressed (any undefined state was reached) the motor will stop.  You of course are free to customize these states however you want.
 
-Scenario 3
------------
+## Scenario 3
 
 **"I want to control a solenoid with my joystick buttons."**
 
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diff --git a/source/docs/software/labview/resources/images/waiting-for-target-to-respond/symptom.png b/source/docs/software/labview/resources/images/waiting-for-target-to-respond/symptom.png
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diff --git a/source/docs/software/labview/resources/index.rst b/source/docs/software/labview/resources/index.rst
index 05484d8741..059dfb773b 100644
--- a/source/docs/software/labview/resources/index.rst
+++ b/source/docs/software/labview/resources/index.rst
@@ -1,5 +1,4 @@
-LabVIEW Resources
-=================
+# LabVIEW Resources
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/labview/resources/keyboard-navigation-with-the-roborio.rst b/source/docs/software/labview/resources/keyboard-navigation-with-the-roborio.rst
index 523e57d0c9..d4a591f1e5 100644
--- a/source/docs/software/labview/resources/keyboard-navigation-with-the-roborio.rst
+++ b/source/docs/software/labview/resources/keyboard-navigation-with-the-roborio.rst
@@ -1,5 +1,4 @@
-Keyboard Navigation with the roboRIO
-====================================
+# Keyboard Navigation with the roboRIO
 
 This example provides some suggestions for controlling the robot using keyboard navigation in place of a joystick or other controller.  In this case, we use the A, W, S, and D keys to control two drive motors in a tank drive configuration.
 
diff --git a/source/docs/software/labview/resources/labview-examples-and-tutorials.rst b/source/docs/software/labview/resources/labview-examples-and-tutorials.rst
index 36412a4cbb..3835fe1981 100644
--- a/source/docs/software/labview/resources/labview-examples-and-tutorials.rst
+++ b/source/docs/software/labview/resources/labview-examples-and-tutorials.rst
@@ -1,42 +1,40 @@
 .. include:: <isonum.txt>
 
-LabVIEW Examples and Tutorials
-==============================
+# LabVIEW Examples and Tutorials
 
-Popular Tutorials
------------------
+## Popular Tutorials
 
-`Autonomous Timed Movement Tutorial <https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2016-Autonomous-Timed-Movement-Tutorial/ta-p/3535608?profile.language=en>`__
+[Autonomous Timed Movement Tutorial](https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2016-Autonomous-Timed-Movement-Tutorial/ta-p/3535608?profile.language=en)
 
 -  Move your robot autonomously based on different time intervals
--  `See more on Autonomous Movement <https://forums.ni.com/t5/FIRST-Robotics-Competition/Autonomous-Timed-Movement-Tutorial/ta-p/3732667?profile.language=en>`__
+-  [See more on Autonomous Movement](https://forums.ni.com/t5/FIRST-Robotics-Competition/Autonomous-Timed-Movement-Tutorial/ta-p/3732667?profile.language=en)
 
-`Basic Motor Control Tutorial <https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2014-Basic-Motor-Control-Tutorial/ta-p/3504064?profile.language=en>`__
+[Basic Motor Control Tutorial](https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2014-Basic-Motor-Control-Tutorial/ta-p/3504064?profile.language=en)
 
 -  Setup your roboRIO motor hardware and software
 -  Learn to setup the FRC\ |reg| Control System and FRC Robot Project
--  `See more on Motor Control <https://forums.ni.com/t5/FIRST-Robotics-Competition/Basic-Motor-Control-Tutorial/ta-p/3733426?profile.language=en>`__
+-  [See more on Motor Control](https://forums.ni.com/t5/FIRST-Robotics-Competition/Basic-Motor-Control-Tutorial/ta-p/3733426?profile.language=en)
 
-`Image Processing Tutorial <https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2015-Image-Processing-Tutorial/ta-p/3490518?profile.language=en>`__
+[Image Processing Tutorial](https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2015-Image-Processing-Tutorial/ta-p/3490518?profile.language=en)
 
 -  Learn basic Image Processing techniques and how to use NI Vision Assistant
--  `See more on Cameras and Image Processing <https://forums.ni.com/t5/FIRST-Robotics-Competition/Image-Processing-in-LabVIEW-for-FRC/ta-p/3732677?profile.language=en>`__
+-  [See more on Cameras and Image Processing](https://forums.ni.com/t5/FIRST-Robotics-Competition/Image-Processing-in-LabVIEW-for-FRC/ta-p/3732677?profile.language=en)
 
-`PID Control Tutorial <https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2015-PID-Tutorial/ta-p/3535805?profile.language=en>`__
+[PID Control Tutorial](https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2015-PID-Tutorial/ta-p/3535805?profile.language=en)
 
 -  What is PID Control and how can I implement it?
 
-`Command and Control Tutorial <https://forums.ni.com/t5/FIRST-Robotics-Competition/Command-and-Control-Tutorial/ta-p/3534946?profile.language=en>`__
+[Command and Control Tutorial](https://forums.ni.com/t5/FIRST-Robotics-Competition/Command-and-Control-Tutorial/ta-p/3534946?profile.language=en)
 
 -  What is Command and Control?
 -  How do I implement it?
 
-`Driver Station Tutorial <https://forums.ni.com/t5/FIRST-Robotics-Competition/Archived-FRC-2015-Driver-Station-Tutorial/ta-p/3535650?profile.language=en>`__
+[Driver Station Tutorial](https://forums.ni.com/t5/FIRST-Robotics-Competition/Archived-FRC-2015-Driver-Station-Tutorial/ta-p/3535650?profile.language=en)
 
 -  Get to know the FRC Driver Station
 
-`Test Mode Tutorial <https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2015-Test-Mode-Tutorial/ta-p/3535797?profile.language=en>`__
+[Test Mode Tutorial](https://forums.ni.com/t5/FIRST-Robotics-Competition/FRC-2015-Test-Mode-Tutorial/ta-p/3535797?profile.language=en)
 
 -  Learn to setup and use Test Mode
 
-Looking for more examples and discussions? Search through more documents or post your own discussion, example code, or tutorial by \ `clicking here! <https://forums.ni.com/t5/FIRST-Robotics-Competition/tkb-p/3019?profile.language=en>`__\  Don’t forget to mark your posts with a tag!
+Looking for more examples and discussions? Search through more documents or post your own discussion, example code, or tutorial by \ [clicking here!](https://forums.ni.com/t5/FIRST-Robotics-Competition/tkb-p/3019?profile.language=en)\  Don’t forget to mark your posts with a tag!
diff --git a/source/docs/software/labview/resources/labview-resources.rst b/source/docs/software/labview/resources/labview-resources.rst
index d44dce0256..fd31d3688a 100644
--- a/source/docs/software/labview/resources/labview-resources.rst
+++ b/source/docs/software/labview/resources/labview-resources.rst
@@ -1,31 +1,26 @@
 .. include:: <isonum.txt>
 
-LabVIEW Resources
-=================
+# LabVIEW Resources
 
 .. note:: To learn more about programming in LabVIEW and specifically programming FRC\ |reg| robots in LabVIEW, check out the following resources.
 
-LabVIEW Basics
---------------
+## LabVIEW Basics
 
-NI provides `tutorials on the basics of LabVIEW <https://www.ni.com/getting-started/labview-basics/>`_. These tutorials can help you get acquainted with the LabVIEW environment and the basics of the graphical, dataflow programming model used in LabVIEW.
+NI provides [tutorials on the basics of LabVIEW](https://www.ni.com/getting-started/labview-basics/). These tutorials can help you get acquainted with the LabVIEW environment and the basics of the graphical, dataflow programming model used in LabVIEW.
 
 .. todo:: Add academic videos when link fixed www.ni.com/academic/students/learn-labview/
 
-NI FRC Tutorials
-----------------
+## NI FRC Tutorials
 
-NI also hosts many `FRC specific tutorials and presentations ranging from basic to advanced <https://forums.ni.com/t5/FIRST-Robotics-Competition/Archived-2015-FRC-LabVIEW-Additional-Resources/ta-p/3528790?profile.language=en>`_. For an in-depth single resource check out the FRC Basic and Advanced Training Classes linked near the bottom of the page.
+NI also hosts many [FRC specific tutorials and presentations ranging from basic to advanced](https://forums.ni.com/t5/FIRST-Robotics-Competition/Archived-2015-FRC-LabVIEW-Additional-Resources/ta-p/3528790?profile.language=en). For an in-depth single resource check out the FRC Basic and Advanced Training Classes linked near the bottom of the page.
 
-Installed Tutorials and Examples
---------------------------------
+## Installed Tutorials and Examples
 
 There are also tutorials and examples for all sorts of tasks and components provided as part of your LabVIEW installation. To access the tutorials, from the LabVIEW Splash screen (the screen that appears when the program is first launched) click on the ``Tutorials`` tab on the left side. Note that the tutorials are all in one document, so once it is open you are free to browse to other tutorials without returning to the splash screen.
 
 To access the examples either click the ``Support`` tab, then ``Find FRC Examples`` or anytime you're working on a program open the ``Help`` menu, select ``Find Examples`` and open the ``FRC Robotics`` folder.
 
-Third Party Resources
----------------------
+## Third Party Resources
 
-- `FRC Control and Trajectory Library <https://github.com/jsimpso81/WPIlibMathLabVIEW>`__
-- `Secret Book Of FRC LabVIEW 2 <https://github.com/jsimpso81/FRC_Secret_Book_Of_FRC_LabVIEW_2>`__
+- [FRC Control and Trajectory Library](https://github.com/jsimpso81/WPIlibMathLabVIEW)
+- [Secret Book Of FRC LabVIEW 2](https://github.com/jsimpso81/FRC_Secret_Book_Of_FRC_LabVIEW_2)
diff --git a/source/docs/software/labview/resources/local-and-global-variables-in-labview-for-frc.rst b/source/docs/software/labview/resources/local-and-global-variables-in-labview-for-frc.rst
index c8cf0b5680..12aaaa2f0c 100644
--- a/source/docs/software/labview/resources/local-and-global-variables-in-labview-for-frc.rst
+++ b/source/docs/software/labview/resources/local-and-global-variables-in-labview-for-frc.rst
@@ -1,16 +1,14 @@
 .. include:: <isonum.txt>
 
-Local and Global Variables in LabVIEW for FRC
-=============================================
+# Local and Global Variables in LabVIEW for FRC
 
 This example serves as an introduction to local and global variables, how they are used in the default LabVIEW for FRC\ |reg| Robot Project, and how you might want to use them in your project.
 
-Local variables and global variables may be used to transfer data between locations within the same VI (local variables) or within different VI’s (global variables), breaking the conventional `Data Flow Paradigm <https://www.ni.com/getting-started/labview-basics/dataflow>`__ for which LabVIEW is famous.  Thus, they may be useful when, for whatever reason, you cannot wire the value directly to the node to another.
+Local variables and global variables may be used to transfer data between locations within the same VI (local variables) or within different VI’s (global variables), breaking the conventional [Data Flow Paradigm](https://www.ni.com/getting-started/labview-basics/dataflow) for which LabVIEW is famous.  Thus, they may be useful when, for whatever reason, you cannot wire the value directly to the node to another.
 
-Note: One possible reason may be that you need to pass data between consecutive loop iterations; Miro\_T covered this `in this post <https://forums.ni.com/t5/FIRST-Robotics-Competition/Use-of-Shift-Registers-to-Pass-Data-Between-Loop-Iterations/ta-p/3498415?profile.language=en>`__.  It should also be noted that the `feedback node <https://zone.ni.com/reference/en-XX/help/371361L-01/lvconcepts/block_diagram_feedback/>`__ in LabVIEW may be used as an equivalent to the shift register, although that may be a topic for another day!
+Note: One possible reason may be that you need to pass data between consecutive loop iterations; Miro\_T covered this [in this post](https://forums.ni.com/t5/FIRST-Robotics-Competition/Use-of-Shift-Registers-to-Pass-Data-Between-Loop-Iterations/ta-p/3498415?profile.language=en).  It should also be noted that the [feedback node](https://zone.ni.com/reference/en-XX/help/371361L-01/lvconcepts/block_diagram_feedback/) in LabVIEW may be used as an equivalent to the shift register, although that may be a topic for another day!
 
-Introduction to Local and Global Variables
-------------------------------------------
+## Introduction to Local and Global Variables
 
 Local variables may be used within the same VI.  Create a local variable by right-clicking a control or indicator on your Front Panel:
 
@@ -24,10 +22,9 @@ Global variables are created slightly differently.  Add one to the block diagram
 
 .. image:: images/local-and-global-variables-in-labview-for-frc/3.png
 
-.. note:: Be very careful to avoid race conditions when using local and global variables!  Essentially, make sure that you are not accidentally writing to the same variable in multiple locations without a way to know to which location it was last written.  For a more thorough explanation, see `this help document <https://zone.ni.com/reference/en-XX/help/371361L-01/lvconcepts/using_local_and_global/>`_
+.. note:: Be very careful to avoid race conditions when using local and global variables!  Essentially, make sure that you are not accidentally writing to the same variable in multiple locations without a way to know to which location it was last written.  For a more thorough explanation, see [this help document](https://zone.ni.com/reference/en-XX/help/371361L-01/lvconcepts/using_local_and_global/)
 
-How They are Used in the Default LabVIEW for FRC Robot Project
---------------------------------------------------------------
+## How They are Used in the Default LabVIEW for FRC Robot Project
 
 Global variables for "Enable Vision" and "Image Size" are written to during each iteration of the Robot Main VI…
 
@@ -39,8 +36,7 @@ Global variables for "Enable Vision" and "Image Size" are written to during each
 
 This allows the user, when deploying to Robot Main VI from the LabVIEW Development Environment, to enable/disable vision and change the image size from Robot Main’s Front Panel.
 
-How Can You Use Them in Your Project?
--------------------------------------
+## How Can You Use Them in Your Project?
 
 Check out the block diagram for the Periodic Tasks VI.  Perhaps there is some value, such as a boolean, that may be written to a global variable in the Teleop VI, and then read from in the Periodic Tasks VI.  You can then decide what code or values to use in the Periodic Tasks VI, depending on the boolean global variable:
 
diff --git a/source/docs/software/labview/resources/making-a-one-shot-button-press.rst b/source/docs/software/labview/resources/making-a-one-shot-button-press.rst
index 5afc3ad214..f49d0ae5ac 100644
--- a/source/docs/software/labview/resources/making-a-one-shot-button-press.rst
+++ b/source/docs/software/labview/resources/making-a-one-shot-button-press.rst
@@ -1,5 +1,4 @@
-Making a One-Shot Button Press
-====================================
+# Making a One-Shot Button Press
 
 When using the Joystick Get Values function, pushing a joystick button will cause the button to read TRUE until the button is released. This means that you will most likely read multiple TRUE values for each press. What if you want to read only one TRUE value each time the button is pressed? This is often called a "One-Shot Button". The following tutorial will show you how to create a subVI that you can drop into your Teleop.vi to do this.
 
diff --git a/source/docs/software/labview/resources/using-the-compressor-in-labview.rst b/source/docs/software/labview/resources/using-the-compressor-in-labview.rst
index a0ac4d1c7f..2fc3c4f77d 100644
--- a/source/docs/software/labview/resources/using-the-compressor-in-labview.rst
+++ b/source/docs/software/labview/resources/using-the-compressor-in-labview.rst
@@ -1,5 +1,4 @@
-Using the Compressor in LabVIEW
-===============================
+# Using the Compressor in LabVIEW
 
 This snippet shows how to set up your roboRIO project to use the Pneumatic Control Module (PCM).  The PCM automatically starts and stops the compressor when specific pressures are measured in the tank. In your roboRIO program, you will need to add the following VIs.
 
@@ -7,26 +6,23 @@ For more information, check out the following links:
 
 :download:`FRC Pneumatics Manual <files/2015-frc-pneumatics-manual.pdf>`
 
-`PCM User's Guide <https://store.ctr-electronics.com/content/user-manual/PCM%20User%27s%20Guide.pdf>`__
+[PCM User's Guide](https://store.ctr-electronics.com/content/user-manual/PCM%20User%27s%20Guide.pdf)
 
-`Pneumatics Step by Step for the roboRIO <http://team358.org/files/pneumatic/Pneumatics-StepByStep-roboRIO.pdf>`__
+[Pneumatics Step by Step for the roboRIO](http://team358.org/files/pneumatic/Pneumatics-StepByStep-roboRIO.pdf)
 
-Begin VI
---------
+## Begin VI
 
 Place this snippet in the Begin.vi.
 
 .. image:: images/using-the-compressor-in-labview/begin.png
 
-Teleop VI
----------
+## Teleop VI
 
 Place this snippet in the Teleop.vi. This portion is only required if you are using the outputs for other processes.
 
 .. image:: images/using-the-compressor-in-labview/teleop.png
 
-Finish VI
----------
+## Finish VI
 
 Place this snippet in Close Refs, save data, etc. frame of the Finish.vi.
 
diff --git a/source/docs/software/labview/resources/waiting-for-target-to-respond.rst b/source/docs/software/labview/resources/waiting-for-target-to-respond.rst
index bad705ce56..a85fdb8075 100644
--- a/source/docs/software/labview/resources/waiting-for-target-to-respond.rst
+++ b/source/docs/software/labview/resources/waiting-for-target-to-respond.rst
@@ -1,10 +1,8 @@
-Waiting for Target to Respond - Recovering from bad loops
-=========================================================
+# Waiting for Target to Respond - Recovering from bad loops
 
 .. note:: If you download LabVIEW code which contains an unconstrained loop (a loop with no delay) it is possible to get the roboRIO into a state where LabVIEW is unable to connect to download new code. This document explains the process required to load new, fixed, code to recover from this state.
 
-The Symptom
------------
+## The Symptom
 
 .. image:: images/waiting-for-target-to-respond/symptom.png
 
@@ -12,33 +10,28 @@ The primary symptom of this issue is attempts to download new robot code hang at
 
 Click ``Cancel`` to close the download dialog.
 
-The Problem
------------
+## The Problem
 
 .. image:: images/waiting-for-target-to-respond/problem-1.png
 
 One common source of this issue is unconstrained loops in your LabVIEW code. An unconstrained loop is a loop which does not contain any delay element (such as the one on the left). If you are unsure where to begin looking, Disabled.VI, Periodic Tasks.VI and Vision Processing.VI are the common locations for this type of loop. To fix the issue with the code, add a delay element such as the Wait (ms) VI from the Timing palette, found in the right loop.
 
-Set No App
-----------
+## Set No App
 
 .. image:: images/waiting-for-target-to-respond/set-no-app.png
 
 Using the roboRIO webserver (see the article on the :ref:`roboRIO Web Dashboard Startup Settings <docs/software/roborio-info/roborio-web-dashboard:Startup Settings>` for more details). **Check** the box to "Disable RT Startup App".
 
-Reboot
-------
+## Reboot
 
 Reboot the roboRIO, either using the Reset button on the device or by click Restart in the top right corner of the webpage.
 
-Clear No App
-------------
+## Clear No App
 
 .. image:: images/waiting-for-target-to-respond/clar-no-app.png
 
 Using the roboRIO webserver (see the article on the :ref:`roboRIO Web Dashboard Startup Settings <docs/software/roborio-info/roborio-web-dashboard:Startup Settings>` for more details). **Uncheck** the box to "Disable RT Startup App".
 
-Load LabVIEW Code
------------------
+## Load LabVIEW Code
 
 Load LabVIEW code (either using the Run button or Run as Startup). Make sure to set LabVIEW code to Run as Startup before rebooting the roboRIO or you will need to follow the instructions above again.
diff --git a/source/docs/software/networktables/client-side-program.rst b/source/docs/software/networktables/client-side-program.rst
index 6349e1dc25..1a781eb848 100644
--- a/source/docs/software/networktables/client-side-program.rst
+++ b/source/docs/software/networktables/client-side-program.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Creating a Client-side Program
-==============================
+# Creating a Client-side Program
 
 If all you need to do is have your robot program communicate with a :term:`COTS` coprocessor or a dashboard running on the Driver Station laptop, then the previous examples of writing robot programs are sufficient. But if you would like to write some custom client code that would run on the drivers station or on a coprocessor then you need to know how to build :term:`NetworkTables` programs for those (non-roboRIO) platforms.
 
@@ -12,166 +11,152 @@ A basic client program looks like the following example.
     .. tab-item:: Java
        :sync: Java
 
-        .. code-block:: java
-
-           import edu.wpi.first.networktables.DoubleSubscriber;
-           import edu.wpi.first.networktables.NetworkTable;
-           import edu.wpi.first.networktables.NetworkTableInstance;
-           import edu.wpi.first.networktables.NetworkTablesJNI;
-           import edu.wpi.first.util.CombinedRuntimeLoader;
-
-           import java.io.IOException;
-
-           import edu.wpi.first.cscore.CameraServerJNI;
-           import edu.wpi.first.math.WPIMathJNI;
-           import edu.wpi.first.util.WPIUtilJNI;
-
-
-           public class Program {
-               public static void main(String[] args) throws IOException {
-                   NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
-                   WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-                   WPIMathJNI.Helper.setExtractOnStaticLoad(false);
-                   CameraServerJNI.Helper.setExtractOnStaticLoad(false);
-
-                   CombinedRuntimeLoader.loadLibraries(Program.class, "wpiutiljni", "wpimathjni", "ntcorejni",
-                           "cscorejnicvstatic");
-                   new Program().run();
-               }
-
-               public void run() {
-                   NetworkTableInstance inst = NetworkTableInstance.getDefault();
-                   NetworkTable table = inst.getTable("datatable");
-                   DoubleSubscriber xSub = table.getDoubleTopic("x").subscribe(0.0);
-                   DoubleSubscriber ySub = table.getDoubleTopic("y").subscribe(0.0);
-                   inst.startClient4("example client");
-                   inst.setServer("localhost"); // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
-                   inst.startDSClient(); // recommended if running on DS computer; this gets the robot IP from the DS
-                   while (true) {
-                       try {
-                           Thread.sleep(1000);
-                       } catch (InterruptedException ex) {
-                           System.out.println("interrupted");
-                           return;
-                       }
-                       double x = xSub.get();
-                       double y = ySub.get();
-                       System.out.println("X: " + x + " Y: " + y);
-                   }
-               }
-           }
+        ```java
+        import edu.wpi.first.networktables.DoubleSubscriber;
+        import edu.wpi.first.networktables.NetworkTable;
+        import edu.wpi.first.networktables.NetworkTableInstance;
+        import edu.wpi.first.networktables.NetworkTablesJNI;
+        import edu.wpi.first.util.CombinedRuntimeLoader;
+        import java.io.IOException;
+        import edu.wpi.first.cscore.CameraServerJNI;
+        import edu.wpi.first.math.WPIMathJNI;
+        import edu.wpi.first.util.WPIUtilJNI;
+        public class Program {
+            public static void main(String[] args) throws IOException {
+                NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
+                WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
+                WPIMathJNI.Helper.setExtractOnStaticLoad(false);
+                CameraServerJNI.Helper.setExtractOnStaticLoad(false);
+                CombinedRuntimeLoader.loadLibraries(Program.class, "wpiutiljni", "wpimathjni", "ntcorejni",
+                    "cscorejnicvstatic");
+                new Program().run();
+            }
+            public void run() {
+                NetworkTableInstance inst = NetworkTableInstance.getDefault();
+                NetworkTable table = inst.getTable("datatable");
+                DoubleSubscriber xSub = table.getDoubleTopic("x").subscribe(0.0);
+                DoubleSubscriber ySub = table.getDoubleTopic("y").subscribe(0.0);
+                inst.startClient4("example client");
+                inst.setServer("localhost"); // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
+                inst.startDSClient(); // recommended if running on DS computer; this gets the robot IP from the DS
+                while (true) {
+                    try {
+                        Thread.sleep(1000);
+                    } catch (InterruptedException ex) {
+                        System.out.println("interrupted");
+                        return;
+                    }
+                    double x = xSub.get();
+                    double y = ySub.get();
+                    System.out.println("X: " + x + " Y: " + y);
+                }
+            }
+        }
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            #include <chrono>
-            #include <thread>
-            #include <fmt/format.h>
-            #include <networktables/NetworkTableInstance.h>
-            #include <networktables/NetworkTable.h>
-            #include <networktables/DoubleTopic.h>
-
-            int main() {
-              auto inst = nt::NetworkTableInstance::GetDefault();
-              auto table = inst.GetTable("datatable");
-              auto xSub = table->GetDoubleTopic("x").Subscribe(0.0);
-              auto ySub = table->GetDoubleTopic("y").Subscribe(0.0);
-              inst.StartClient4("example client");
-              inst.SetServerTeam(TEAM);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
-              inst.StartDSClient();  // recommended if running on DS computer; this gets the robot IP from the DS
-              while (true) {
-                using namespace std::chrono_literals;
-                std::this_thread::sleep_for(1s);
-                double x = xSub.Get();
-                double y = ySub.Get();
-                fmt::print("X: {} Y: {}\n", x, y);
-              }
-            }
+        ```c++
+        #include <chrono>
+        #include <thread>
+        #include <fmt/format.h>
+        #include <networktables/NetworkTableInstance.h>
+        #include <networktables/NetworkTable.h>
+        #include <networktables/DoubleTopic.h>
+        int main() {
+          auto inst = nt::NetworkTableInstance::GetDefault();
+          auto table = inst.GetTable("datatable");
+          auto xSub = table->GetDoubleTopic("x").Subscribe(0.0);
+          auto ySub = table->GetDoubleTopic("y").Subscribe(0.0);
+          inst.StartClient4("example client");
+          inst.SetServerTeam(TEAM);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
+          inst.StartDSClient();  // recommended if running on DS computer; this gets the robot IP from the DS
+          while (true) {
+            using namespace std::chrono_literals;
+            std::this_thread::sleep_for(1s);
+            double x = xSub.Get();
+            double y = ySub.Get();
+            fmt::print("X: {} Y: {}\n", x, y);
+          }
+        }
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            #include <chrono>
-            #include <thread>
-            #include <fmt/format.h>
-            #include <ntcore_cpp.h>
-
-            int main() {
-              NT_Inst inst = nt::GetDefaultInstance();
-              NT_Subscriber xSub =
-                  nt::Subscribe(nt::GetTopic(inst, "/datatable/x"), NT_DOUBLE, "double");
-              NT_Subscriber ySub =
-                  nt::Subscribe(nt::GetTopic(inst, "/datatable/y"), NT_DOUBLE, "double");
-              nt::StartClient4(inst, "example client");
-              nt::SetServerTeam(inst, TEAM, 0);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
-              nt::StartDSClient(inst, 0);  // recommended if running on DS computer; this gets the robot IP from the DS
-              while (true) {
-                using namespace std::chrono_literals;
-                std::this_thread::sleep_for(1s);
-                double x = nt::GetDouble(xSub, 0.0);
-                double y = nt::GetDouble(ySub, 0.0);
-                fmt::print("X: {} Y: {}\n", x, y);
-              }
-            }
+        ```c++
+        #include <chrono>
+        #include <thread>
+        #include <fmt/format.h>
+        #include <ntcore_cpp.h>
+        int main() {
+          NT_Inst inst = nt::GetDefaultInstance();
+          NT_Subscriber xSub =
+              nt::Subscribe(nt::GetTopic(inst, "/datatable/x"), NT_DOUBLE, "double");
+          NT_Subscriber ySub =
+              nt::Subscribe(nt::GetTopic(inst, "/datatable/y"), NT_DOUBLE, "double");
+          nt::StartClient4(inst, "example client");
+          nt::SetServerTeam(inst, TEAM, 0);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
+          nt::StartDSClient(inst, 0);  // recommended if running on DS computer; this gets the robot IP from the DS
+          while (true) {
+            using namespace std::chrono_literals;
+            std::this_thread::sleep_for(1s);
+            double x = nt::GetDouble(xSub, 0.0);
+            double y = nt::GetDouble(ySub, 0.0);
+            fmt::print("X: {} Y: {}\n", x, y);
+          }
+        }
+        ```
 
     .. tab-item:: C
        :sync: C
 
-        .. code-block:: c
-
-            #include <stdio.h>
-            #include <threads.h>
-            #include <time.h>
-            #include <networktables/ntcore.h>
-
-            int main() {
-              NT_Instance inst = NT_GetDefaultInstance();
-              NT_Subscriber xSub =
-                  NT_Subscribe(NT_GetTopic(inst, "/datatable/x"), NT_DOUBLE, "double", NULL, 0);
-              NT_Subscriber ySub =
-                  NT_Subscribe(NT_GetTopic(inst, "/datatable/y"), NT_DOUBLE, "double", NULL, 0);
-              NT_StartClient4(inst, "example client");
-              NT_SetServerTeam(inst, TEAM);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
-              NT_StartDSClient(inst);  // recommended if running on DS computer; this gets the robot IP from the DS
-              while (true) {
-                thrd_sleep(&(struct timespec){.tv_sec=1}, NULL);
-                double x = NT_GetDouble(xSub, 0.0);
-                double y = NT_GetDouble(ySub, 0.0);
-                printf("X: %f Y: %f\n", x, y);
-              }
-            }
+        ```c
+        #include <stdio.h>
+        #include <threads.h>
+        #include <time.h>
+        #include <networktables/ntcore.h>
+        int main() {
+          NT_Instance inst = NT_GetDefaultInstance();
+          NT_Subscriber xSub =
+              NT_Subscribe(NT_GetTopic(inst, "/datatable/x"), NT_DOUBLE, "double", NULL, 0);
+          NT_Subscriber ySub =
+              NT_Subscribe(NT_GetTopic(inst, "/datatable/y"), NT_DOUBLE, "double", NULL, 0);
+          NT_StartClient4(inst, "example client");
+          NT_SetServerTeam(inst, TEAM);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
+          NT_StartDSClient(inst);  // recommended if running on DS computer; this gets the robot IP from the DS
+          while (true) {
+            thrd_sleep(&(struct timespec){.tv_sec=1}, NULL);
+            double x = NT_GetDouble(xSub, 0.0);
+            double y = NT_GetDouble(ySub, 0.0);
+            printf("X: %f Y: %f\n", x, y);
+          }
+        }
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
 
-        .. code-block:: python
-
-            #!/usr/bin/env python3
-
-            import ntcore
-            import time
-
-            if __name__ == "__main__":
-                inst = ntcore.NetworkTableInstance.getDefault()
-                table = inst.getTable("datatable")
-                xSub = table.getDoubleTopic("x").subscribe(0)
-                ySub = table.getDoubleTopic("y").subscribe(0)
-                inst.startClient4("example client")
-                inst.setServerTeam(TEAM) # where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
-                inst.startDSClient() # recommended if running on DS computer; this gets the robot IP from the DS
-
-                while True:
-                    time.sleep(1)
-
-                    x = xSub.get()
-                    y = ySub.get()
-                    print(f"X: {x} Y: {y}")
-
+        ```python
+        #!/usr/bin/env python3
+        import ntcore
+        import time
+        if __name__ == "__main__":
+            inst = ntcore.NetworkTableInstance.getDefault()
+            table = inst.getTable("datatable")
+            xSub = table.getDoubleTopic("x").subscribe(0)
+            ySub = table.getDoubleTopic("y").subscribe(0)
+            inst.startClient4("example client")
+            inst.setServerTeam(TEAM) # where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
+            inst.startDSClient() # recommended if running on DS computer; this gets the robot IP from the DS
+            while True:
+                time.sleep(1)
+                x = xSub.get()
+                y = ySub.get()
+                print(f"X: {x} Y: {y}")
+        ```
 
 In this example an instance of NetworkTables is created and subscribers are created to reference the values of "x" and "y" from a table called "datatable".
 
@@ -179,17 +164,16 @@ Then this instance is started as a NetworkTables client with the team number (th
 
 Then this sample program simply loops once a second and gets the values for x and y and prints them on the console. In a more realistic program, the client might be processing or generating values for the robot to consume.
 
-Building using Gradle
-^^^^^^^^^^^^^^^^^^^^^
+### Building using Gradle
 
-Example build.gradle files are provided in the `StandaloneAppSamples Repository <https://github.com/wpilibsuite/StandaloneAppSamples>`__ Update the GradleRIO version to correspond to the desired WPILib version.
+Example build.gradle files are provided in the [StandaloneAppSamples Repository](https://github.com/wpilibsuite/StandaloneAppSamples) Update the GradleRIO version to correspond to the desired WPILib version.
 
 .. tab-set::
 
     .. tab-item:: Java
      :sync: Java
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/3b64aadee717c9f0566497a40fd0be7d0eaed96d/Java/build.gradle
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/6a5b6352807a8759bd0f012e57695c47f7ef7324/Java/build.gradle
           :language: groovy
           :linenos:
           :emphasize-lines: 5
@@ -199,12 +183,11 @@ Example build.gradle files are provided in the `StandaloneAppSamples Repository
 
        Uncomment the appropriate platform as highlighted.
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/3b64aadee717c9f0566497a40fd0be7d0eaed96d/Cpp/build.gradle
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/6a5b6352807a8759bd0f012e57695c47f7ef7324/Cpp/build.gradle
           :language: groovy
           :linenos:
-          :emphasize-lines: 3, 20-22
+          :emphasize-lines: 3, 14-15, 20-22
 
-Building Python
-^^^^^^^^^^^^^^^
+### Building Python
 
-For Python, refer to the `RobotPy pyntcore install documentation <https://robotpy.readthedocs.io/en/stable/install/pynetworktables.html>`__.
+For Python, refer to the :doc:`RobotPy install documentation </docs/zero-to-robot/step-2/python-setup>`.
diff --git a/source/docs/software/networktables/images/reading-array-values-published-by-networktables-1.png b/source/docs/software/networktables/images/reading-array-values-published-by-networktables-1.png
index 2a395920c2..20c883d666 100644
Binary files a/source/docs/software/networktables/images/reading-array-values-published-by-networktables-1.png and b/source/docs/software/networktables/images/reading-array-values-published-by-networktables-1.png differ
diff --git a/source/docs/software/networktables/images/reading-array-values-published-by-networktables-2.png b/source/docs/software/networktables/images/reading-array-values-published-by-networktables-2.png
index ef98c5cd7b..ca13577789 100644
Binary files a/source/docs/software/networktables/images/reading-array-values-published-by-networktables-2.png and b/source/docs/software/networktables/images/reading-array-values-published-by-networktables-2.png differ
diff --git a/source/docs/software/networktables/index.rst b/source/docs/software/networktables/index.rst
index 20bec03038..9fee1747c0 100644
--- a/source/docs/software/networktables/index.rst
+++ b/source/docs/software/networktables/index.rst
@@ -1,9 +1,8 @@
-NetworkTables
-=============
+# NetworkTables
 
 This section outlines the details of using the NetworkTables (v4) API to communicate information across the robot network.
 
-.. important:: The code examples in this section are not intended for the user to copy-paste. Ensure that the following documentation is thoroughly read and the API (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/index.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/index.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/api.html>`__) is consulted when necessary.
+.. important:: The code examples in this section are not intended for the user to copy-paste. Ensure that the following documentation is thoroughly read and the API ([Java](https://github.wpilib.org/allwpilib/docs/development/java/index.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/index.html), :ref:`Python <robotpy:ntcore_api>`) is consulted when necessary.
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/networktables/listening-for-change.rst b/source/docs/software/networktables/listening-for-change.rst
index 1e422e87ea..82181e2c62 100644
--- a/source/docs/software/networktables/listening-for-change.rst
+++ b/source/docs/software/networktables/listening-for-change.rst
@@ -1,5 +1,4 @@
-Listening for Changes
-=====================
+# Listening for Changes
 
 A common use case for :term:`NetworkTables` is where a coprocessor generates values that need to be sent to the robot. For example, imagine that some image processing code running on a coprocessor computes the heading and distance to a goal and sends those values to the robot. In this case it might be desirable for the robot program to be notified when new values arrive.
 
@@ -10,165 +9,141 @@ There are a few different ways to detect that a topic's value has changed; the e
     .. tab-item:: Java
      :sync: Java
 
-        .. code-block:: java
-
-            public class Example {
-              final DoubleSubscriber ySub;
-              double prev;
-
-              public Example() {
-                // get the default instance of NetworkTables
-                NetworkTableInstance inst = NetworkTableInstance.getDefault();
-
-                // get the subtable called "datatable"
-                NetworkTable datatable = inst.getTable("datatable");
-
-                // subscribe to the topic in "datatable" called "Y"
-                ySub = datatable.getDoubleTopic("Y").subscribe(0.0);
-              }
-
-              public void periodic() {
-                // get() can be used with simple change detection to the previous value
-                double value = ySub.get();
-                if (value != prev) {
-                  prev = value;  // save previous value
-                  System.out.println("X changed value: " + value);
-                }
-
-                // readQueueValues() provides all value changes since the last call;
-                // this way it's not possible to miss a change by polling too slowly
-                for (double iterVal : ySub.readQueueValues()) {
-                  System.out.println("X changed value: " + iterVal);
-                }
-
-                // readQueue() is similar to readQueueValues(), but provides timestamps
-                // for each change as well
-                for (TimestampedDouble tsValue : ySub.readQueue()) {
-                  System.out.println("X changed value: " + tsValue.value + " at local time " + tsValue.timestamp);
-                }
-              }
-
-              // may not be necessary for robot programs if this class lives for
-              // the length of the program
-              public void close() {
-                ySub.close();
-              }
+        ```java
+        public class Example {
+          final DoubleSubscriber ySub;
+          double prev;
+          public Example() {
+            // get the default instance of NetworkTables
+            NetworkTableInstance inst = NetworkTableInstance.getDefault();
+            // get the subtable called "datatable"
+            NetworkTable datatable = inst.getTable("datatable");
+            // subscribe to the topic in "datatable" called "Y"
+            ySub = datatable.getDoubleTopic("Y").subscribe(0.0);
+          }
+          public void periodic() {
+            // get() can be used with simple change detection to the previous value
+            double value = ySub.get();
+            if (value != prev) {
+              prev = value;  // save previous value
+              System.out.println("X changed value: " + value);
             }
+            // readQueueValues() provides all value changes since the last call;
+            // this way it's not possible to miss a change by polling too slowly
+            for (double iterVal : ySub.readQueueValues()) {
+              System.out.println("X changed value: " + iterVal);
+            }
+            // readQueue() is similar to readQueueValues(), but provides timestamps
+            // for each change as well
+            for (TimestampedDouble tsValue : ySub.readQueue()) {
+              System.out.println("X changed value: " + tsValue.value + " at local time " + tsValue.timestamp);
+            }
+          }
+          // may not be necessary for robot programs if this class lives for
+          // the length of the program
+          public void close() {
+            ySub.close();
+          }
+        }
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            class Example {
-              nt::DoubleSubscriber ySub;
-              double prev = 0;
-
-             public:
-              Example() {
-                // get the default instance of NetworkTables
-                nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-
-                // get the subtable called "datatable"
-                auto datatable = inst.GetTable("datatable");
-
-                // subscribe to the topic in "datatable" called "Y"
-                ySub = datatable->GetDoubleTopic("Y").Subscribe(0.0);
-              }
-
-              void Periodic() {
-                // Get() can be used with simple change detection to the previous value
-                double value = ySub.Get();
-                if (value != prev) {
-                  prev = value;  // save previous value
-                  fmt::print("X changed value: {}\n", value);
-                }
-
-                // ReadQueueValues() provides all value changes since the last call;
-                // this way it's not possible to miss a change by polling too slowly
-                for (double iterVal : ySub.ReadQueueValues()) {
-                  fmt::print("X changed value: {}\n", iterVal);
-                }
-
-                // ReadQueue() is similar to ReadQueueValues(), but provides timestamps
-                // for each change as well
-                for (nt::TimestampedDouble tsValue : ySub.ReadQueue()) {
-                  fmt::print("X changed value: {} at local time {}\n", tsValue.value, tsValue.timestamp);
-                }
-              }
-            };
+        ```c++
+        class Example {
+          nt::DoubleSubscriber ySub;
+          double prev = 0;
+         public:
+          Example() {
+            // get the default instance of NetworkTables
+            nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+            // get the subtable called "datatable"
+            auto datatable = inst.GetTable("datatable");
+            // subscribe to the topic in "datatable" called "Y"
+            ySub = datatable->GetDoubleTopic("Y").Subscribe(0.0);
+          }
+          void Periodic() {
+            // Get() can be used with simple change detection to the previous value
+            double value = ySub.Get();
+            if (value != prev) {
+              prev = value;  // save previous value
+              fmt::print("X changed value: {}\n", value);
+            }
+            // ReadQueueValues() provides all value changes since the last call;
+            // this way it's not possible to miss a change by polling too slowly
+            for (double iterVal : ySub.ReadQueueValues()) {
+              fmt::print("X changed value: {}\n", iterVal);
+            }
+            // ReadQueue() is similar to ReadQueueValues(), but provides timestamps
+            // for each change as well
+            for (nt::TimestampedDouble tsValue : ySub.ReadQueue()) {
+              fmt::print("X changed value: {} at local time {}\n", tsValue.value, tsValue.timestamp);
+            }
+          }
+        };
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            class Example {
-              NT_Subscriber ySub;
-              double prev = 0;
-
-             public:
-              Example() {
-                // get the default instance of NetworkTables
-                NT_Inst inst = nt::GetDefaultInstance();
-
-                // subscribe to the topic in "datatable" called "Y"
-                ySub = nt::Subscribe(nt::GetTopic(inst, "/datatable/Y"), NT_DOUBLE, "double");
-              }
-
-              void Periodic() {
-                // Get() can be used with simple change detection to the previous value
-                double value = nt::GetDouble(ySub, 0.0);
-                if (value != prev) {
-                  prev = value;  // save previous value
-                  fmt::print("X changed value: {}\n", value);
-                }
-
-                // ReadQueue() provides all value changes since the last call;
-                // this way it's not possible to miss a change by polling too slowly
-                for (nt::TimestampedDouble value : nt::ReadQueueDouble(ySub)) {
-                  fmt::print("X changed value: {} at local time {}\n", tsValue.value, tsValue.timestamp);
-                }
-              }
-            };
+        ```c++
+        class Example {
+          NT_Subscriber ySub;
+          double prev = 0;
+         public:
+          Example() {
+            // get the default instance of NetworkTables
+            NT_Inst inst = nt::GetDefaultInstance();
+            // subscribe to the topic in "datatable" called "Y"
+            ySub = nt::Subscribe(nt::GetTopic(inst, "/datatable/Y"), NT_DOUBLE, "double");
+          }
+          void Periodic() {
+            // Get() can be used with simple change detection to the previous value
+            double value = nt::GetDouble(ySub, 0.0);
+            if (value != prev) {
+              prev = value;  // save previous value
+              fmt::print("X changed value: {}\n", value);
+            }
+            // ReadQueue() provides all value changes since the last call;
+            // this way it's not possible to miss a change by polling too slowly
+            for (nt::TimestampedDouble value : nt::ReadQueueDouble(ySub)) {
+              fmt::print("X changed value: {} at local time {}\n", tsValue.value, tsValue.timestamp);
+            }
+          }
+        };
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
 
-        .. code-block:: python
-
-            class Example:
-                def __init__(self) -> None:
-
-                    # get the default instance of NetworkTables
-                    inst = ntcore.NetworkTableInstance.getDefault()
-
-                    # get the subtable called "datatable"
-                    datatable = inst.getTable("datatable")
-
-                    # subscribe to the topic in "datatable" called "Y"
-                    self.ySub = datatable.getDoubleTopic("Y").subscribe(0.0)
-
-                    self.prev = 0
-
-                def periodic(self):
-                    # get() can be used with simple change detection to the previous value
-                    value = self.ySub.get()
-                    if value != self.prev:
-                        self.prev = value
-                        # save previous value
-                        print("X changed value: " + value)
-
-                    # readQueue() provides all value changes since the last call;
-                    # this way it's not possible to miss a change by polling too slowly
-                    for tsValue in self.ySub.readQueue():
-                        print(f"X changed value: {tsValue.value} at local time {tsValue.time}")
-
-                # may not be necessary for robot programs if this class lives for
-                # the length of the program
-                def close(self):
-                    self.ySub.close()
+        ```python
+        class Example:
+            def __init__(self) -> None:
+                # get the default instance of NetworkTables
+                inst = ntcore.NetworkTableInstance.getDefault()
+                # get the subtable called "datatable"
+                datatable = inst.getTable("datatable")
+                # subscribe to the topic in "datatable" called "Y"
+                self.ySub = datatable.getDoubleTopic("Y").subscribe(0.0)
+                self.prev = 0
+            def periodic(self):
+                # get() can be used with simple change detection to the previous value
+                value = self.ySub.get()
+                if value != self.prev:
+                    self.prev = value
+                    # save previous value
+                    print("X changed value: " + value)
+                # readQueue() provides all value changes since the last call;
+                # this way it's not possible to miss a change by polling too slowly
+                for tsValue in self.ySub.readQueue():
+                    print(f"X changed value: {tsValue.value} at local time {tsValue.time}")
+                    # may not be necessary for robot programs if this class lives for
+            # the length of the program
+            def close(self):
+                self.ySub.close()
+        ```
 
 With a command-based robot, it's also possible to use ``NetworkBooleanEvent`` to link boolean topic changes to callback actions (e.g. running commands).
 
@@ -176,13 +151,11 @@ While these functions suffice for value changes on a single topic, they do not p
 
 The easiest way to use listeners is via ``NetworkTableInstance``. For more automatic control over listener lifetime (particularly in C++), and to operate without a background thread, NetworkTables also provides separate classes for both polled listeners (``NetworkTableListenerPoller``), which store events into an internal queue that must be periodically read to get the queued events, and threaded listeners (``NetworkTableListener``), which call a callback function from a background thread.
 
-NetworkTableEvent
------------------
+## NetworkTableEvent
 
 All listener callbacks take a single ``NetworkTableEvent`` parameter, and similarly, reading a listener poller returns an array of ``NetworkTableEvent``. The event contains information including what kind of event it is (e.g. a value update, a new topic, a network disconnect), the handle of the listener that caused the event to be generated, and more detailed information that depends on the type of the event (connection information for connection events, topic information for topic-related events, value data for value updates, and the log message for log message events).
 
-Using NetworkTableInstance to Listen for Changes
-------------------------------------------------
+## Using NetworkTableInstance to Listen for Changes
 
 The below example listens to various kinds of events using ``NetworkTableInstance``. The listener callback provided to any of the addListener functions will be called asynchronously from a background thread when a matching event occurs.
 
@@ -195,231 +168,202 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
     .. tab-item:: Java
      :sync: Java
 
-        .. code-block:: java
-
-            public class Example {
-              final DoubleSubscriber ySub;
-              // use an AtomicReference to make updating the value thread-safe
-              final AtomicReference<Double> yValue = new AtomicReference<Double>();
-              // retain listener handles for later removal
-              int connListenerHandle;
-              int valueListenerHandle;
-              int topicListenerHandle;
-
-              public Example() {
-                // get the default instance of NetworkTables
-                NetworkTableInstance inst = NetworkTableInstance.getDefault();
-
-                // add a connection listener; the first parameter will cause the
-                // callback to be called immediately for any current connections
-                connListenerHandle = inst.addConnectionListener(true, event -> {
-                  if (event.is(NetworkTableEvent.Kind.kConnected)) {
-                    System.out.println("Connected to " + event.connInfo.remote_id);
-                  } else if (event.is(NetworkTableEvent.Kind.kDisconnected)) {
-                    System.out.println("Disconnected from " + event.connInfo.remote_id);
+        ```java
+        public class Example {
+          final DoubleSubscriber ySub;
+          // use an AtomicReference to make updating the value thread-safe
+          final AtomicReference<Double> yValue = new AtomicReference<Double>();
+          // retain listener handles for later removal
+          int connListenerHandle;
+          int valueListenerHandle;
+          int topicListenerHandle;
+          public Example() {
+            // get the default instance of NetworkTables
+            NetworkTableInstance inst = NetworkTableInstance.getDefault();
+            // add a connection listener; the first parameter will cause the
+            // callback to be called immediately for any current connections
+            connListenerHandle = inst.addConnectionListener(true, event -> {
+              if (event.is(NetworkTableEvent.Kind.kConnected)) {
+                System.out.println("Connected to " + event.connInfo.remote_id);
+              } else if (event.is(NetworkTableEvent.Kind.kDisconnected)) {
+                System.out.println("Disconnected from " + event.connInfo.remote_id);
+              }
+            });
+            // get the subtable called "datatable"
+            NetworkTable datatable = inst.getTable("datatable");
+            // subscribe to the topic in "datatable" called "Y"
+            ySub = datatable.getDoubleTopic("Y").subscribe(0.0);
+            // add a listener to only value changes on the Y subscriber
+            valueListenerHandle = inst.addListener(
+                ySub,
+                EnumSet.of(NetworkTableEvent.Kind.kValueAll),
+                event -> {
+                  // can only get doubles because it's a DoubleSubscriber, but
+                  // could check value.isDouble() here too
+                  yValue.set(event.valueData.value.getDouble());
+                });
+            // add a listener to see when new topics are published within datatable
+            // the string array is an array of topic name prefixes.
+            topicListenerHandle = inst.addListener(
+                new String[] { datatable.getPath() + "/" },
+                EnumSet.of(NetworkTableEvent.Kind.kTopic),
+                event -> {
+                  if (event.is(NetworkTableEvent.Kind.kPublish)) {
+                    // topicInfo.name is the full topic name, e.g. "/datatable/X"
+                    System.out.println("newly published " + event.topicInfo.name);
                   }
                 });
-
-                // get the subtable called "datatable"
-                NetworkTable datatable = inst.getTable("datatable");
-
-                // subscribe to the topic in "datatable" called "Y"
-                ySub = datatable.getDoubleTopic("Y").subscribe(0.0);
-
-                // add a listener to only value changes on the Y subscriber
-                valueListenerHandle = inst.addListener(
-                    ySub,
-                    EnumSet.of(NetworkTableEvent.Kind.kValueAll),
-                    event -> {
-                      // can only get doubles because it's a DoubleSubscriber, but
-                      // could check value.isDouble() here too
-                      yValue.set(event.valueData.value.getDouble());
-                    });
-
-                // add a listener to see when new topics are published within datatable
-                // the string array is an array of topic name prefixes.
-                topicListenerHandle = inst.addListener(
-                    new String[] { datatable.getPath() + "/" },
-                    EnumSet.of(NetworkTableEvent.Kind.kTopic),
-                    event -> {
-                      if (event.is(NetworkTableEvent.Kind.kPublish)) {
-                        // topicInfo.name is the full topic name, e.g. "/datatable/X"
-                        System.out.println("newly published " + event.topicInfo.name);
-                      }
-                    });
-              }
-
-              public void periodic() {
-                // get the latest value by reading the AtomicReference; set it to null
-                // when we read to ensure we only get value changes
-                Double value = yValue.getAndSet(null);
-                if (value != null) {
-                  System.out.println("got new value " + value);
-                }
-              }
-
-              // may not be needed for robot programs if this class exists for the
-              // lifetime of the program
-              public void close() {
-                NetworkTableInstance inst = NetworkTableInstance.getDefault();
-                inst.removeListener(topicListenerHandle);
-                inst.removeListener(valueListenerHandle);
-                inst.removeListener(connListenerHandle);
-                ySub.close();
-              }
+          }
+          public void periodic() {
+            // get the latest value by reading the AtomicReference; set it to null
+            // when we read to ensure we only get value changes
+            Double value = yValue.getAndSet(null);
+            if (value != null) {
+              System.out.println("got new value " + value);
             }
+          }
+          // may not be needed for robot programs if this class exists for the
+          // lifetime of the program
+          public void close() {
+            NetworkTableInstance inst = NetworkTableInstance.getDefault();
+            inst.removeListener(topicListenerHandle);
+            inst.removeListener(valueListenerHandle);
+            inst.removeListener(connListenerHandle);
+            ySub.close();
+          }
+        }
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            class Example {
-              nt::DoubleSubscriber ySub;
-              // use a mutex to make updating the value and flag thread-safe
-              wpi::mutex mutex;
-              double yValue;
-              bool yValueUpdated = false;
-              // retain listener handles for later removal
-              NT_Listener connListenerHandle;
-              NT_Listener valueListenerHandle;
-              NT_Listener topicListenerHandle;
-
-             public:
-              Example() {
-                // get the default instance of NetworkTables
-                nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-
-                // add a connection listener; the first parameter will cause the
-                // callback to be called immediately for any current connections
-                connListenerHandle = inst.AddConnectionListener(true, [] (const nt::Event& event) {
-                  if (event.Is(nt::EventFlags::kConnected)) {
-                    fmt::print("Connected to {}\n", event.GetConnectionInfo()->remote_id);
-                  } else if (event.Is(nt::EventFlags::kDisconnected)) {
-                    fmt::print("Disconnected from {}\n", event.GetConnectionInfo()->remote_id);
+        ```c++
+        class Example {
+          nt::DoubleSubscriber ySub;
+          // use a mutex to make updating the value and flag thread-safe
+          wpi::mutex mutex;
+          double yValue;
+          bool yValueUpdated = false;
+          // retain listener handles for later removal
+          NT_Listener connListenerHandle;
+          NT_Listener valueListenerHandle;
+          NT_Listener topicListenerHandle;
+         public:
+          Example() {
+            // get the default instance of NetworkTables
+            nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+            // add a connection listener; the first parameter will cause the
+            // callback to be called immediately for any current connections
+            connListenerHandle = inst.AddConnectionListener(true, [] (const nt::Event& event) {
+              if (event.Is(nt::EventFlags::kConnected)) {
+                fmt::print("Connected to {}\n", event.GetConnectionInfo()->remote_id);
+              } else if (event.Is(nt::EventFlags::kDisconnected)) {
+                fmt::print("Disconnected from {}\n", event.GetConnectionInfo()->remote_id);
+              }
+            });
+            // get the subtable called "datatable"
+            auto datatable = inst.GetTable("datatable");
+            // subscribe to the topic in "datatable" called "Y"
+            ySub = datatable.GetDoubleTopic("Y").Subscribe(0.0);
+            // add a listener to only value changes on the Y subscriber
+            valueListenerHandle = inst.AddListener(
+                ySub,
+                nt::EventFlags::kValueAll,
+                [this] (const nt::Event& event) {
+                  // can only get doubles because it's a DoubleSubscriber, but
+                  // could check value.IsDouble() here too
+                  std::scoped_lock lock{mutex};
+                  yValue = event.GetValueData()->value.GetDouble();
+                  yValueUpdated = true;
+                });
+            // add a listener to see when new topics are published within datatable
+            // the string array is an array of topic name prefixes.
+            topicListenerHandle = inst.AddListener(
+                {{fmt::format("{}/", datatable->GetPath())}},
+                nt::EventFlags::kTopic,
+                [] (const nt::Event& event) {
+                  if (event.Is(nt::EventFlags::kPublish)) {
+                    // name is the full topic name, e.g. "/datatable/X"
+                    fmt::print("newly published {}\n", event.GetTopicInfo()->name);
                   }
                 });
-
-                // get the subtable called "datatable"
-                auto datatable = inst.GetTable("datatable");
-
-                // subscribe to the topic in "datatable" called "Y"
-                ySub = datatable.GetDoubleTopic("Y").Subscribe(0.0);
-
-                // add a listener to only value changes on the Y subscriber
-                valueListenerHandle = inst.AddListener(
-                    ySub,
-                    nt::EventFlags::kValueAll,
-                    [this] (const nt::Event& event) {
-                      // can only get doubles because it's a DoubleSubscriber, but
-                      // could check value.IsDouble() here too
-                      std::scoped_lock lock{mutex};
-                      yValue = event.GetValueData()->value.GetDouble();
-                      yValueUpdated = true;
-                    });
-
-                // add a listener to see when new topics are published within datatable
-                // the string array is an array of topic name prefixes.
-                topicListenerHandle = inst.AddListener(
-                    {{fmt::format("{}/", datatable->GetPath())}},
-                    nt::EventFlags::kTopic,
-                    [] (const nt::Event& event) {
-                      if (event.Is(nt::EventFlags::kPublish)) {
-                        // name is the full topic name, e.g. "/datatable/X"
-                        fmt::print("newly published {}\n", event.GetTopicInfo()->name);
-                      }
-                    });
-              }
-
-              void Periodic() {
-                // get the latest value by reading the value; set it to false
-                // when we read to ensure we only get value changes
-                wpi::scoped_lock lock{mutex};
-                if (yValueUpdated) {
-                  yValueUpdated = false;
-                  fmt::print("got new value {}\n", yValue);
-                }
-              }
-
-              ~Example() {
-                nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-                inst.RemoveListener(connListenerHandle);
-                inst.RemoveListener(valueListenerHandle);
-                inst.RemoveListener(topicListenerHandle);
-              }
-            };
+          }
+          void Periodic() {
+            // get the latest value by reading the value; set it to false
+            // when we read to ensure we only get value changes
+            wpi::scoped_lock lock{mutex};
+            if (yValueUpdated) {
+              yValueUpdated = false;
+              fmt::print("got new value {}\n", yValue);
+            }
+          }
+          ~Example() {
+            nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+            inst.RemoveListener(connListenerHandle);
+            inst.RemoveListener(valueListenerHandle);
+            inst.RemoveListener(topicListenerHandle);
+          }
+        };
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
 
-        .. code-block:: python
-
-            import ntcore
-            import threading
-
-            class Example:
-                def __init__(self) -> None:
-
-                    # get the default instance of NetworkTables
-                    inst = ntcore.NetworkTableInstance.getDefault()
-
-                    # Use a mutex to ensure thread safety
-                    self.lock = threading.Lock()
-                    self.yValue = None
-
-                    # add a connection listener; the first parameter will cause the
-                    # callback to be called immediately for any current connections
-                    def _connect_cb(event: ntcore.Event):
-                        if event.is_(ntcore.EventFlags.kConnected):
-                            print("Connected to", event.data.remote_id)
-                        elif event.is_(ntcore.EventFlags.kDisconnected):
-                            print("Disconnected from", event.data.remote_id)
-
-                    self.connListenerHandle = inst.addConnectionListener(True, _connect_cb)
-
-                    # get the subtable called "datatable"
-                    datatable = inst.getTable("datatable")
-
-                    # subscribe to the topic in "datatable" called "Y"
-                    self.ySub = datatable.getDoubleTopic("Y").subscribe(0.0)
-
-                    # add a listener to only value changes on the Y subscriber
-                    def _on_ysub(event: ntcore.Event):
-                        # can only get doubles because it's a DoubleSubscriber, but
-                        # could check value.isDouble() here too
-                        with self.lock:
-                            self.yValue = event.data.value.getDouble()
-
-                    self.valueListenerHandle = inst.addListener(
-                        self.ySub, ntcore.EventFlags.kValueAll, _on_ysub
-                    )
-
-                    # add a listener to see when new topics are published within datatable
-                    # the string array is an array of topic name prefixes.
-                    def _on_pub(event: ntcore.Event):
-                        if event.is_(ntcore.EventFlags.kPublish):
-                            # topicInfo.name is the full topic name, e.g. "/datatable/X"
-                            print("newly published", event.data.name)
-
-                    self.topicListenerHandle = inst.addListener(
-                        [datatable.getPath() + "/"], ntcore.EventFlags.kTopic, _on_pub
-                    )
-
-                def periodic(self):
-                    # get the latest value by reading the value; set it to null
-                    # when we read to ensure we only get value changes
+        ```python
+        import ntcore
+        import threading
+        class Example:
+            def __init__(self) -> None:
+                # get the default instance of NetworkTables
+                inst = ntcore.NetworkTableInstance.getDefault()
+                # Use a mutex to ensure thread safety
+                self.lock = threading.Lock()
+                self.yValue = None
+                # add a connection listener; the first parameter will cause the
+                # callback to be called immediately for any current connections
+                def _connect_cb(event: ntcore.Event):
+                    if event.is_(ntcore.EventFlags.kConnected):
+                        print("Connected to", event.data.remote_id)
+                    elif event.is_(ntcore.EventFlags.kDisconnected):
+                        print("Disconnected from", event.data.remote_id)
+                        self.connListenerHandle = inst.addConnectionListener(True, _connect_cb)
+                # get the subtable called "datatable"
+                datatable = inst.getTable("datatable")
+                # subscribe to the topic in "datatable" called "Y"
+                self.ySub = datatable.getDoubleTopic("Y").subscribe(0.0)
+                # add a listener to only value changes on the Y subscriber
+                def _on_ysub(event: ntcore.Event):
+                    # can only get doubles because it's a DoubleSubscriber, but
+                    # could check value.isDouble() here too
                     with self.lock:
-                        value, self.yValue = self.yValue, None
-
-                    if value is not None:
-                        print("got new value", value)
+                        self.yValue = event.data.value.getDouble()
+                        self.valueListenerHandle = inst.addListener(
+                    self.ySub, ntcore.EventFlags.kValueAll, _on_ysub
+                )
+                # add a listener to see when new topics are published within datatable
+                # the string array is an array of topic name prefixes.
+                def _on_pub(event: ntcore.Event):
+                    if event.is_(ntcore.EventFlags.kPublish):
+                        # topicInfo.name is the full topic name, e.g. "/datatable/X"
+                        print("newly published", event.data.name)
+                        self.topicListenerHandle = inst.addListener(
+                    [datatable.getPath() + "/"], ntcore.EventFlags.kTopic, _on_pub
+                )
+                    def periodic(self):
+                # get the latest value by reading the value; set it to null
+                # when we read to ensure we only get value changes
+                with self.lock:
+                    value, self.yValue = self.yValue, None
+                        if value is not None:
+                    print("got new value", value)
+                    # may not be needed for robot programs if this class exists for the
+            # lifetime of the program
+            def close(self):
+                inst = ntcore.NetworkTableInstance.getDefault()
+                inst.removeListener(self.topicListenerHandle)
+                inst.removeListener(self.valueListenerHandle)
+                inst.removeListener(self.connListenerHandle)
+                self.ySub.close()
+        ```
 
-                # may not be needed for robot programs if this class exists for the
-                # lifetime of the program
-                def close(self):
-                    inst = ntcore.NetworkTableInstance.getDefault()
-                    inst.removeListener(self.topicListenerHandle)
-                    inst.removeListener(self.valueListenerHandle)
-                    inst.removeListener(self.connListenerHandle)
-                    self.ySub.close()
diff --git a/source/docs/software/networktables/multiple-instances.rst b/source/docs/software/networktables/multiple-instances.rst
index 1e35a51c6f..614b7fb2e6 100644
--- a/source/docs/software/networktables/multiple-instances.rst
+++ b/source/docs/software/networktables/multiple-instances.rst
@@ -1,5 +1,4 @@
-NetworkTables Instances
-=======================
+# NetworkTables Instances
 
 The NetworkTables implementation supports simultaneous operation of multiple "instances." Each instance has a completely independent set of topics, publishers, subscribers, and client/server state. This feature is mainly useful for unit testing. It allows a single program to be a member of two :term:`NetworkTables` "networks" that contain different (and unrelated) sets of topics, or running both client and server instances in a single program.
 
@@ -7,7 +6,7 @@ For most general usage, you should use the "default" instance, as all current da
 
 However, if you wanted to do unit testing of your robot program's NetworkTables communications, you could set up your unit tests such that they create a separate client instance (still within the same program) and have it connect to the server instance that the main robot code is running.
 
-The ``NetworkTableInstance`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/NetworkTableInstance.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_network_table_instance.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/NetworkTableInstance.html>`__) class provides the API abstraction for instances. The number of instances that can be simultaneously created is limited to 16 (including the default instance), so when using multiple instances in cases such as unit testing code, it's important to destroy instances that are no longer needed.
+The ``NetworkTableInstance`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/NetworkTableInstance.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_network_table_instance.html), :external:py:class:`Python <ntcore.NetworkTableInstance>`) class provides the API abstraction for instances. The number of instances that can be simultaneously created is limited to 16 (including the default instance), so when using multiple instances in cases such as unit testing code, it's important to destroy instances that are no longer needed.
 
 Destroying a NetworkTableInstance frees all resources related to the instance. All classes or handles that reference the instance (e.g. Topics, Publishers, and Subscribers) are invalidated and may result in unexpected behavior if used after the instance is destroyed--in particular, instance handles are reused so it's possible for a handle "left over" from a previously destroyed instance to refer to an unexpected resource in a newly created instance.
 
@@ -16,72 +15,62 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
     .. tab-item:: Java
      :sync: Java
 
-        .. code-block:: java
-
-            // get the default NetworkTable instance
-            NetworkTableInstance defaultInst = NetworkTableInstance.getDefault();
-
-            // create a NetworkTable instance
-            NetworkTableInstance inst = NetworkTableInstance.create();
-
-            // destroy a NetworkTable instance
-            inst.close();
+        ```java
+        // get the default NetworkTable instance
+        NetworkTableInstance defaultInst = NetworkTableInstance.getDefault();
+        // create a NetworkTable instance
+        NetworkTableInstance inst = NetworkTableInstance.create();
+        // destroy a NetworkTable instance
+        inst.close();
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            // get the default NetworkTable instance
-            nt::NetworkTableInstance defaultInst = nt::NetworkTableInstance::GetDefault();
-
-            // create a NetworkTable instance
-            nt::NetworkTableInstance inst = nt::NetworkTableInstance::Create();
-
-            // destroy a NetworkTable instance; NetworkTableInstance objects are not RAII
-            nt::NetworkTableInstance::Destroy(inst);
+        ```c++
+        // get the default NetworkTable instance
+        nt::NetworkTableInstance defaultInst = nt::NetworkTableInstance::GetDefault();
+        // create a NetworkTable instance
+        nt::NetworkTableInstance inst = nt::NetworkTableInstance::Create();
+        // destroy a NetworkTable instance; NetworkTableInstance objects are not RAII
+        nt::NetworkTableInstance::Destroy(inst);
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            // get the default NetworkTable instance
-            NT_Instance defaultInst = nt::GetDefaultInstance();
-
-            // create a NetworkTable instance
-            NT_Instance inst = nt::CreateInstance();
-
-            // destroy a NetworkTable instance
-            nt::DestroyInstance(inst);
+        ```c++
+        // get the default NetworkTable instance
+        NT_Instance defaultInst = nt::GetDefaultInstance();
+        // create a NetworkTable instance
+        NT_Instance inst = nt::CreateInstance();
+        // destroy a NetworkTable instance
+        nt::DestroyInstance(inst);
+        ```
 
     .. tab-item:: C
        :sync: C
 
-        .. code-block:: c
-
-            // get the default NetworkTable instance
-            NT_Instance defaultInst = NT_GetDefaultInstance();
-
-            // create a NetworkTable instance
-            NT_Instance inst = NT_CreateInstance();
-
-            // destroy a NetworkTable instance
-            NT_DestroyInstance(inst);
+        ```c
+        // get the default NetworkTable instance
+        NT_Instance defaultInst = NT_GetDefaultInstance();
+        // create a NetworkTable instance
+        NT_Instance inst = NT_CreateInstance();
+        // destroy a NetworkTable instance
+        NT_DestroyInstance(inst);
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
 
-        .. code-block:: python
-
-            import ntcore
-
-            # get the default NetworkTable instance
-            defaultInst = ntcore.NetworkTableInstance.getDefault()
-
-            # create a NetworkTable instance
-            inst = ntcore.NetworkTableInstance.create()
+        ```python
+        import ntcore
+        # get the default NetworkTable instance
+        defaultInst = ntcore.NetworkTableInstance.getDefault()
+        # create a NetworkTable instance
+        inst = ntcore.NetworkTableInstance.create()
+        # destroy a NetworkTable instance
+        ntcore.NetworkTableInstance.destroy(inst)
+        ```
 
-            # destroy a NetworkTable instance
-            ntcore.NetworkTableInstance.destroy(inst)
diff --git a/source/docs/software/networktables/networktables-intro.rst b/source/docs/software/networktables/networktables-intro.rst
index c55a42371b..5251ccdd39 100644
--- a/source/docs/software/networktables/networktables-intro.rst
+++ b/source/docs/software/networktables/networktables-intro.rst
@@ -1,14 +1,12 @@
-What is NetworkTables
-=====================
+# What is NetworkTables
 
-:term:`NetworkTables` is an implementation of a `publish-subscribe messaging system <https://en.wikipedia.org/wiki/Publish%E2%80%93subscribe_pattern>`_. Values are published to named "topics" either on the robot, driver station, or potentially an attached coprocessor, and the values are automatically distributed to all subscribers to the topic. For example, a driver station laptop might receive camera images over the network, perform some vision processing algorithm, and come up with some values to sent back to the robot. The values might be an X, Y, and Distance. By writing these results to NetworkTables topics called "X", "Y", and "Distance" they can be read by the robot shortly after being written. Then the robot can act upon them. Similarly, the robot program can write sensor values to topics and those can be read and plotted in real time on a dashboard application.
+:term:`NetworkTables` is an implementation of a [publish-subscribe messaging system](https://en.wikipedia.org/wiki/Publish%E2%80%93subscribe_pattern). Values are published to named "topics" either on the robot, driver station, or potentially an attached coprocessor, and the values are automatically distributed to all subscribers to the topic. For example, a driver station laptop might receive camera images over the network, perform some vision processing algorithm, and come up with some values to sent back to the robot. The values might be an X, Y, and Distance. By writing these results to NetworkTables topics called "X", "Y", and "Distance" they can be read by the robot shortly after being written. Then the robot can act upon them. Similarly, the robot program can write sensor values to topics and those can be read and plotted in real time on a dashboard application.
 
 NetworkTables can be used by programs on the robot in Java, C++, or LabVIEW, and is built into each version of WPILib.
 
-.. note: NetworkTables has changed substantially in 2023. For more information on migrating pre-2023 code to use the new features, see :ref:`docs/software/networktables/nt4-migration-guide:migrating from networktables 3.0 to networktables 4.0`.
+.. note:: NetworkTables has changed substantially in 2023. For more information on migrating pre-2023 code to use the new features, see :ref:`docs/software/networktables/nt4-migration-guide:migrating from networktables 3.0 to networktables 4.0`.
 
-NetworkTables Concepts
-----------------------
+## NetworkTables Concepts
 
 First, let's define some terms:
 
@@ -26,15 +24,15 @@ Topics have properties. Properties are initially set by the first publisher, but
 
 Publishers specify the topic's data type; while there can be multiple publishers to a single topic, they must all be publishing the same data type. This is enforced by the NetworkTables server (the first publisher "wins"). Typically single-topic subscribers also specify what data type they're expecting to receive on a topic and thus won't receive value updates of other types.
 
-Retained and Persistent Topics
-------------------------------
+The [Network Tables Protocol Specification](https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc) contains detailed documentation on the current wire protocol.
+
+## Retained and Persistent Topics
 
 While by default topics are :term:`transitory` and disappear after the last publisher stops publishing, topics can be marked as :term:`retained` (via setting the "retained" property to true) to prevent them from disappearing. For retained topics, the server acts as an implicit publisher of the last value, and will keep doing so as long as the server is running. This is primarily useful for configuration values; e.g. an autonomous mode selection published by a dashboard should set the topic as retained so its value is preserved in case the dashboard disconnects.
 
 Additionally, topics can be marked as :term:`persistent` via setting the "persistent" property to true. These operate similarly to retained topics, but in addition, persistent topic values are automatically saved to a file on the server and when the server starts up again, the topic is created and its last value is published by the server.
 
-Value Propagation
------------------
+## Value Propagation
 
 The server keeps a copy of the last published value for every topic. When a subscriber initially subscribes to a topic, the server sends the last published value. After that initial value, new value updates are communicated to subscribers each time the publisher sends a new value.
 
@@ -44,8 +42,7 @@ The server does not send topic changes or value updates to clients that have not
 
 By default, NetworkTables sends value updates periodically, batching the data to help limit the number of small packets being sent over the network. Also, by default, only the most recent value is transmitted; any intermediate value changes made between network transmissions are discarded. This behavior can be changed via publish/subscribe options--publishers and subscribers can indicate that all value updates should be preserved and communicated via the "send all" option. In addition, it is possible to force NetworkTables to "flush" all current updates to the network; this is useful for minimizing latency.
 
-Timestamps
-----------
+## Timestamps
 
 All NetworkTable value updates are timestamped at the time they are published. Timestamps in NetworkTables are measured in integer microseconds.
 
@@ -53,10 +50,9 @@ NetworkTables automatically synchronizes time between the server and clients. Ea
 
 Because of this, two timestamps are visible through the API: a server timestamp indicating the time (estimated) on the server, and a local timestamp indicating the time on the client. When the RoboRIO is the NetworkTables server, the server timestamp is the same as the FPGA timestamp returned by ``Timer.getFPGATimestamp()`` (except the units are different: NetworkTables uses microseconds, while ``getFPGATimestamp()`` returns seconds).
 
-NetworkTables Organization
---------------------------
+## NetworkTables Organization
 
-Data is organized in NetworkTables in a hierarchy much like a filesystem's folders and files. There can be multiple subtables (folders) and topics (files) that may be nested in whatever way fits the data organization desired. At the top level (``NetworkTableInstance``: `Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/NetworkTableInstance.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_network_table_instance.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/NetworkTableInstance.html#ntcore.NetworkTableInstance>`__), topic names are handled similar to absolute paths in a filesystem: subtables are represented as a long topic name with slashes ("/") separating the nested subtable and value names. A ``NetworkTable`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/NetworkTable.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_network_table.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/NetworkTable.html#ntcore.NetworkTable>`__) object represents a single subtable (folder), so topic names are relative to the NetworkTable's base path: e.g. for a root table called "SmartDashboard" with a topic named "xValue", the same topic can be accessed via ``NetworkTableInstance`` as a topic named "/SmartDashboard/xValue". However, unlike a filesystem, subtables don't really exist in the same way folders do, as there is no way to represent an empty subtable on the network--a subtable "appears" only as long as there are topics published within it.
+Data is organized in NetworkTables in a hierarchy much like a filesystem's folders and files. There can be multiple subtables (folders) and topics (files) that may be nested in whatever way fits the data organization desired. At the top level (``NetworkTableInstance``: [Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/NetworkTableInstance.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_network_table_instance.html), :external:py:class:[Python](ntcore.NetworkTableInstance>`), topic names are handled similar to absolute paths in a filesystem: subtables are represented as a long topic name with slashes ("/") separating the nested subtable and value names. A ``NetworkTable`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/NetworkTable.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_network_table.html), :external:py:class:`Python <ntcore.NetworkTable>`) object represents a single subtable (folder), so topic names are relative to the NetworkTable's base path: e.g. for a root table called "SmartDashboard" with a topic named "xValue", the same topic can be accessed via ``NetworkTableInstance`` as a topic named "/SmartDashboard/xValue". However, unlike a filesystem, subtables don't really exist in the same way folders do, as there is no way to represent an empty subtable on the network--a subtable "appears" only as long as there are topics published within it.
 
 :ref:`docs/software/wpilib-tools/outlineviewer/index:outlineviewer` is a utility for exploring the values stored in NetworkTables, and can show either a flat view (topics with absolute paths) or a nested view (subtables and topics).
 
@@ -87,13 +83,11 @@ There are some default tables that are created automatically when a robot progra
 |                 | Field Management System  |
 +-----------------+--------------------------+
 
-NetworkTables API Variants
---------------------------
+## NetworkTables API Variants
 
 There are two major variants of the NetworkTables API. The object-oriented API (C++ and Java) is recommended for robot code and general team use, and provides classes that help ensure correct use of the API. For advanced use cases such as writing object-oriented wrappers for other programming languages, there's also a C/C++ handle-based API.
 
-Lifetime Management
--------------------
+## Lifetime Management
 
 Publishers, subscribers, and entries only exist as long as the objects exist.
 
diff --git a/source/docs/software/networktables/networktables-networking.rst b/source/docs/software/networktables/networktables-networking.rst
index 8170494e0d..67aa39ec83 100644
--- a/source/docs/software/networktables/networktables-networking.rst
+++ b/source/docs/software/networktables/networktables-networking.rst
@@ -1,156 +1,131 @@
-NetworkTables Networking
-========================
+# NetworkTables Networking
 
 The advantage of the robot program being the server is that it's at a known network name (and typically at a known address) that is based on the team number. This is why it's possible in both the NetworkTables client API and in most dashboards to simply provide the team number, rather than a server address. As the robot program is the server, note this means the NetworkTables server is running on the local computer when running in simulation.
 
-Starting a NetworkTables Server
--------------------------------
+## Starting a NetworkTables Server
 
 .. tab-set::
 
     .. tab-item:: Java
        :sync: Java
 
-        .. code-block:: java
-
-            NetworkTableInstance inst = NetworkTableInstance.getDefault();
-            inst.startServer();
+        ```java
+        NetworkTableInstance inst = NetworkTableInstance.getDefault();
+        inst.startServer();
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-            inst.StartServer();
+        ```c++
+        nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+        inst.StartServer();
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            NT_Inst inst = nt::GetDefaultInstance();
-            nt::StartServer(inst, "networktables.json", "", NT_DEFAULT_PORT3, NT_DEFAULT_PORT4);
+        ```c++
+        NT_Inst inst = nt::GetDefaultInstance();
+        nt::StartServer(inst, "networktables.json", "", NT_DEFAULT_PORT3, NT_DEFAULT_PORT4);
+        ```
 
     .. tab-item:: C
        :sync: C
 
-        .. code-block:: c
-
-            NT_Inst inst = NT_GetDefaultInstance();
-            NT_StartServer(inst, "networktables.json", "", NT_DEFAULT_PORT3, NT_DEFAULT_PORT4);
+        ```c
+        NT_Inst inst = NT_GetDefaultInstance();
+        NT_StartServer(inst, "networktables.json", "", NT_DEFAULT_PORT3, NT_DEFAULT_PORT4);
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
 
-        .. code-block:: python
+        ```python
+        import ntcore
+        inst = ntcore.NetworkTableInstance.getDefault()
+        inst.startServer()
+        ```
 
-            import ntcore
-
-            inst = ntcore.NetworkTableInstance.getDefault()
-            inst.startServer()
-
-
-Starting a NetworkTables Client
--------------------------------
+## Starting a NetworkTables Client
 
 .. tab-set::
 
     .. tab-item:: Java
      :sync: Java
 
-        .. code-block:: java
-
-            NetworkTableInstance inst = NetworkTableInstance.getDefault();
-
-            // start a NT4 client
-            inst.startClient4("example client");
-
-            // connect to a roboRIO with team number TEAM
-            inst.setServerTeam(TEAM);
-
-            // starting a DS client will try to get the roboRIO address from the DS application
-            inst.startDSClient();
-
-            // connect to a specific host/port
-            inst.setServer("host", NetworkTableInstance.kDefaultPort4)
+        ```java
+        NetworkTableInstance inst = NetworkTableInstance.getDefault();
+        // start a NT4 client
+        inst.startClient4("example client");
+        // connect to a roboRIO with team number TEAM
+        inst.setServerTeam(TEAM);
+        // starting a DS client will try to get the roboRIO address from the DS application
+        inst.startDSClient();
+        // connect to a specific host/port
+        inst.setServer("host", NetworkTableInstance.kDefaultPort4)
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-
-            // start a NT4 client
-            inst.StartClient4("example client");
-
-            // connect to a roboRIO with team number TEAM
-            inst.SetServerTeam(TEAM);
-
-            // starting a DS client will try to get the roboRIO address from the DS application
-            inst.StartDSClient();
-
-            // connect to a specific host/port
-            inst.SetServer("host", NT_DEFAULT_PORT4)
+        ```c++
+        nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+        // start a NT4 client
+        inst.StartClient4("example client");
+        // connect to a roboRIO with team number TEAM
+        inst.SetServerTeam(TEAM);
+        // starting a DS client will try to get the roboRIO address from the DS application
+        inst.StartDSClient();
+        // connect to a specific host/port
+        inst.SetServer("host", NT_DEFAULT_PORT4)
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            NT_Inst inst = nt::GetDefaultInstance();
-
-            // start a NT4 client
-            nt::StartClient4(inst, "example client");
-
-            // connect to a roboRIO with team number TEAM
-            nt::SetServerTeam(inst, TEAM);
-
-            // starting a DS client will try to get the roboRIO address from the DS application
-            nt::StartDSClient(inst);
-
-            // connect to a specific host/port
-            nt::SetServer(inst, "host", NT_DEFAULT_PORT4)
+        ```c++
+        NT_Inst inst = nt::GetDefaultInstance();
+        // start a NT4 client
+        nt::StartClient4(inst, "example client");
+        // connect to a roboRIO with team number TEAM
+        nt::SetServerTeam(inst, TEAM);
+        // starting a DS client will try to get the roboRIO address from the DS application
+        nt::StartDSClient(inst);
+        // connect to a specific host/port
+        nt::SetServer(inst, "host", NT_DEFAULT_PORT4)
+        ```
 
     .. tab-item:: C
        :sync: C
 
-        .. code-block:: c
-
-            NT_Inst inst = NT_GetDefaultInstance();
-
-            // start a NT4 client
-            NT_StartClient4(inst, "example client");
-
-            // connect to a roboRIO with team number TEAM
-            NT_SetServerTeam(inst, TEAM);
-
-            // starting a DS client will try to get the roboRIO address from the DS application
-            NT_StartDSClient(inst);
-
-            // connect to a specific host/port
-            NT_SetServer(inst, "host", NT_DEFAULT_PORT4)
+        ```c
+        NT_Inst inst = NT_GetDefaultInstance();
+        // start a NT4 client
+        NT_StartClient4(inst, "example client");
+        // connect to a roboRIO with team number TEAM
+        NT_SetServerTeam(inst, TEAM);
+        // starting a DS client will try to get the roboRIO address from the DS application
+        NT_StartDSClient(inst);
+        // connect to a specific host/port
+        NT_SetServer(inst, "host", NT_DEFAULT_PORT4)
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
 
-        .. code-block:: python
-
-            import ntcore
-
-            inst = ntcore.NetworkTableInstance.getDefault()
-
-            # start a NT4 client
-            inst.startClient4("example client")
-
-            # connect to a roboRIO with team number TEAM
-            inst.setServerTeam(TEAM)
-
-            # starting a DS client will try to get the roboRIO address from the DS application
-            inst.startDSClient()
+        ```python
+        import ntcore
+        inst = ntcore.NetworkTableInstance.getDefault()
+        # start a NT4 client
+        inst.startClient4("example client")
+        # connect to a roboRIO with team number TEAM
+        inst.setServerTeam(TEAM)
+        # starting a DS client will try to get the roboRIO address from the DS application
+        inst.startDSClient()
+        # connect to a specific host/port
+        inst.setServer("host", ntcore.NetworkTableInstance.kDefaultPort4)
+        ```
 
-            # connect to a specific host/port
-            inst.setServer("host", ntcore.NetworkTableInstance.kDefaultPort4)
diff --git a/source/docs/software/networktables/nt4-migration-guide.rst b/source/docs/software/networktables/nt4-migration-guide.rst
index 7c3347cda2..b4adc26f9e 100644
--- a/source/docs/software/networktables/nt4-migration-guide.rst
+++ b/source/docs/software/networktables/nt4-migration-guide.rst
@@ -1,10 +1,8 @@
-Migrating from NetworkTables 3.0 to NetworkTables 4.0
-=====================================================
+# Migrating from NetworkTables 3.0 to NetworkTables 4.0
 
 NetworkTables 4.0 (new for 2023) has a number of significant API breaking changes from NetworkTables 3.0, the version of NetworkTables used from 2016-2022.
 
-NetworkTableEntry
------------------
+## NetworkTableEntry
 
 While ``NetworkTableEntry`` can still be used (for backwards compatibility), users are encouraged to migrate to use of type-specific Publisher/Subscriber/Entry classes as appropriate, or if necessary, ``GenericEntry`` (see :ref:`docs/software/networktables/publish-and-subscribe:publishing and subscribing to a topic`. It's important to note that unlike ``NetworkTableEntry``, these classes need to have appropriate lifetime management. Some functionality (e.g. persistent settings) has also moved to ``Topic`` properties (see :ref:`docs/software/networktables/tables-and-topics:networktables tables and topics`).
 
@@ -12,202 +10,162 @@ NT3 code (was):
 
 .. tab-set-code::
 
-      .. code-block:: java
-
-          public class Example {
-            final NetworkTableEntry yEntry;
-            final NetworkTableEntry outEntry;
-
-            public Example() {
-              NetworkTableInstance inst = NetworkTableInstance.getDefault();
-
-              // get the subtable called "datatable"
-              NetworkTable datatable = inst.getTable("datatable");
-
-              // get the entry in "datatable" called "Y"
-              yEntry = datatable.getEntry("Y");
-
-              // get the entry in "datatable" called "Out"
-              outEntry = datatable.getEntry("Out");
-            }
-
-            public void periodic() {
-              // read a double value from Y, and set Out to that value multiplied by 2
-              double value = yEntry.getDouble(0.0);  // default to 0
-              outEntry.setDouble(value * 2);
-            }
-          }
-
-
-      .. code-block:: cpp
-
-          class Example {
-            nt::NetworkTableEntry yEntry;
-            nt::NetworkTableEntry outEntry;
-
-            public:
-            Example() {
-              nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-
-              // get the subtable called "datatable"
-              auto datatable = inst.GetTable("datatable");
-
-              // get the entry in "datatable" called "Y"
-              yEntry = datatable->GetEntry("Y");
-
-              // get the entry in "datatable" called "Out"
-              outEntry = datatable->GetEntry("Out");
-            }
-
-            void Periodic() {
-              // read a double value from Y, and set Out to that value multiplied by 2
-              double value = yEntry.GetDouble(0.0);  // default to 0
-              outEntry.SetDouble(value * 2);
-            }
-          };
-
-
-      .. code-block:: python
-
-          class Example:
-              def __init__(self):
-                  inst = ntcore.NetworkTableInstance.getDefault()
-
-                  # get the subtable called "datatable"
-                  datatable = inst.getTable("datatable")
-
-                  # get the entry in "datatable" called "Y"
-                  self.yEntry = datatable.getEntry("Y")
-
-                  # get the entry in "datatable" called "Out"
-                  self.outEntry = datatable.getEntry("Out")
-
-              def periodic(self):
-                  # read a double value from Y, and set Out to that value multiplied by 2
-                  value = self.yEntry.getDouble(0.0)  # default to 0
-                  self.outEntry.setDouble(value * 2)
-
+      ```java
+      public class Example {
+        final NetworkTableEntry yEntry;
+        final NetworkTableEntry outEntry;
+        public Example() {
+          NetworkTableInstance inst = NetworkTableInstance.getDefault();
+          // get the subtable called "datatable"
+          NetworkTable datatable = inst.getTable("datatable");
+          // get the entry in "datatable" called "Y"
+          yEntry = datatable.getEntry("Y");
+          // get the entry in "datatable" called "Out"
+          outEntry = datatable.getEntry("Out");
+        }
+        public void periodic() {
+          // read a double value from Y, and set Out to that value multiplied by 2
+          double value = yEntry.getDouble(0.0);  // default to 0
+          outEntry.setDouble(value * 2);
+        }
+      }
+      ```
+
+      ```c++
+      class Example {
+        nt::NetworkTableEntry yEntry;
+        nt::NetworkTableEntry outEntry;
+       public:
+        Example() {
+          nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+          // get the subtable called "datatable"
+          auto datatable = inst.GetTable("datatable");
+          // get the entry in "datatable" called "Y"
+          yEntry = datatable->GetEntry("Y");
+          // get the entry in "datatable" called "Out"
+          outEntry = datatable->GetEntry("Out");
+        }
+        void Periodic() {
+          // read a double value from Y, and set Out to that value multiplied by 2
+          double value = yEntry.GetDouble(0.0);  // default to 0
+          outEntry.SetDouble(value * 2);
+        }
+      };
+      ```
+
+      ```python
+      class Example:
+          def __init__(self):
+              inst = ntcore.NetworkTableInstance.getDefault()
+              # get the subtable called "datatable"
+              datatable = inst.getTable("datatable")
+              # get the entry in "datatable" called "Y"
+              self.yEntry = datatable.getEntry("Y")
+              # get the entry in "datatable" called "Out"
+              self.outEntry = datatable.getEntry("Out")
+          def periodic(self):
+              # read a double value from Y, and set Out to that value multiplied by 2
+              value = self.yEntry.getDouble(0.0)  # default to 0
+              self.outEntry.setDouble(value * 2)
+      ```
 
 Recommended NT4 equivalent (should be):
 
 .. tab-set-code::
 
-      .. code-block:: java
-
-          public class Example {
-            final DoubleSubscriber ySub;
-            final DoublePublisher outPub;
-
-            public Example() {
-              NetworkTableInstance inst = NetworkTableInstance.getDefault();
-
-              // get the subtable called "datatable"
-              NetworkTable datatable = inst.getTable("datatable");
-
-              // subscribe to the topic in "datatable" called "Y"
-              // default value is 0
-              ySub = datatable.getDoubleTopic("Y").subscribe(0.0);
-
-              // publish to the topic in "datatable" called "Out"
-              outPub = datatable.getDoubleTopic("Out").publish();
-            }
-
-            public void periodic() {
-              // read a double value from Y, and set Out to that value multiplied by 2
-              double value = ySub.get();
-              outPub.set(value * 2);
-            }
-
-            // often not required in robot code, unless this class doesn't exist for
-            // the lifetime of the entire robot program, in which case close() needs to be
-            // called to stop subscribing
-            public void close() {
-              ySub.close();
-              outPub.close();
-            }
-          }
-
-
-      .. code-block:: cpp
-
-          class Example {
-            nt::DoubleSubscriber ySub;
-            nt::DoublePublisher outPub;
-
-            public:
-            Example() {
-              nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-
-              // get the subtable called "datatable"
-              auto datatable = inst.GetTable("datatable");
-
-              // subscribe to the topic in "datatable" called "Y"
-              // default value is 0
-              ySub = datatable->GetDoubleTopic("Y").Subscribe(0.0);
-
-              // publish to the topic in "datatable" called "Out"
-              outPub = datatable->GetDoubleTopic("Out").Publish();
-            }
-
-            void Periodic() {
-              // read a double value from Y, and set Out to that value multiplied by 2
-              double value = ySub.Get();
-              outPub.Set(value * 2);
-            }
-          };
-
-
-      .. code-block:: python
-
-          class Example:
-              def __init__(self) -> None:
-                  inst = ntcore.NetworkTableInstance.getDefault()
-
-                  # get the subtable called "datatable"
-                  datatable = inst.getTable("datatable")
-
-                  # subscribe to the topic in "datatable" called "Y"
-                  # default value is 0
-                  self.ySub = datatable.getDoubleTopic("Y").subscribe(0.0)
-
-                  # publish to the topic in "datatable" called "Out"
-                  self.outPub = datatable.getDoubleTopic("Out").publish()
-
-              def periodic(self):
-                  # read a double value from Y, and set Out to that value multiplied by 2
-                  value = self.ySub.get()
-                  self.outPub.set(value * 2)
-
-              # often not required in robot code, unless this class doesn't exist for
-              # the lifetime of the entire robot program, in which case close() needs to be
-              # called to stop subscribing
-              def close(self):
-                  self.ySub.close()
-                  self.outPub.close()
-
-Shuffleboard
-------------
+      ```java
+      public class Example {
+        final DoubleSubscriber ySub;
+        final DoublePublisher outPub;
+        public Example() {
+          NetworkTableInstance inst = NetworkTableInstance.getDefault();
+          // get the subtable called "datatable"
+          NetworkTable datatable = inst.getTable("datatable");
+          // subscribe to the topic in "datatable" called "Y"
+          // default value is 0
+          ySub = datatable.getDoubleTopic("Y").subscribe(0.0);
+          // publish to the topic in "datatable" called "Out"
+          outPub = datatable.getDoubleTopic("Out").publish();
+        }
+        public void periodic() {
+          // read a double value from Y, and set Out to that value multiplied by 2
+          double value = ySub.get();
+          outPub.set(value * 2);
+        }
+        // often not required in robot code, unless this class doesn't exist for
+        // the lifetime of the entire robot program, in which case close() needs to be
+        // called to stop subscribing
+        public void close() {
+          ySub.close();
+          outPub.close();
+        }
+      }
+      ```
+
+      ```c++
+      class Example {
+        nt::DoubleSubscriber ySub;
+        nt::DoublePublisher outPub;
+       public:
+        Example() {
+          nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+          // get the subtable called "datatable"
+          auto datatable = inst.GetTable("datatable");
+          // subscribe to the topic in "datatable" called "Y"
+          // default value is 0
+          ySub = datatable->GetDoubleTopic("Y").Subscribe(0.0);
+          // publish to the topic in "datatable" called "Out"
+          outPub = datatable->GetDoubleTopic("Out").Publish();
+        }
+        void Periodic() {
+          // read a double value from Y, and set Out to that value multiplied by 2
+          double value = ySub.Get();
+          outPub.Set(value * 2);
+        }
+      };
+      ```
+
+      ```python
+      class Example:
+          def __init__(self) -> None:
+              inst = ntcore.NetworkTableInstance.getDefault()
+              # get the subtable called "datatable"
+              datatable = inst.getTable("datatable")
+              # subscribe to the topic in "datatable" called "Y"
+              # default value is 0
+              self.ySub = datatable.getDoubleTopic("Y").subscribe(0.0)
+              # publish to the topic in "datatable" called "Out"
+              self.outPub = datatable.getDoubleTopic("Out").publish()
+          def periodic(self):
+              # read a double value from Y, and set Out to that value multiplied by 2
+              value = self.ySub.get()
+              self.outPub.set(value * 2)
+          # often not required in robot code, unless this class doesn't exist for
+          # the lifetime of the entire robot program, in which case close() needs to be
+          # called to stop subscribing
+          def close(self):
+              self.ySub.close()
+              self.outPub.close()
+      ```
+
+## Shuffleboard
 
 In WPILib's Shuffleboard classes, usage of ``NetworkTableEntry`` has been replaced with use of ``GenericEntry``. In C++, since ``GenericEntry`` is non-copyable, return values now return a reference rather than a value.
 
-Force Set Operations
---------------------
+## Force Set Operations
 
 Force set operations have been removed, as it's no longer possible to change a topic's type once it's been published. In most cases calls to ``forceSet`` can simply be replaced with ``set``, but more complex scenarios may require a different design approach (e.g. splitting into different topics).
 
-Listeners
----------
+## Listeners
 
 The separate connection, value, and log listeners/events have been unified into a single listener/event. The NetworkTable-level listeners have also been removed. Listeners in many cases can be replaced with subscriber ``readQueue()`` calls, but if listeners are still required, they can be used via ``NetworkTableInstance`` (see :ref:`docs/software/networktables/listening-for-change:listening for changes` for more information).
 
-Client/Server Operations
-------------------------
+## Client/Server Operations
 
 Starting a NetworkTable server now requires specifying both the NT3 port and the NT4 port. For a NT4-only server, the NT3 port can be specified as 0.
 
 A NetworkTable client can only operate in NT3 mode or NT4 mode, not both (there is no provision for automatic fallback). As such, the ``startClient()`` call has been replaced by ``startClient3()`` and ``startClient4()``. The client must also specify a unique name for itself--the server will reject connection attempts with duplicate names.
 
-C++ Changes
------------
+## C++ Changes
 
 C++ values are now returned/used as value objects (plain ``nt::Value``) instead of shared pointers to them (``std::shared_ptr<nt::Value>``).
diff --git a/source/docs/software/networktables/publish-and-subscribe.rst b/source/docs/software/networktables/publish-and-subscribe.rst
index 6c81dbbe81..d5396ae040 100644
--- a/source/docs/software/networktables/publish-and-subscribe.rst
+++ b/source/docs/software/networktables/publish-and-subscribe.rst
@@ -1,12 +1,10 @@
-Publishing and Subscribing to a Topic
-=====================================
+# Publishing and Subscribing to a Topic
 
-Publishing to a Topic
----------------------
+## Publishing to a Topic
 
 In order to create a :term:`topic` and publish values to it, it's necessary to create a :term:`publisher`.
 
-NetworkTable publishers are represented as type-specific Publisher objects (e.g. ``BooleanPublisher``: `Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/BooleanPublisher.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_boolean_publisher.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/BooleanPublisher.html>`__). Publishers are only active as long as the Publisher object exists. Typically you want to keep publishing longer than the local scope of a function, so it's necessary to store the Publisher object somewhere longer term, e.g. in an instance variable. In Java, the ``close()`` method needs be called to stop publishing; in C++ this is handled by the destructor. C++ publishers are moveable and non-copyable. In Python the ``close()`` method should be called to stop publishing, but it will also be closed when the object is garbage collected.
+NetworkTable publishers are represented as type-specific Publisher objects (e.g. ``BooleanPublisher``: [Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/BooleanPublisher.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_boolean_publisher.html), :external:py:class:`Python <ntcore.BooleanPublisher>`). Publishers are only active as long as the Publisher object exists. Typically you want to keep publishing longer than the local scope of a function, so it's necessary to store the Publisher object somewhere longer term, e.g. in an instance variable. In Java, the ``close()`` method needs be called to stop publishing; in C++ this is handled by the destructor. C++ publishers are moveable and non-copyable. In Python the ``close()`` method should be called to stop publishing, but it will also be closed when the object is garbage collected.
 
 In the handle-based APIs, there is only the non-type-specific ``NT_Publisher`` handle; the user is responsible for keeping track of the type of the publisher and using the correct type-specific set methods.
 
@@ -17,226 +15,189 @@ Publishing values is done via a ``set()`` operation. By default, this operation
     .. tab-item:: Java
        :sync: Java
 
-        .. code-block:: java
-
-            public class Example {
-              // the publisher is an instance variable so its lifetime matches that of the class
-              final DoublePublisher dblPub;
-
-              public Example(DoubleTopic dblTopic) {
-                // start publishing; the return value must be retained (in this case, via
-                // an instance variable)
-                dblPub = dblTopic.publish();
-
-                // publish options may be specified using PubSubOption
-                dblPub = dblTopic.publish(PubSubOption.keepDuplicates(true));
-
-                // publishEx provides additional options such as setting initial
-                // properties and using a custom type string. Using a custom type string for
-                // types other than raw and string is not recommended. The properties string
-                // must be a JSON map.
-                dblPub = dblTopic.publishEx("double", "{\"myprop\": 5}");
-              }
-
-              public void periodic() {
-                // publish a default value
-                dblPub.setDefault(0.0);
-
-                // publish a value with current timestamp
-                dblPub.set(1.0);
-                dblPub.set(2.0, 0);  // 0 = use current time
-
-                // publish a value with a specific timestamp; NetworkTablesJNI.now() can
-                // be used to get the current time. On the roboRIO, this is the same as
-                // the FPGA timestamp (e.g. RobotController.getFPGATime())
-                long time = NetworkTablesJNI.now();
-                dblPub.set(3.0, time);
-
-                // publishers also implement the appropriate Consumer functional interface;
-                // this example assumes void myFunc(DoubleConsumer func) exists
-                myFunc(dblPub);
-              }
-
-              // often not required in robot code, unless this class doesn't exist for
-              // the lifetime of the entire robot program, in which case close() needs to be
-              // called to stop publishing
-              public void close() {
-                // stop publishing
-                dblPub.close();
-              }
-            }
+        ```java
+        public class Example {
+          // the publisher is an instance variable so its lifetime matches that of the class
+          final DoublePublisher dblPub;
+          public Example(DoubleTopic dblTopic) {
+            // start publishing; the return value must be retained (in this case, via
+            // an instance variable)
+            dblPub = dblTopic.publish();
+            // publish options may be specified using PubSubOption
+            dblPub = dblTopic.publish(PubSubOption.keepDuplicates(true));
+            // publishEx provides additional options such as setting initial
+            // properties and using a custom type string. Using a custom type string for
+            // types other than raw and string is not recommended. The properties string
+            // must be a JSON map.
+            dblPub = dblTopic.publishEx("double", "{\"myprop\": 5}");
+          }
+          public void periodic() {
+            // publish a default value
+            dblPub.setDefault(0.0);
+            // publish a value with current timestamp
+            dblPub.set(1.0);
+            dblPub.set(2.0, 0);  // 0 = use current time
+            // publish a value with a specific timestamp; NetworkTablesJNI.now() can
+            // be used to get the current time. On the roboRIO, this is the same as
+            // the FPGA timestamp (e.g. RobotController.getFPGATime())
+            long time = NetworkTablesJNI.now();
+            dblPub.set(3.0, time);
+            // publishers also implement the appropriate Consumer functional interface;
+            // this example assumes void myFunc(DoubleConsumer func) exists
+            myFunc(dblPub);
+          }
+          // often not required in robot code, unless this class doesn't exist for
+          // the lifetime of the entire robot program, in which case close() needs to be
+          // called to stop publishing
+          public void close() {
+            // stop publishing
+            dblPub.close();
+          }
+        }
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            class Example {
-              // the publisher is an instance variable so its lifetime matches that of the class
-              // publishing is automatically stopped when dblPub is destroyed by the class destructor
-              nt::DoublePublisher dblPub;
-
-             public:
-              explicit Example(nt::DoubleTopic dblTopic) {
-                // start publishing; the return value must be retained (in this case, via
-                // an instance variable)
-                dblPub = dblTopic.Publish();
-
-                // publish options may be specified using PubSubOptions
-                dblPub = dblTopic.Publish({.keepDuplicates = true});
-
-                // PublishEx provides additional options such as setting initial
-                // properties and using a custom type string. Using a custom type string for
-                // types other than raw and string is not recommended. The properties must
-                // be a JSON map.
-                dblPub = dblTopic.PublishEx("double", {{"myprop", 5}});
-              }
-
-              void Periodic() {
-                // publish a default value
-                dblPub.SetDefault(0.0);
-
-                // publish a value with current timestamp
-                dblPub.Set(1.0);
-                dblPub.Set(2.0, 0);  // 0 = use current time
-
-                // publish a value with a specific timestamp; nt::Now() can
-                // be used to get the current time.
-                int64_t time = nt::Now();
-                dblPub.Set(3.0, time);
-              }
-            };
+        ```c++
+        class Example {
+          // the publisher is an instance variable so its lifetime matches that of the class
+          // publishing is automatically stopped when dblPub is destroyed by the class destructor
+          nt::DoublePublisher dblPub;
+         public:
+          explicit Example(nt::DoubleTopic dblTopic) {
+            // start publishing; the return value must be retained (in this case, via
+            // an instance variable)
+            dblPub = dblTopic.Publish();
+            // publish options may be specified using PubSubOptions
+            dblPub = dblTopic.Publish({.keepDuplicates = true});
+            // PublishEx provides additional options such as setting initial
+            // properties and using a custom type string. Using a custom type string for
+            // types other than raw and string is not recommended. The properties must
+            // be a JSON map.
+            dblPub = dblTopic.PublishEx("double", {{"myprop", 5}});
+          }
+          void Periodic() {
+            // publish a default value
+            dblPub.SetDefault(0.0);
+            // publish a value with current timestamp
+            dblPub.Set(1.0);
+            dblPub.Set(2.0, 0);  // 0 = use current time
+            // publish a value with a specific timestamp; nt::Now() can
+            // be used to get the current time.
+            int64_t time = nt::Now();
+            dblPub.Set(3.0, time);
+          }
+        };
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            class Example {
-              // the publisher is an instance variable, but since it's a handle, it's
-              // not automatically released, so we need a destructor
-              NT_Publisher dblPub;
-
-             public:
-              explicit Example(NT_Topic dblTopic) {
-                // start publishing. It's recommended that the type string be standard
-                // for all types except string and raw.
-                dblPub = nt::Publish(dblTopic, NT_DOUBLE, "double");
-
-                // publish options may be specified using PubSubOptions
-                dblPub = nt::Publish(dblTopic, NT_DOUBLE, "double",
-                    {.keepDuplicates = true});
-
-                // PublishEx allows setting initial properties. The
-                // properties must be a JSON map.
-                dblPub = nt::PublishEx(dblTopic, NT_DOUBLE, "double", {{"myprop", 5}});
-              }
-
-              void Periodic() {
-                // publish a default value
-                nt::SetDefaultDouble(dblPub, 0.0);
-
-                // publish a value with current timestamp
-                nt::SetDouble(dblPub, 1.0);
-                nt::SetDouble(dblPub, 2.0, 0);  // 0 = use current time
-
-                // publish a value with a specific timestamp; nt::Now() can
-                // be used to get the current time.
-                int64_t time = nt::Now();
-                nt::SetDouble(dblPub, 3.0, time);
-              }
-
-              ~Example() {
-                // stop publishing
-                nt::Unpublish(dblPub);
-              }
-            };
-
-    .. tab-item:: C
-       :sync: C
-
-        .. code-block:: c
-
-            // This code assumes that a NT_Topic dblTopic variable already exists
-
+        ```c++
+        class Example {
+          // the publisher is an instance variable, but since it's a handle, it's
+          // not automatically released, so we need a destructor
+          NT_Publisher dblPub;
+         public:
+          explicit Example(NT_Topic dblTopic) {
             // start publishing. It's recommended that the type string be standard
             // for all types except string and raw.
-            NT_Publisher dblPub = NT_Publish(dblTopic, NT_DOUBLE, "double", NULL, 0);
-
-            // publish options may be specified
-            struct NT_PubSubOptions options;
-            memset(&options, 0, sizeof(options));
-            options.structSize = sizeof(options);
-            options.keepDuplicates = 1;  // true
-            NT_Publisher dblPub = NT_Publish(dblTopic, NT_DOUBLE, "double", &options);
-
-            // PublishEx allows setting initial properties. The properties string must
-            // be a JSON map.
-            NT_Publisher dblPub =
-                NT_PublishEx(dblTopic, NT_DOUBLE, "double", "{\"myprop\", 5}", NULL, 0);
-
+            dblPub = nt::Publish(dblTopic, NT_DOUBLE, "double");
+            // publish options may be specified using PubSubOptions
+            dblPub = nt::Publish(dblTopic, NT_DOUBLE, "double",
+                {.keepDuplicates = true});
+            // PublishEx allows setting initial properties. The
+            // properties must be a JSON map.
+            dblPub = nt::PublishEx(dblTopic, NT_DOUBLE, "double", {{"myprop", 5}});
+          }
+          void Periodic() {
             // publish a default value
-            NT_SetDefaultDouble(dblPub, 0.0);
-
+            nt::SetDefaultDouble(dblPub, 0.0);
             // publish a value with current timestamp
-            NT_SetDouble(dblPub, 1.0);
-            NT_SetDouble(dblPub, 2.0, 0);  // 0 = use current time
-
-            // publish a value with a specific timestamp; NT_Now() can
+            nt::SetDouble(dblPub, 1.0);
+            nt::SetDouble(dblPub, 2.0, 0);  // 0 = use current time
+            // publish a value with a specific timestamp; nt::Now() can
             // be used to get the current time.
-            int64_t time = NT_Now();
-            NT_SetDouble(dblPub, 3.0, time);
-
+            int64_t time = nt::Now();
+            nt::SetDouble(dblPub, 3.0, time);
+          }
+          ~Example() {
             // stop publishing
-            NT_Unpublish(dblPub);
+            nt::Unpublish(dblPub);
+          }
+        };
+        ```
 
-    .. tab-item:: Python
-     :sync: Python
-
-
-        .. code-block:: python
-
-            class Example:
-                def __init__(self, dblTopic: ntcore.DoubleTopic):
-
-                    # start publishing; the return value must be retained (in this case, via
-                    # an instance variable)
-                    self.dblPub = dblTopic.publish()
-
-                    # publish options may be specified using PubSubOption
-                    self.dblPub = dblTopic.publish(ntcore.PubSubOptions(keepDuplicates=True))
-
-                    # publishEx provides additional options such as setting initial
-                    # properties and using a custom type string. Using a custom type string for
-                    # types other than raw and string is not recommended. The properties string
-                    # must be a JSON map.
-                    self.dblPub = dblTopic.publishEx("double", '{"myprop": 5}')
-
-                def periodic(self):
-                    # publish a default value
-                    self.dblPub.setDefault(0.0)
-
-                    # publish a value with current timestamp
-                    self.dblPub.set(1.0)
-                    self.dblPub.set(2.0, 0)  # 0 = use current time
-
-                    # publish a value with a specific timestamp with microsecond resolution.
-                    # On the roboRIO, this is the same as the FPGA timestamp (e.g.
-                    # RobotController.getFPGATime())
-                    self.dblPub.set(3.0, ntcore._now())
+    .. tab-item:: C
+       :sync: C
 
-                # often not required in robot code, unless this class doesn't exist for
-                # the lifetime of the entire robot program, in which case close() needs to be
-                # called to stop publishing
-                def close(self):
-                    # stop publishing
-                    self.dblPub.close()
+        ```c
+        // This code assumes that a NT_Topic dblTopic variable already exists
+        // start publishing. It's recommended that the type string be standard
+        // for all types except string and raw.
+        NT_Publisher dblPub = NT_Publish(dblTopic, NT_DOUBLE, "double", NULL, 0);
+        // publish options may be specified
+        struct NT_PubSubOptions options;
+        memset(&options, 0, sizeof(options));
+        options.structSize = sizeof(options);
+        options.keepDuplicates = 1;  // true
+        NT_Publisher dblPub = NT_Publish(dblTopic, NT_DOUBLE, "double", &options);
+        // PublishEx allows setting initial properties. The properties string must
+        // be a JSON map.
+        NT_Publisher dblPub =
+            NT_PublishEx(dblTopic, NT_DOUBLE, "double", "{\"myprop\", 5}", NULL, 0);
+        // publish a default value
+        NT_SetDefaultDouble(dblPub, 0.0);
+        // publish a value with current timestamp
+        NT_SetDouble(dblPub, 1.0);
+        NT_SetDouble(dblPub, 2.0, 0);  // 0 = use current time
+        // publish a value with a specific timestamp; NT_Now() can
+        // be used to get the current time.
+        int64_t time = NT_Now();
+        NT_SetDouble(dblPub, 3.0, time);
+        // stop publishing
+        NT_Unpublish(dblPub);
+        ```
 
+    .. tab-item:: Python
+     :sync: Python
 
-Subscribing to a Topic
-----------------------
 
-A :term:`subscriber` receives value updates made to a topic. Similar to publishers, NetworkTable subscribers are represented as type-specific Subscriber classes (e.g. ``BooleanSubscriber``: `Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/BooleanSubscriber.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_boolean_subscriber.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/BooleanSubscriber.html>`__) that must be stored somewhere to continue subscribing.
+        ```python
+        class Example:
+            def __init__(self, dblTopic: ntcore.DoubleTopic):
+                # start publishing; the return value must be retained (in this case, via
+                # an instance variable)
+                self.dblPub = dblTopic.publish()
+                # publish options may be specified using PubSubOption
+                self.dblPub = dblTopic.publish(ntcore.PubSubOptions(keepDuplicates=True))
+                # publishEx provides additional options such as setting initial
+                # properties and using a custom type string. Using a custom type string for
+                # types other than raw and string is not recommended. The properties string
+                # must be a JSON map.
+                self.dblPub = dblTopic.publishEx("double", '{"myprop": 5}')
+            def periodic(self):
+                # publish a default value
+                self.dblPub.setDefault(0.0)
+                # publish a value with current timestamp
+                self.dblPub.set(1.0)
+                self.dblPub.set(2.0, 0)  # 0 = use current time
+                # publish a value with a specific timestamp with microsecond resolution.
+                # On the roboRIO, this is the same as the FPGA timestamp (e.g.
+                # RobotController.getFPGATime())
+                self.dblPub.set(3.0, ntcore._now())
+            # often not required in robot code, unless this class doesn't exist for
+            # the lifetime of the entire robot program, in which case close() needs to be
+            # called to stop publishing
+            def close(self):
+                # stop publishing
+                self.dblPub.close()
+        ```
+
+## Subscribing to a Topic
+
+A :term:`subscriber` receives value updates made to a topic. Similar to publishers, NetworkTable subscribers are represented as type-specific Subscriber classes (e.g. ``BooleanSubscriber``: [Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/BooleanSubscriber.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_boolean_subscriber.html), :external:py:class:`Python <ntcore.BooleanSubscriber>`) that must be stored somewhere to continue subscribing.
 
 Subscribers have a range of different ways to read received values. It's possible to just read the most recent value using ``get()``, read the most recent value, along with its timestamp, using ``getAtomic()``, or get an array of all value changes since the last call using ``readQueue()`` or ``readQueueValues()``.
 
@@ -245,932 +206,789 @@ Subscribers have a range of different ways to read received values. It's possibl
     .. tab-item:: Java
      :sync: Java
 
-        .. code-block:: java
-
-            public class Example {
-              // the subscriber is an instance variable so its lifetime matches that of the class
-              final DoubleSubscriber dblSub;
-
-              public Example(DoubleTopic dblTopic) {
-                // start subscribing; the return value must be retained.
-                // the parameter is the default value if no value is available when get() is called
-                dblSub = dblTopic.subscribe(0.0);
-
-                // subscribe options may be specified using PubSubOption
-                dblSub =
-                    dblTopic.subscribe(0.0, PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
-
-                // subscribeEx provides the options of using a custom type string.
-                // Using a custom type string for types other than raw and string is not recommended.
-                dblSub = dblTopic.subscribeEx("double", 0.0);
-              }
-
-              public void periodic() {
-                // simple get of most recent value; if no value has been published,
-                // returns the default value passed to the subscribe() function
-                double val = dblSub.get();
-
-                // get the most recent value; if no value has been published, returns
-                // the passed-in default value
-                double val = dblSub.get(-1.0);
-
-                // subscribers also implement the appropriate Supplier interface, e.g. DoubleSupplier
-                double val = dblSub.getAsDouble();
-
-                // get the most recent value, along with its timestamp
-                TimestampedDouble tsVal = dblSub.getAtomic();
-
-                // read all value changes since the last call to readQueue/readQueueValues
-                // readQueue() returns timestamps; readQueueValues() does not.
-                TimestampedDouble[] tsUpdates = dblSub.readQueue();
-                double[] valUpdates = dblSub.readQueueValues();
-              }
-
-              // often not required in robot code, unless this class doesn't exist for
-              // the lifetime of the entire robot program, in which case close() needs to be
-              // called to stop subscribing
-              public void close() {
-                // stop subscribing
-                dblSub.close();
-              }
-            }
+        ```java
+        public class Example {
+          // the subscriber is an instance variable so its lifetime matches that of the class
+          final DoubleSubscriber dblSub;
+          public Example(DoubleTopic dblTopic) {
+            // start subscribing; the return value must be retained.
+            // the parameter is the default value if no value is available when get() is called
+            dblSub = dblTopic.subscribe(0.0);
+            // subscribe options may be specified using PubSubOption
+            dblSub =
+                dblTopic.subscribe(0.0, PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
+            // subscribeEx provides the options of using a custom type string.
+            // Using a custom type string for types other than raw and string is not recommended.
+            dblSub = dblTopic.subscribeEx("double", 0.0);
+          }
+          public void periodic() {
+            // simple get of most recent value; if no value has been published,
+            // returns the default value passed to the subscribe() function
+            double val = dblSub.get();
+            // get the most recent value; if no value has been published, returns
+            // the passed-in default value
+            double val = dblSub.get(-1.0);
+            // subscribers also implement the appropriate Supplier interface, e.g. DoubleSupplier
+            double val = dblSub.getAsDouble();
+            // get the most recent value, along with its timestamp
+            TimestampedDouble tsVal = dblSub.getAtomic();
+            // read all value changes since the last call to readQueue/readQueueValues
+            // readQueue() returns timestamps; readQueueValues() does not.
+            TimestampedDouble[] tsUpdates = dblSub.readQueue();
+            double[] valUpdates = dblSub.readQueueValues();
+          }
+          // often not required in robot code, unless this class doesn't exist for
+          // the lifetime of the entire robot program, in which case close() needs to be
+          // called to stop subscribing
+          public void close() {
+            // stop subscribing
+            dblSub.close();
+          }
+        }
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            class Example {
-              // the subscriber is an instance variable so its lifetime matches that of the class
-              // subscribing is automatically stopped when dblSub is destroyed by the class destructor
-              nt::DoubleSubscriber dblSub;
-
-             public:
-              explicit Example(nt::DoubleTopic dblTopic) {
-                // start subscribing; the return value must be retained.
-                // the parameter is the default value if no value is available when get() is called
-                dblSub = dblTopic.Subscribe(0.0);
-
-                // subscribe options may be specified using PubSubOptions
-                dblSub =
-                    dblTopic.subscribe(0.0,
-                    {.pollStorage = 10, .keepDuplicates = true});
-
-                // SubscribeEx provides the options of using a custom type string.
-                // Using a custom type string for types other than raw and string is not recommended.
-                dblSub = dblTopic.SubscribeEx("double", 0.0);
-              }
-
-              void Periodic() {
-                // simple get of most recent value; if no value has been published,
-                // returns the default value passed to the Subscribe() function
-                double val = dblSub.Get();
-
-                // get the most recent value; if no value has been published, returns
-                // the passed-in default value
-                double val = dblSub.Get(-1.0);
-
-                // get the most recent value, along with its timestamp
-                nt::TimestampedDouble tsVal = dblSub.GetAtomic();
-
-                // read all value changes since the last call to ReadQueue/ReadQueueValues
-                // ReadQueue() returns timestamps; ReadQueueValues() does not.
-                std::vector<nt::TimestampedDouble> tsUpdates = dblSub.ReadQueue();
-                std::vector<double> valUpdates = dblSub.ReadQueueValues();
-              }
-            };
+        ```c++
+        class Example {
+          // the subscriber is an instance variable so its lifetime matches that of the class
+          // subscribing is automatically stopped when dblSub is destroyed by the class destructor
+          nt::DoubleSubscriber dblSub;
+         public:
+          explicit Example(nt::DoubleTopic dblTopic) {
+            // start subscribing; the return value must be retained.
+            // the parameter is the default value if no value is available when get() is called
+            dblSub = dblTopic.Subscribe(0.0);
+            // subscribe options may be specified using PubSubOptions
+            dblSub =
+                dblTopic.subscribe(0.0,
+                {.pollStorage = 10, .keepDuplicates = true});
+            // SubscribeEx provides the options of using a custom type string.
+            // Using a custom type string for types other than raw and string is not recommended.
+            dblSub = dblTopic.SubscribeEx("double", 0.0);
+          }
+          void Periodic() {
+            // simple get of most recent value; if no value has been published,
+            // returns the default value passed to the Subscribe() function
+            double val = dblSub.Get();
+            // get the most recent value; if no value has been published, returns
+            // the passed-in default value
+            double val = dblSub.Get(-1.0);
+            // get the most recent value, along with its timestamp
+            nt::TimestampedDouble tsVal = dblSub.GetAtomic();
+            // read all value changes since the last call to ReadQueue/ReadQueueValues
+            // ReadQueue() returns timestamps; ReadQueueValues() does not.
+            std::vector<nt::TimestampedDouble> tsUpdates = dblSub.ReadQueue();
+            std::vector<double> valUpdates = dblSub.ReadQueueValues();
+          }
+        };
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            class Example {
-              // the subscriber is an instance variable, but since it's a handle, it's
-              // not automatically released, so we need a destructor
-              NT_Subscriber dblSub;
-
-             public:
-              explicit Example(NT_Topic dblTopic) {
-                // start subscribing
-                // Using a custom type string for types other than raw and string is not recommended.
-                dblSub = nt::Subscribe(dblTopic, NT_DOUBLE, "double");
-
-                // subscribe options may be specified using PubSubOptions
-                dblSub =
-                    nt::Subscribe(dblTopic, NT_DOUBLE, "double",
-                    {.pollStorage = 10, .keepDuplicates = true});
-              }
-
-              void Periodic() {
-                // get the most recent value; if no value has been published, returns
-                // the passed-in default value
-                double val = nt::GetDouble(dblSub, 0.0);
-
-                // get the most recent value, along with its timestamp
-                nt::TimestampedDouble tsVal = nt::GetAtomic(dblSub, 0.0);
-
-                // read all value changes since the last call to ReadQueue/ReadQueueValues
-                // ReadQueue() returns timestamps; ReadQueueValues() does not.
-                std::vector<nt::TimestampedDouble> tsUpdates = nt::ReadQueueDouble(dblSub);
-                std::vector<double> valUpdates = nt::ReadQueueValuesDouble(dblSub);
-              }
-
-              ~Example() {
-                // stop subscribing
-                nt::Unsubscribe(dblSub);
-              }
-
-    .. tab-item:: C
-       :sync: C
-
-        .. code-block:: c
-
-            // This code assumes that a NT_Topic dblTopic variable already exists
-
+        ```c++
+        class Example {
+          // the subscriber is an instance variable, but since it's a handle, it's
+          // not automatically released, so we need a destructor
+          NT_Subscriber dblSub;
+         public:
+          explicit Example(NT_Topic dblTopic) {
             // start subscribing
             // Using a custom type string for types other than raw and string is not recommended.
-            NT_Subscriber dblSub = NT_Subscribe(dblTopic, NT_DOUBLE, "double", NULL, 0);
-
-            // subscribe options may be specified using NT_PubSubOptions
-            struct NT_PubSubOptions options;
-            memset(&options, 0, sizeof(options));
-            options.structSize = sizeof(options);
-            options.keepDuplicates = 1;  // true
-            options.pollStorage = 10;
-            NT_Subscriber dblSub = NT_Subscribe(dblTopic, NT_DOUBLE, "double", &options);
-
+            dblSub = nt::Subscribe(dblTopic, NT_DOUBLE, "double");
+            // subscribe options may be specified using PubSubOptions
+            dblSub =
+                nt::Subscribe(dblTopic, NT_DOUBLE, "double",
+                {.pollStorage = 10, .keepDuplicates = true});
+          }
+          void Periodic() {
             // get the most recent value; if no value has been published, returns
             // the passed-in default value
-            double val = NT_GetDouble(dblSub, 0.0);
-
+            double val = nt::GetDouble(dblSub, 0.0);
             // get the most recent value, along with its timestamp
-            struct NT_TimestampedDouble tsVal;
-            NT_GetAtomic(dblSub, 0.0, &tsVal);
-            NT_DisposeTimestamped(&tsVal);
-
+            nt::TimestampedDouble tsVal = nt::GetAtomic(dblSub, 0.0);
             // read all value changes since the last call to ReadQueue/ReadQueueValues
             // ReadQueue() returns timestamps; ReadQueueValues() does not.
-            size_t tsUpdatesLen;
-            struct NT_TimestampedDouble* tsUpdates = NT_ReadQueueDouble(dblSub, &tsUpdatesLen);
-            NT_FreeQueueDouble(tsUpdates, tsUpdatesLen);
+            std::vector<nt::TimestampedDouble> tsUpdates = nt::ReadQueueDouble(dblSub);
+            std::vector<double> valUpdates = nt::ReadQueueValuesDouble(dblSub);
+          }
+          ~Example() {
+            // stop subscribing
+            nt::Unsubscribe(dblSub);
+          }
+        ```
 
-            size_t valUpdatesLen;
-            double* valUpdates = NT_ReadQueueValuesDouble(dblSub, &valUpdatesLen);
-            NT_FreeDoubleArray(valUpdates, valUpdatesLen);
+    .. tab-item:: C
+       :sync: C
 
-            // stop subscribing
-            NT_Unsubscribe(dblSub);
+        ```c
+        // This code assumes that a NT_Topic dblTopic variable already exists
+        // start subscribing
+        // Using a custom type string for types other than raw and string is not recommended.
+        NT_Subscriber dblSub = NT_Subscribe(dblTopic, NT_DOUBLE, "double", NULL, 0);
+        // subscribe options may be specified using NT_PubSubOptions
+        struct NT_PubSubOptions options;
+        memset(&options, 0, sizeof(options));
+        options.structSize = sizeof(options);
+        options.keepDuplicates = 1;  // true
+        options.pollStorage = 10;
+        NT_Subscriber dblSub = NT_Subscribe(dblTopic, NT_DOUBLE, "double", &options);
+        // get the most recent value; if no value has been published, returns
+        // the passed-in default value
+        double val = NT_GetDouble(dblSub, 0.0);
+        // get the most recent value, along with its timestamp
+        struct NT_TimestampedDouble tsVal;
+        NT_GetAtomic(dblSub, 0.0, &tsVal);
+        NT_DisposeTimestamped(&tsVal);
+        // read all value changes since the last call to ReadQueue/ReadQueueValues
+        // ReadQueue() returns timestamps; ReadQueueValues() does not.
+        size_t tsUpdatesLen;
+        struct NT_TimestampedDouble* tsUpdates = NT_ReadQueueDouble(dblSub, &tsUpdatesLen);
+        NT_FreeQueueDouble(tsUpdates, tsUpdatesLen);
+        size_t valUpdatesLen;
+        double* valUpdates = NT_ReadQueueValuesDouble(dblSub, &valUpdatesLen);
+        NT_FreeDoubleArray(valUpdates, valUpdatesLen);
+        // stop subscribing
+        NT_Unsubscribe(dblSub);
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
-
-        .. code-block:: python
-
-            class Example:
-                def __init__(self, dblTopic: ntcore.DoubleTopic):
-
-                    # start subscribing; the return value must be retained.
-                    # the parameter is the default value if no value is available when get() is called
-                    self.dblSub = dblTopic.subscribe(0.0)
-
-                    # subscribe options may be specified using PubSubOption
-                    self.dblSub = dblTopic.subscribe(
-                        0.0, ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
-                    )
-
-                    # subscribeEx provides the options of using a custom type string.
-                    # Using a custom type string for types other than raw and string is not recommended.
-                    dblSub = dblTopic.subscribeEx("double", 0.0)
-
-                def periodic(self):
-                    # simple get of most recent value; if no value has been published,
-                    # returns the default value passed to the subscribe() function
-                    val = self.dblSub.get()
-
-                    # get the most recent value; if no value has been published, returns
-                    # the passed-in default value
-                    val = self.dblSub.get(-1.0)
-
-                    # get the most recent value, along with its timestamp
-                    tsVal = self.dblSub.getAtomic()
-
-                    # read all value changes since the last call to readQueue
-                    # readQueue() returns timestamps
-                    tsUpdates = self.dblSub.readQueue()
-
+        ```python
+        class Example:
+            def __init__(self, dblTopic: ntcore.DoubleTopic):
+                # start subscribing; the return value must be retained.
+                # the parameter is the default value if no value is available when get() is called
+                self.dblSub = dblTopic.subscribe(0.0)
+                # subscribe options may be specified using PubSubOption
+                self.dblSub = dblTopic.subscribe(
+                    0.0, ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
+                )
+                # subscribeEx provides the options of using a custom type string.
+                # Using a custom type string for types other than raw and string is not recommended.
+                dblSub = dblTopic.subscribeEx("double", 0.0)
+            def periodic(self):
+                # simple get of most recent value; if no value has been published,
+                # returns the default value passed to the subscribe() function
+                val = self.dblSub.get()
+                # get the most recent value; if no value has been published, returns
+                # the passed-in default value
+                val = self.dblSub.get(-1.0)
+                # get the most recent value, along with its timestamp
+                tsVal = self.dblSub.getAtomic()
+                # read all value changes since the last call to readQueue
+                # readQueue() returns timestamps
+                tsUpdates = self.dblSub.readQueue()
                 # often not required in robot code, unless this class doesn't exist for
-                # the lifetime of the entire robot program, in which case close() needs to be
-                # called to stop subscribing
-                def close(self):
-                    # stop subscribing
-                    self.dblSub.close()
+            # the lifetime of the entire robot program, in which case close() needs to be
+            # called to stop subscribing
+            def close(self):
+                # stop subscribing
+                self.dblSub.close()
+        ```
 
-Using Entry to Both Subscribe and Publish
------------------------------------------
+## Using Entry to Both Subscribe and Publish
 
-An :term:`entry` is a combined publisher and subscriber. The subscriber is always active, but the publisher is not created until a publish operation is performed (e.g. a value is "set", aka published, on the entry). This may be more convenient than maintaining a separate publisher and subscriber. Similar to publishers and subscribers, NetworkTable entries are represented as type-specific Entry classes (e.g. ``BooleanEntry``: `Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/BooleanEntry.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_boolean_entry.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/BooleanEntry.html>`__) that must be retained to continue subscribing (and publishing).
+An :term:`entry` is a combined publisher and subscriber. The subscriber is always active, but the publisher is not created until a publish operation is performed (e.g. a value is "set", aka published, on the entry). This may be more convenient than maintaining a separate publisher and subscriber. Similar to publishers and subscribers, NetworkTable entries are represented as type-specific Entry classes (e.g. ``BooleanEntry``: [Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/BooleanEntry.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_boolean_entry.html), :external:py:class:`Python <ntcore.BooleanEntry>`) that must be retained to continue subscribing (and publishing).
 
 .. tab-set::
 
     .. tab-item:: Java
        :sync: Java
 
-        .. code-block:: java
-
-            public class Example {
-              // the entry is an instance variable so its lifetime matches that of the class
-              final DoubleEntry dblEntry;
-
-              public Example(DoubleTopic dblTopic) {
-                // start subscribing; the return value must be retained.
-                // the parameter is the default value if no value is available when get() is called
-                dblEntry = dblTopic.getEntry(0.0);
-
-                // publish and subscribe options may be specified using PubSubOption
-                dblEntry =
-                    dblTopic.getEntry(0.0, PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
-
-                // getEntryEx provides the options of using a custom type string.
-                // Using a custom type string for types other than raw and string is not recommended.
-                dblEntry = dblTopic.getEntryEx("double", 0.0);
-              }
-
-              public void periodic() {
-                // entries support all the same methods as subscribers:
-                double val = dblEntry.get();
-                double val = dblEntry.get(-1.0);
-                double val = dblEntry.getAsDouble();
-                TimestampedDouble tsVal = dblEntry.getAtomic();
-                TimestampedDouble[] tsUpdates = dblEntry.readQueue();
-                double[] valUpdates = dblEntry.readQueueValues();
-
-                // entries also support all the same methods as publishers; the first time
-                // one of these is called, an internal publisher is automatically created
-                dblEntry.setDefault(0.0);
-                dblEntry.set(1.0);
-                dblEntry.set(2.0, 0);  // 0 = use current time
-                long time = NetworkTablesJNI.now();
-                dblEntry.set(3.0, time);
-                myFunc(dblEntry);
-              }
-
-              public void unpublish() {
-                // you can stop publishing while keeping the subscriber alive
-                dblEntry.unpublish();
-              }
-
-              // often not required in robot code, unless this class doesn't exist for
-              // the lifetime of the entire robot program, in which case close() needs to be
-              // called to stop subscribing
-              public void close() {
-                // stop subscribing/publishing
-                dblEntry.close();
-              }
-            }
+        ```java
+        public class Example {
+          // the entry is an instance variable so its lifetime matches that of the class
+          final DoubleEntry dblEntry;
+          public Example(DoubleTopic dblTopic) {
+            // start subscribing; the return value must be retained.
+            // the parameter is the default value if no value is available when get() is called
+            dblEntry = dblTopic.getEntry(0.0);
+            // publish and subscribe options may be specified using PubSubOption
+            dblEntry =
+                dblTopic.getEntry(0.0, PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
+            // getEntryEx provides the options of using a custom type string.
+            // Using a custom type string for types other than raw and string is not recommended.
+            dblEntry = dblTopic.getEntryEx("double", 0.0);
+          }
+          public void periodic() {
+            // entries support all the same methods as subscribers:
+            double val = dblEntry.get();
+            double val = dblEntry.get(-1.0);
+            double val = dblEntry.getAsDouble();
+            TimestampedDouble tsVal = dblEntry.getAtomic();
+            TimestampedDouble[] tsUpdates = dblEntry.readQueue();
+            double[] valUpdates = dblEntry.readQueueValues();
+            // entries also support all the same methods as publishers; the first time
+            // one of these is called, an internal publisher is automatically created
+            dblEntry.setDefault(0.0);
+            dblEntry.set(1.0);
+            dblEntry.set(2.0, 0);  // 0 = use current time
+            long time = NetworkTablesJNI.now();
+            dblEntry.set(3.0, time);
+            myFunc(dblEntry);
+          }
+          public void unpublish() {
+            // you can stop publishing while keeping the subscriber alive
+            dblEntry.unpublish();
+          }
+          // often not required in robot code, unless this class doesn't exist for
+          // the lifetime of the entire robot program, in which case close() needs to be
+          // called to stop subscribing
+          public void close() {
+            // stop subscribing/publishing
+            dblEntry.close();
+          }
+        }
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            class Example {
-              // the entry is an instance variable so its lifetime matches that of the class
-              // subscribing/publishing is automatically stopped when dblEntry is destroyed by
-              // the class destructor
-              nt::DoubleEntry dblEntry;
-
-             public:
-              explicit Example(nt::DoubleTopic dblTopic) {
-                // start subscribing; the return value must be retained.
-                // the parameter is the default value if no value is available when get() is called
-                dblEntry = dblTopic.GetEntry(0.0);
-
-                // publish and subscribe options may be specified using PubSubOptions
-                dblEntry =
-                    dblTopic.GetEntry(0.0,
-                    {.pollStorage = 10, .keepDuplicates = true});
-
-                // GetEntryEx provides the options of using a custom type string.
-                // Using a custom type string for types other than raw and string is not recommended.
-                dblEntry = dblTopic.GetEntryEx("double", 0.0);
-              }
-
-              void Periodic() {
-                // entries support all the same methods as subscribers:
-                double val = dblEntry.Get();
-                double val = dblEntry.Get(-1.0);
-                nt::TimestampedDouble tsVal = dblEntry.GetAtomic();
-                std::vector<nt::TimestampedDouble> tsUpdates = dblEntry.ReadQueue();
-                std::vector<double> valUpdates = dblEntry.ReadQueueValues();
-
-                // entries also support all the same methods as publishers; the first time
-                // one of these is called, an internal publisher is automatically created
-                dblEntry.SetDefault(0.0);
-                dblEntry.Set(1.0);
-                dblEntry.Set(2.0, 0);  // 0 = use current time
-                int64_t time = nt::Now();
-                dblEntry.Set(3.0, time);
-              }
-
-              void Unpublish() {
-                // you can stop publishing while keeping the subscriber alive
-                dblEntry.Unpublish();
-              }
-            };
+        ```c++
+        class Example {
+          // the entry is an instance variable so its lifetime matches that of the class
+          // subscribing/publishing is automatically stopped when dblEntry is destroyed by
+          // the class destructor
+          nt::DoubleEntry dblEntry;
+         public:
+          explicit Example(nt::DoubleTopic dblTopic) {
+            // start subscribing; the return value must be retained.
+            // the parameter is the default value if no value is available when get() is called
+            dblEntry = dblTopic.GetEntry(0.0);
+            // publish and subscribe options may be specified using PubSubOptions
+            dblEntry =
+                dblTopic.GetEntry(0.0,
+                {.pollStorage = 10, .keepDuplicates = true});
+            // GetEntryEx provides the options of using a custom type string.
+            // Using a custom type string for types other than raw and string is not recommended.
+            dblEntry = dblTopic.GetEntryEx("double", 0.0);
+          }
+          void Periodic() {
+            // entries support all the same methods as subscribers:
+            double val = dblEntry.Get();
+            double val = dblEntry.Get(-1.0);
+            nt::TimestampedDouble tsVal = dblEntry.GetAtomic();
+            std::vector<nt::TimestampedDouble> tsUpdates = dblEntry.ReadQueue();
+            std::vector<double> valUpdates = dblEntry.ReadQueueValues();
+            // entries also support all the same methods as publishers; the first time
+            // one of these is called, an internal publisher is automatically created
+            dblEntry.SetDefault(0.0);
+            dblEntry.Set(1.0);
+            dblEntry.Set(2.0, 0);  // 0 = use current time
+            int64_t time = nt::Now();
+            dblEntry.Set(3.0, time);
+          }
+          void Unpublish() {
+            // you can stop publishing while keeping the subscriber alive
+            dblEntry.Unpublish();
+          }
+        };
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            class Example {
-              // the entry is an instance variable, but since it's a handle, it's
-              // not automatically released, so we need a destructor
-              NT_Entry dblEntry;
-
-             public:
-              explicit Example(NT_Topic dblTopic) {
-                // start subscribing
-                // Using a custom type string for types other than raw and string is not recommended.
-                dblEntry = nt::GetEntry(dblTopic, NT_DOUBLE, "double");
-
-                // publish and subscribe options may be specified using PubSubOptions
-                dblEntry =
-                    nt::GetEntry(dblTopic, NT_DOUBLE, "double",
-                    {.pollStorage = 10, .keepDuplicates = true});
-              }
-
-              void Periodic() {
-                // entries support all the same methods as subscribers:
-                double val = nt::GetDouble(dblEntry, 0.0);
-                nt::TimestampedDouble tsVal = nt::GetAtomic(dblEntry, 0.0);
-                std::vector<nt::TimestampedDouble> tsUpdates = nt::ReadQueueDouble(dblEntry);
-                std::vector<double> valUpdates = nt::ReadQueueValuesDouble(dblEntry);
-
-                // entries also support all the same methods as publishers; the first time
-                // one of these is called, an internal publisher is automatically created
-                nt::SetDefaultDouble(dblPub, 0.0);
-                nt::SetDouble(dblPub, 1.0);
-                nt::SetDouble(dblPub, 2.0, 0);  // 0 = use current time
-                int64_t time = nt::Now();
-                nt::SetDouble(dblPub, 3.0, time);
-              }
-
-              void Unpublish() {
-                // you can stop publishing while keeping the subscriber alive
-                nt::Unpublish(dblEntry);
-              }
-
-              ~Example() {
-                // stop publishing and subscribing
-                nt::ReleaseEntry(dblEntry);
-              }
-
-    .. tab-item:: C
-       :sync: C
-
-        .. code-block:: c
-
-            // This code assumes that a NT_Topic dblTopic variable already exists
-
+        ```c++
+        class Example {
+          // the entry is an instance variable, but since it's a handle, it's
+          // not automatically released, so we need a destructor
+          NT_Entry dblEntry;
+         public:
+          explicit Example(NT_Topic dblTopic) {
             // start subscribing
             // Using a custom type string for types other than raw and string is not recommended.
-            NT_Entry dblEntry = NT_GetEntryEx(dblTopic, NT_DOUBLE, "double", NULL, 0);
-
-            // publish and subscribe options may be specified using NT_PubSubOptions
-            struct NT_PubSubOptions options;
-            memset(&options, 0, sizeof(options));
-            options.structSize = sizeof(options);
-            options.keepDuplicates = 1;  // true
-            options.pollStorage = 10;
-            NT_Entry dblEntry = NT_GetEntryEx(dblTopic, NT_DOUBLE, "double", &options);
-
+            dblEntry = nt::GetEntry(dblTopic, NT_DOUBLE, "double");
+            // publish and subscribe options may be specified using PubSubOptions
+            dblEntry =
+                nt::GetEntry(dblTopic, NT_DOUBLE, "double",
+                {.pollStorage = 10, .keepDuplicates = true});
+          }
+          void Periodic() {
             // entries support all the same methods as subscribers:
-            double val = NT_GetDouble(dblEntry, 0.0);
-
-            struct NT_TimestampedDouble tsVal;
-            NT_GetAtomic(dblEntry, 0.0, &tsVal);
-            NT_DisposeTimestamped(&tsVal);
-
-            size_t tsUpdatesLen;
-            struct NT_TimestampedDouble* tsUpdates = NT_ReadQueueDouble(dblEntry, &tsUpdatesLen);
-            NT_FreeQueueDouble(tsUpdates, tsUpdatesLen);
-
-            size_t valUpdatesLen;
-            double* valUpdates = NT_ReadQueueValuesDouble(dblEntry, &valUpdatesLen);
-            NT_FreeDoubleArray(valUpdates, valUpdatesLen);
-
+            double val = nt::GetDouble(dblEntry, 0.0);
+            nt::TimestampedDouble tsVal = nt::GetAtomic(dblEntry, 0.0);
+            std::vector<nt::TimestampedDouble> tsUpdates = nt::ReadQueueDouble(dblEntry);
+            std::vector<double> valUpdates = nt::ReadQueueValuesDouble(dblEntry);
             // entries also support all the same methods as publishers; the first time
             // one of these is called, an internal publisher is automatically created
-            NT_SetDefaultDouble(dblPub, 0.0);
-            NT_SetDouble(dblPub, 1.0);
-            NT_SetDouble(dblPub, 2.0, 0);  // 0 = use current time
-            int64_t time = NT_Now();
-            NT_SetDouble(dblPub, 3.0, time);
-
+            nt::SetDefaultDouble(dblPub, 0.0);
+            nt::SetDouble(dblPub, 1.0);
+            nt::SetDouble(dblPub, 2.0, 0);  // 0 = use current time
+            int64_t time = nt::Now();
+            nt::SetDouble(dblPub, 3.0, time);
+          }
+          void Unpublish() {
             // you can stop publishing while keeping the subscriber alive
-            // it's not necessary to call this before NT_ReleaseEntry()
-            NT_Unpublish(dblEntry);
+            nt::Unpublish(dblEntry);
+          }
+          ~Example() {
+            // stop publishing and subscribing
+            nt::ReleaseEntry(dblEntry);
+          }
+        ```
 
-            // stop subscribing
-            NT_ReleaseEntry(dblEntry);
+    .. tab-item:: C
+       :sync: C
+
+        ```c
+        // This code assumes that a NT_Topic dblTopic variable already exists
+        // start subscribing
+        // Using a custom type string for types other than raw and string is not recommended.
+        NT_Entry dblEntry = NT_GetEntryEx(dblTopic, NT_DOUBLE, "double", NULL, 0);
+        // publish and subscribe options may be specified using NT_PubSubOptions
+        struct NT_PubSubOptions options;
+        memset(&options, 0, sizeof(options));
+        options.structSize = sizeof(options);
+        options.keepDuplicates = 1;  // true
+        options.pollStorage = 10;
+        NT_Entry dblEntry = NT_GetEntryEx(dblTopic, NT_DOUBLE, "double", &options);
+        // entries support all the same methods as subscribers:
+        double val = NT_GetDouble(dblEntry, 0.0);
+        struct NT_TimestampedDouble tsVal;
+        NT_GetAtomic(dblEntry, 0.0, &tsVal);
+        NT_DisposeTimestamped(&tsVal);
+        size_t tsUpdatesLen;
+        struct NT_TimestampedDouble* tsUpdates = NT_ReadQueueDouble(dblEntry, &tsUpdatesLen);
+        NT_FreeQueueDouble(tsUpdates, tsUpdatesLen);
+        size_t valUpdatesLen;
+        double* valUpdates = NT_ReadQueueValuesDouble(dblEntry, &valUpdatesLen);
+        NT_FreeDoubleArray(valUpdates, valUpdatesLen);
+        // entries also support all the same methods as publishers; the first time
+        // one of these is called, an internal publisher is automatically created
+        NT_SetDefaultDouble(dblPub, 0.0);
+        NT_SetDouble(dblPub, 1.0);
+        NT_SetDouble(dblPub, 2.0, 0);  // 0 = use current time
+        int64_t time = NT_Now();
+        NT_SetDouble(dblPub, 3.0, time);
+        // you can stop publishing while keeping the subscriber alive
+        // it's not necessary to call this before NT_ReleaseEntry()
+        NT_Unpublish(dblEntry);
+        // stop subscribing
+        NT_ReleaseEntry(dblEntry);
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
 
-        .. code-block:: python
-
-            class Example:
-                def __init__(self, dblTopic: ntcore.DoubleTopic):
-
-                    # start subscribing; the return value must be retained.
-                    # the parameter is the default value if no value is available when get() is called
-                    self.dblEntry = dblTopic.getEntry(0.0)
-
-                    # publish and subscribe options may be specified using PubSubOption
-                    self.dblEntry = dblTopic.getEntry(
-                        0.0, ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
-                    )
-
-                    # getEntryEx provides the options of using a custom type string.
-                    # Using a custom type string for types other than raw and string is not recommended.
-                    self.dblEntry = dblTopic.getEntryEx("double", 0.0)
-
-                def periodic(self):
-                    # entries support all the same methods as subscribers:
-                    val = self.dblEntry.get()
-                    val = self.dblEntry.get(-1.0)
-                    val = self.dblEntry.getAsDouble()
-                    tsVal = self.dblEntry.getAtomic()
-                    tsUpdates = self.dblEntry.readQueue()
-
-                    # entries also support all the same methods as publishers; the first time
-                    # one of these is called, an internal publisher is automatically created
-                    self.dblEntry.setDefault(0.0)
-                    self.dblEntry.set(1.0)
-                    self.dblEntry.set(2.0, 0)  # 0 = use current time
-                    time = ntcore._now()
-                    self.dblEntry.set(3.0, time)
-
-                def unpublish(self):
-                    # you can stop publishing while keeping the subscriber alive
-                    self.dblEntry.unpublish()
-
-                # often not required in robot code, unless this class doesn't exist for
-                # the lifetime of the entire robot program, in which case close() needs to be
-                # called to stop subscribing
-                def close(self):
-                    # stop subscribing/publishing
-                    self.dblEntry.close()
-
-
-Using GenericEntry, GenericPublisher, and GenericSubscriber
------------------------------------------------------------
-
-For the most robust code, using the type-specific Publisher, Subscriber, and Entry classes is recommended, but in some cases it may be easier to write code that uses type-specific get and set function calls instead of having the NetworkTables type be exposed via the class (object) type. The ``GenericPublisher`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/GenericPublisher.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_generic_publisher.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/GenericPublisher.html>`__), ``GenericSubscriber`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/GenericSubscriber.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_generic_subscriber.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/GenericSubscriber.html>`__), and ``GenericEntry`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/GenericEntry.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_generic_entry.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/GenericEntry.html>`__) classes enable this approach.
+        ```python
+        class Example:
+            def __init__(self, dblTopic: ntcore.DoubleTopic):
+                # start subscribing; the return value must be retained.
+                # the parameter is the default value if no value is available when get() is called
+                self.dblEntry = dblTopic.getEntry(0.0)
+                # publish and subscribe options may be specified using PubSubOption
+                self.dblEntry = dblTopic.getEntry(
+                    0.0, ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
+                )
+                # getEntryEx provides the options of using a custom type string.
+                # Using a custom type string for types other than raw and string is not recommended.
+                self.dblEntry = dblTopic.getEntryEx("double", 0.0)
+            def periodic(self):
+                # entries support all the same methods as subscribers:
+                val = self.dblEntry.get()
+                val = self.dblEntry.get(-1.0)
+                val = self.dblEntry.getAsDouble()
+                tsVal = self.dblEntry.getAtomic()
+                tsUpdates = self.dblEntry.readQueue()
+                # entries also support all the same methods as publishers; the first time
+                # one of these is called, an internal publisher is automatically created
+                self.dblEntry.setDefault(0.0)
+                self.dblEntry.set(1.0)
+                self.dblEntry.set(2.0, 0)  # 0 = use current time
+                time = ntcore._now()
+                self.dblEntry.set(3.0, time)
+            def unpublish(self):
+                # you can stop publishing while keeping the subscriber alive
+                self.dblEntry.unpublish()
+            # often not required in robot code, unless this class doesn't exist for
+            # the lifetime of the entire robot program, in which case close() needs to be
+            # called to stop subscribing
+            def close(self):
+                # stop subscribing/publishing
+                self.dblEntry.close()
+        ```
+
+## Using GenericEntry, GenericPublisher, and GenericSubscriber
+
+For the most robust code, using the type-specific Publisher, Subscriber, and Entry classes is recommended, but in some cases it may be easier to write code that uses type-specific get and set function calls instead of having the NetworkTables type be exposed via the class (object) type. The ``GenericPublisher`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/GenericPublisher.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_generic_publisher.html), :external:py:class:[Python](ntcore.GenericPublisher>`), ``GenericSubscriber`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/GenericSubscriber.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_generic_subscriber.html), :external:py:class:[Python](ntcore.GenericSubscriber>`), and ``GenericEntry`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/GenericEntry.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_generic_entry.html), :external:py:class:`Python <ntcore.GenericEntry>`) classes enable this approach.
 
 .. tab-set::
 
     .. tab-item:: Java
      :sync: Java
 
-        .. code-block:: java
-
-            public class Example {
-              // the entry is an instance variable so its lifetime matches that of the class
-              final GenericPublisher pub;
-              final GenericSubscriber sub;
-              final GenericEntry entry;
-
-              public Example(Topic topic) {
-                // start subscribing; the return value must be retained.
-                // when publishing, a type string must be provided
-                pub = topic.genericPublish("double");
-
-                // subscribing can optionally include a type string
-                // unlike type-specific subscribers, no default value is provided
-                sub = topic.genericSubscribe();
-                sub = topic.genericSubscribe("double");
-
-                // when getting an entry, the type string is also optional; if not provided
-                // the publisher data type will be determined by the first publisher-creating call
-                entry = topic.getGenericEntry();
-                entry = topic.getGenericEntry("double");
-
-                // publish and subscribe options may be specified using PubSubOption
-                pub = topic.genericPublish("double",
-                    PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
-                sub =
-                    topic.genericSubscribe(PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
-                entry =
-                    topic.getGenericEntry(PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
-
-                // genericPublishEx provides the option of setting initial properties.
-                pub = topic.genericPublishEx("double", "{\"retained\": true}",
-                    PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
-              }
-
-              public void periodic() {
-                // generic subscribers and entries have typed get operations; a default must be provided
-                double val = sub.getDouble(-1.0);
-                double val = entry.getDouble(-1.0);
-
-                // they also support an untyped get (also meets Supplier<NetworkTableValue> interface)
-                NetworkTableValue val = sub.get();
-                NetworkTableValue val = entry.get();
-
-                // they also support readQueue
-                NetworkTableValue[] updates = sub.readQueue();
-                NetworkTableValue[] updates = entry.readQueue();
-
-                // publishers and entries have typed set operations; these return false if the
-                // topic already exists with a mismatched type
-                boolean success = pub.setDefaultDouble(1.0);
-                boolean success = pub.setBoolean(true);
-
-                // they also implement a generic set and Consumer<NetworkTableValue> interface
-                boolean success = entry.set(NetworkTableValue.makeDouble(...));
-                boolean success = entry.accept(NetworkTableValue.makeDouble(...));
-              }
-
-              public void unpublish() {
-                // you can stop publishing an entry while keeping the subscriber alive
-                entry.unpublish();
-              }
-
-              // often not required in robot code, unless this class doesn't exist for
-              // the lifetime of the entire robot program, in which case close() needs to be
-              // called to stop subscribing/publishing
-              public void close() {
-                pub.close();
-                sub.close();
-                entry.close();
-              }
-            }
+        ```java
+        public class Example {
+          // the entry is an instance variable so its lifetime matches that of the class
+          final GenericPublisher pub;
+          final GenericSubscriber sub;
+          final GenericEntry entry;
+          public Example(Topic topic) {
+            // start subscribing; the return value must be retained.
+            // when publishing, a type string must be provided
+            pub = topic.genericPublish("double");
+            // subscribing can optionally include a type string
+            // unlike type-specific subscribers, no default value is provided
+            sub = topic.genericSubscribe();
+            sub = topic.genericSubscribe("double");
+            // when getting an entry, the type string is also optional; if not provided
+            // the publisher data type will be determined by the first publisher-creating call
+            entry = topic.getGenericEntry();
+            entry = topic.getGenericEntry("double");
+            // publish and subscribe options may be specified using PubSubOption
+            pub = topic.genericPublish("double",
+                PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
+            sub =
+                topic.genericSubscribe(PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
+            entry =
+                topic.getGenericEntry(PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
+            // genericPublishEx provides the option of setting initial properties.
+            pub = topic.genericPublishEx("double", "{\"retained\": true}",
+                PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
+          }
+          public void periodic() {
+            // generic subscribers and entries have typed get operations; a default must be provided
+            double val = sub.getDouble(-1.0);
+            double val = entry.getDouble(-1.0);
+            // they also support an untyped get (also meets Supplier<NetworkTableValue> interface)
+            NetworkTableValue val = sub.get();
+            NetworkTableValue val = entry.get();
+            // they also support readQueue
+            NetworkTableValue[] updates = sub.readQueue();
+            NetworkTableValue[] updates = entry.readQueue();
+            // publishers and entries have typed set operations; these return false if the
+            // topic already exists with a mismatched type
+            boolean success = pub.setDefaultDouble(1.0);
+            boolean success = pub.setBoolean(true);
+            // they also implement a generic set and Consumer<NetworkTableValue> interface
+            boolean success = entry.set(NetworkTableValue.makeDouble(...));
+            boolean success = entry.accept(NetworkTableValue.makeDouble(...));
+          }
+          public void unpublish() {
+            // you can stop publishing an entry while keeping the subscriber alive
+            entry.unpublish();
+          }
+          // often not required in robot code, unless this class doesn't exist for
+          // the lifetime of the entire robot program, in which case close() needs to be
+          // called to stop subscribing/publishing
+          public void close() {
+            pub.close();
+            sub.close();
+            entry.close();
+          }
+        }
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            class Example {
-              // the entry is an instance variable so its lifetime matches that of the class
-              // subscribing/publishing is automatically stopped when dblEntry is destroyed by
-              // the class destructor
-              nt::GenericPublisher pub;
-              nt::GenericSubscriber sub;
-              nt::GenericEntry entry;
-
-             public:
-              Example(nt::Topic topic) {
-                // start subscribing; the return value must be retained.
-                // when publishing, a type string must be provided
-                pub = topic.GenericPublish("double");
-
-                // subscribing can optionally include a type string
-                // unlike type-specific subscribers, no default value is provided
-                sub = topic.GenericSubscribe();
-                sub = topic.GenericSubscribe("double");
-
-                // when getting an entry, the type string is also optional; if not provided
-                // the publisher data type will be determined by the first publisher-creating call
-                entry = topic.GetEntry();
-                entry = topic.GetEntry("double");
-
-                // publish and subscribe options may be specified using PubSubOptions
-                pub = topic.GenericPublish("double",
-                    {.pollStorage = 10, .keepDuplicates = true});
-                sub = topic.GenericSubscribe(
-                    {.pollStorage = 10, .keepDuplicates = true});
-                entry = topic.GetGenericEntry(
-                    {.pollStorage = 10, .keepDuplicates = true});
-
-                // genericPublishEx provides the option of setting initial properties.
-                pub = topic.genericPublishEx("double", {{"myprop", 5}},
-                    {.pollStorage = 10, .keepDuplicates = true});
-              }
-
-              void Periodic() {
-                // generic subscribers and entries have typed get operations; a default must be provided
-                double val = sub.GetDouble(-1.0);
-                double val = entry.GetDouble(-1.0);
-
-                // they also support an untyped get
-                nt::NetworkTableValue val = sub.Get();
-                nt::NetworkTableValue val = entry.Get();
-
-                // they also support readQueue
-                std::vector<nt::NetworkTableValue> updates = sub.ReadQueue();
-                std::vector<nt::NetworkTableValue> updates = entry.ReadQueue();
-
-                // publishers and entries have typed set operations; these return false if the
-                // topic already exists with a mismatched type
-                bool success = pub.SetDefaultDouble(1.0);
-                bool success = pub.SetBoolean(true);
-
-                // they also implement a generic set and Consumer<NetworkTableValue> interface
-                bool success = entry.Set(nt::NetworkTableValue::MakeDouble(...));
-              }
-
-              void Unpublish() {
-                // you can stop publishing an entry while keeping the subscriber alive
-                entry.Unpublish();
-              }
-            };
+        ```c++
+        class Example {
+          // the entry is an instance variable so its lifetime matches that of the class
+          // subscribing/publishing is automatically stopped when dblEntry is destroyed by
+          // the class destructor
+          nt::GenericPublisher pub;
+          nt::GenericSubscriber sub;
+          nt::GenericEntry entry;
+         public:
+          Example(nt::Topic topic) {
+            // start subscribing; the return value must be retained.
+            // when publishing, a type string must be provided
+            pub = topic.GenericPublish("double");
+            // subscribing can optionally include a type string
+            // unlike type-specific subscribers, no default value is provided
+            sub = topic.GenericSubscribe();
+            sub = topic.GenericSubscribe("double");
+            // when getting an entry, the type string is also optional; if not provided
+            // the publisher data type will be determined by the first publisher-creating call
+            entry = topic.GetEntry();
+            entry = topic.GetEntry("double");
+            // publish and subscribe options may be specified using PubSubOptions
+            pub = topic.GenericPublish("double",
+                {.pollStorage = 10, .keepDuplicates = true});
+            sub = topic.GenericSubscribe(
+                {.pollStorage = 10, .keepDuplicates = true});
+            entry = topic.GetGenericEntry(
+                {.pollStorage = 10, .keepDuplicates = true});
+            // genericPublishEx provides the option of setting initial properties.
+            pub = topic.genericPublishEx("double", {{"myprop", 5}},
+                {.pollStorage = 10, .keepDuplicates = true});
+          }
+          void Periodic() {
+            // generic subscribers and entries have typed get operations; a default must be provided
+            double val = sub.GetDouble(-1.0);
+            double val = entry.GetDouble(-1.0);
+            // they also support an untyped get
+            nt::NetworkTableValue val = sub.Get();
+            nt::NetworkTableValue val = entry.Get();
+            // they also support readQueue
+            std::vector<nt::NetworkTableValue> updates = sub.ReadQueue();
+            std::vector<nt::NetworkTableValue> updates = entry.ReadQueue();
+            // publishers and entries have typed set operations; these return false if the
+            // topic already exists with a mismatched type
+            bool success = pub.SetDefaultDouble(1.0);
+            bool success = pub.SetBoolean(true);
+            // they also implement a generic set and Consumer<NetworkTableValue> interface
+            bool success = entry.Set(nt::NetworkTableValue::MakeDouble(...));
+          }
+          void Unpublish() {
+            // you can stop publishing an entry while keeping the subscriber alive
+            entry.Unpublish();
+          }
+        };
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
 
-        .. code-block:: python
-
-            class Example:
-                def __init__(self, topic: ntcore.Topic):
-
-                    # start subscribing; the return value must be retained.
-                    # when publishing, a type string must be provided
-                    self.pub = topic.genericPublish("double")
-
-                    # subscribing can optionally include a type string
-                    # unlike type-specific subscribers, no default value is provided
-                    self.sub = topic.genericSubscribe()
-                    self.sub = topic.genericSubscribe("double")
-
-                    # when getting an entry, the type string is also optional; if not provided
-                    # the publisher data type will be determined by the first publisher-creating call
-                    self.entry = topic.getGenericEntry()
-                    self.entry = topic.getGenericEntry("double")
-
-                    # publish and subscribe options may be specified using PubSubOption
-                    self.pub = topic.genericPublish(
-                        "double", ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
-                    )
-                    self.sub = topic.genericSubscribe(
-                        ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
-                    )
-                    self.entry = topic.getGenericEntry(
-                        ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
-                    )
-
-                    # genericPublishEx provides the option of setting initial properties.
-                    self.pub = topic.genericPublishEx(
-                        "double",
-                        '{"retained": true}',
-                        ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10),
-                    )
-
-                def periodic(self):
-                    # generic subscribers and entries have typed get operations; a default must be provided
-                    val = self.sub.getDouble(-1.0)
-                    val = self.entry.getDouble(-1.0)
-
-                    # they also support an untyped get (also meets Supplier<NetworkTableValue> interface)
-                    val = self.sub.get()
-                    val = self.entry.get()
-
-                    # they also support readQueue
-                    updates = self.sub.readQueue()
-                    updates = self.entry.readQueue()
-
-                    # publishers and entries have typed set operations; these return false if the
-                    # topic already exists with a mismatched type
-                    success = self.pub.setDefaultDouble(1.0)
-                    success = self.pub.setBoolean(True)
-
-                    # they also implement a generic set
-                    success = self.entry.set(ntcore.Value.makeDouble(...))
-
-                def unpublish(self):
-                    # you can stop publishing an entry while keeping the subscriber alive
-                    self.entry.unpublish()
-
-                # often not required in robot code, unless this class doesn't exist for
-                # the lifetime of the entire robot program, in which case close() needs to be
-                # called to stop subscribing/publishing
-                def close(self):
-                    self.pub.close()
-                    self.sub.close()
-                    self.entry.close()
-
-Subscribing to Multiple Topics
-------------------------------
-
-While in most cases it's only necessary to subscribe to individual topics, it is sometimes useful (e.g. in dashboard applications) to subscribe and get value updates for changes to multiple topics. Listeners (see :ref:`docs/software/networktables/listening-for-change:listening for changes`) can be used directly, but creating a ``MultiSubscriber`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/MultiSubscriber.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_multi_subscriber.html>`__) allows specifying subscription options and reusing the same subscriber for multiple listeners.
+        ```python
+        class Example:
+            def __init__(self, topic: ntcore.Topic):
+                # start subscribing; the return value must be retained.
+                # when publishing, a type string must be provided
+                self.pub = topic.genericPublish("double")
+                # subscribing can optionally include a type string
+                # unlike type-specific subscribers, no default value is provided
+                self.sub = topic.genericSubscribe()
+                self.sub = topic.genericSubscribe("double")
+                # when getting an entry, the type string is also optional; if not provided
+                # the publisher data type will be determined by the first publisher-creating call
+                self.entry = topic.getGenericEntry()
+                self.entry = topic.getGenericEntry("double")
+                # publish and subscribe options may be specified using PubSubOption
+                self.pub = topic.genericPublish(
+                    "double", ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
+                )
+                self.sub = topic.genericSubscribe(
+                    ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
+                )
+                self.entry = topic.getGenericEntry(
+                    ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
+                )
+                # genericPublishEx provides the option of setting initial properties.
+                self.pub = topic.genericPublishEx(
+                    "double",
+                    '{"retained": true}',
+                    ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10),
+                )
+            def periodic(self):
+                # generic subscribers and entries have typed get operations; a default must be provided
+                val = self.sub.getDouble(-1.0)
+                val = self.entry.getDouble(-1.0)
+                # they also support an untyped get (also meets Supplier<NetworkTableValue> interface)
+                val = self.sub.get()
+                val = self.entry.get()
+                # they also support readQueue
+                updates = self.sub.readQueue()
+                updates = self.entry.readQueue()
+                # publishers and entries have typed set operations; these return false if the
+                # topic already exists with a mismatched type
+                success = self.pub.setDefaultDouble(1.0)
+                success = self.pub.setBoolean(True)
+                # they also implement a generic set
+                success = self.entry.set(ntcore.Value.makeDouble(...))
+            def unpublish(self):
+                # you can stop publishing an entry while keeping the subscriber alive
+                self.entry.unpublish()
+            # often not required in robot code, unless this class doesn't exist for
+            # the lifetime of the entire robot program, in which case close() needs to be
+            # called to stop subscribing/publishing
+            def close(self):
+                self.pub.close()
+                self.sub.close()
+                self.entry.close()
+        ```
+
+## Subscribing to Multiple Topics
+
+While in most cases it's only necessary to subscribe to individual topics, it is sometimes useful (e.g. in dashboard applications) to subscribe and get value updates for changes to multiple topics. Listeners (see :ref:`docs/software/networktables/listening-for-change:listening for changes`) can be used directly, but creating a ``MultiSubscriber`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/MultiSubscriber.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_multi_subscriber.html)) allows specifying subscription options and reusing the same subscriber for multiple listeners.
 
 .. tab-set::
 
     .. tab-item:: Java
        :sync: Java
 
-        .. code-block:: java
-
-            public class Example {
-              // the subscriber is an instance variable so its lifetime matches that of the class
-              final MultiSubscriber multiSub;
-              final NetworkTableListenerPoller poller;
-
-              public Example(NetworkTableInstance inst) {
-                // start subscribing; the return value must be retained.
-                // provide an array of topic name prefixes
-                multiSub = new MultiSubscriber(inst, new String[] {"/table1/", "/table2/"});
-
-                // subscribe options may be specified using PubSubOption
-                multiSub = new MultiSubscriber(inst, new String[] {"/table1/", "/table2/"},
-                    PubSubOption.keepDuplicates(true));
-
-                // to get value updates from a MultiSubscriber, it's necessary to create a listener
-                // (see the listener documentation for more details)
-                poller = new NetworkTableListenerPoller(inst);
-                poller.addListener(multiSub, EnumSet.of(NetworkTableEvent.Kind.kValueAll));
-              }
-
-              public void periodic() {
-                // read value events
-                NetworkTableEvent[] events = poller.readQueue();
-
-                for (NetworkTableEvent event : events) {
-                  NetworkTableValue value = event.valueData.value;
-                }
-              }
-
-              // often not required in robot code, unless this class doesn't exist for
-              // the lifetime of the entire robot program, in which case close() needs to be
-              // called to stop subscribing
-              public void close() {
-                // close listener
-                poller.close();
-                // stop subscribing
-                multiSub.close();
-              }
+        ```java
+        public class Example {
+          // the subscriber is an instance variable so its lifetime matches that of the class
+          final MultiSubscriber multiSub;
+          final NetworkTableListenerPoller poller;
+          public Example(NetworkTableInstance inst) {
+            // start subscribing; the return value must be retained.
+            // provide an array of topic name prefixes
+            multiSub = new MultiSubscriber(inst, new String[] {"/table1/", "/table2/"});
+            // subscribe options may be specified using PubSubOption
+            multiSub = new MultiSubscriber(inst, new String[] {"/table1/", "/table2/"},
+                PubSubOption.keepDuplicates(true));
+            // to get value updates from a MultiSubscriber, it's necessary to create a listener
+            // (see the listener documentation for more details)
+            poller = new NetworkTableListenerPoller(inst);
+            poller.addListener(multiSub, EnumSet.of(NetworkTableEvent.Kind.kValueAll));
+          }
+          public void periodic() {
+            // read value events
+            NetworkTableEvent[] events = poller.readQueue();
+            for (NetworkTableEvent event : events) {
+              NetworkTableValue value = event.valueData.value;
             }
+          }
+          // often not required in robot code, unless this class doesn't exist for
+          // the lifetime of the entire robot program, in which case close() needs to be
+          // called to stop subscribing
+          public void close() {
+            // close listener
+            poller.close();
+            // stop subscribing
+            multiSub.close();
+          }
+        }
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            class Example {
-              // the subscriber is an instance variable so its lifetime matches that of the class
-              // subscribing is automatically stopped when multiSub is destroyed by the class destructor
-              nt::MultiSubscriber multiSub;
-              nt::NetworkTableListenerPoller poller;
-
-             public:
-              explicit Example(nt::NetworkTableInstance inst) {
-                // start subscribing; the return value must be retained.
-                // provide an array of topic name prefixes
-                multiSub = nt::MultiSubscriber{inst, {{"/table1/", "/table2/"}}};
-
-                // subscribe options may be specified using PubSubOption
-                multiSub = nt::MultiSubscriber{inst, {{"/table1/", "/table2/"}},
-                    {.keepDuplicates = true}};
-
-                // to get value updates from a MultiSubscriber, it's necessary to create a listener
-                // (see the listener documentation for more details)
-                poller = nt::NetworkTableListenerPoller{inst};
-                poller.AddListener(multiSub, nt::EventFlags::kValueAll);
-              }
-
-              void Periodic() {
-                // read value events
-                std::vector<nt::Event> events = poller.ReadQueue();
-
-                for (auto&& event : events) {
-                  nt::NetworkTableValue value = event.GetValueEventData()->value;
-                }
-              }
-            };
+        ```c++
+        class Example {
+          // the subscriber is an instance variable so its lifetime matches that of the class
+          // subscribing is automatically stopped when multiSub is destroyed by the class destructor
+          nt::MultiSubscriber multiSub;
+          nt::NetworkTableListenerPoller poller;
+         public:
+          explicit Example(nt::NetworkTableInstance inst) {
+            // start subscribing; the return value must be retained.
+            // provide an array of topic name prefixes
+            multiSub = nt::MultiSubscriber{inst, {{"/table1/", "/table2/"}}};
+            // subscribe options may be specified using PubSubOption
+            multiSub = nt::MultiSubscriber{inst, {{"/table1/", "/table2/"}},
+                {.keepDuplicates = true}};
+            // to get value updates from a MultiSubscriber, it's necessary to create a listener
+            // (see the listener documentation for more details)
+            poller = nt::NetworkTableListenerPoller{inst};
+            poller.AddListener(multiSub, nt::EventFlags::kValueAll);
+          }
+          void Periodic() {
+            // read value events
+            std::vector<nt::Event> events = poller.ReadQueue();
+            for (auto&& event : events) {
+              nt::NetworkTableValue value = event.GetValueEventData()->value;
+            }
+          }
+        };
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            class Example {
-              // the subscriber is an instance variable, but since it's a handle, it's
-              // not automatically released, so we need a destructor
-              NT_MultiSubscriber multiSub;
-              NT_ListenerPoller poller;
-
-             public:
-              explicit Example(NT_Inst inst) {
-                // start subscribing; the return value must be retained.
-                // provide an array of topic name prefixes
-                multiSub = nt::SubscribeMultiple(inst, {{"/table1/", "/table2/"}});
-
-                // subscribe options may be specified using PubSubOption
-                multiSub = nt::SubscribeMultiple(inst, {{"/table1/", "/table2/"}},
-                    {.keepDuplicates = true});
-
-                // to get value updates from a MultiSubscriber, it's necessary to create a listener
-                // (see the listener documentation for more details)
-                poller = nt::CreateListenerPoller(inst);
-                nt::AddPolledListener(poller, multiSub, nt::EventFlags::kValueAll);
-              }
-
-              void Periodic() {
-                // read value events
-                std::vector<nt::Event> events = nt::ReadListenerQueue(poller);
-
-                for (auto&& event : events) {
-                  nt::NetworkTableValue value = event.GetValueEventData()->value;
-                }
-              }
-
-              ~Example() {
-                // close listener
-                nt::DestroyListenerPoller(poller);
-                // stop subscribing
-                nt::UnsubscribeMultiple(multiSub);
-              }
-
-    .. tab-item:: C
-       :sync: C
-
-        .. code-block:: c
-
-            // This code assumes that a NT_Inst inst variable already exists
-
-            // start subscribing
+        ```c++
+        class Example {
+          // the subscriber is an instance variable, but since it's a handle, it's
+          // not automatically released, so we need a destructor
+          NT_MultiSubscriber multiSub;
+          NT_ListenerPoller poller;
+         public:
+          explicit Example(NT_Inst inst) {
+            // start subscribing; the return value must be retained.
             // provide an array of topic name prefixes
-            struct NT_String prefixes[2];
-            prefixes[0].str = "/table1/";
-            prefixes[0].len = 8;
-            prefixes[1].str = "/table2/";
-            prefixes[1].len = 8;
-            NT_MultiSubscriber multiSub = NT_SubscribeMultiple(inst, prefixes, 2, NULL, 0);
-
-            // subscribe options may be specified using NT_PubSubOptions
-            struct NT_PubSubOptions options;
-            memset(&options, 0, sizeof(options));
-            options.structSize = sizeof(options);
-            options.keepDuplicates = 1;  // true
-            NT_MultiSubscriber multiSub = NT_SubscribeMultiple(inst, prefixes, 2, &options);
-
+            multiSub = nt::SubscribeMultiple(inst, {{"/table1/", "/table2/"}});
+            // subscribe options may be specified using PubSubOption
+            multiSub = nt::SubscribeMultiple(inst, {{"/table1/", "/table2/"}},
+                {.keepDuplicates = true});
             // to get value updates from a MultiSubscriber, it's necessary to create a listener
             // (see the listener documentation for more details)
-            NT_ListenerPoller poller = NT_CreateListenerPoller(inst);
-            NT_AddPolledListener(poller, multiSub, NT_EVENT_VALUE_ALL);
-
+            poller = nt::CreateListenerPoller(inst);
+            nt::AddPolledListener(poller, multiSub, nt::EventFlags::kValueAll);
+          }
+          void Periodic() {
             // read value events
-            size_t eventsLen;
-            struct NT_Event* events = NT_ReadListenerQueue(poller, &eventsLen);
-
-            for (size_t i = 0; i < eventsLen; i++) {
-              NT_Value* value = &events[i].data.valueData.value;
+            std::vector<nt::Event> events = nt::ReadListenerQueue(poller);
+            for (auto&& event : events) {
+              nt::NetworkTableValue value = event.GetValueEventData()->value;
             }
-
-            NT_DisposeEventArray(events, eventsLen);
-
+          }
+          ~Example() {
             // close listener
-            NT_DestroyListenerPoller(poller);
+            nt::DestroyListenerPoller(poller);
             // stop subscribing
-            NT_UnsubscribeMultiple(multiSub);
+            nt::UnsubscribeMultiple(multiSub);
+          }
+        ```
 
-    .. tab-item:: Python
-     :sync: Python
-
-
-        .. code-block:: python
-
-            class Example:
-                def __init__(self, inst: ntcore.NetworkTableInstance):
-
-                    # start subscribing; the return value must be retained.
-                    # provide an array of topic name prefixes
-                    self.multiSub = ntcore.MultiSubscriber(inst, ["/table1/", "/table2/"])
-
-                    # subscribe options may be specified using PubSubOption
-                    self.multiSub = ntcore.MultiSubscriber(
-                        inst, ["/table1/", "/table2/"], ntcore.PubSubOptions(keepDuplicates=True)
-                    )
-
-                    # to get value updates from a MultiSubscriber, it's necessary to create a listener
-                    # (see the listener documentation for more details)
-                    self.poller = ntcore.NetworkTableListenerPoller(inst)
-                    self.poller.addListener(self.multiSub, ntcore.EventFlags.kValueAlls)
+    .. tab-item:: C
+       :sync: C
 
-                def periodic(self):
-                    # read value events
-                    events = self.poller.readQueue()
+        ```c
+        // This code assumes that a NT_Inst inst variable already exists
+        // start subscribing
+        // provide an array of topic name prefixes
+        struct NT_String prefixes[2];
+        prefixes[0].str = "/table1/";
+        prefixes[0].len = 8;
+        prefixes[1].str = "/table2/";
+        prefixes[1].len = 8;
+        NT_MultiSubscriber multiSub = NT_SubscribeMultiple(inst, prefixes, 2, NULL, 0);
+        // subscribe options may be specified using NT_PubSubOptions
+        struct NT_PubSubOptions options;
+        memset(&options, 0, sizeof(options));
+        options.structSize = sizeof(options);
+        options.keepDuplicates = 1;  // true
+        NT_MultiSubscriber multiSub = NT_SubscribeMultiple(inst, prefixes, 2, &options);
+        // to get value updates from a MultiSubscriber, it's necessary to create a listener
+        // (see the listener documentation for more details)
+        NT_ListenerPoller poller = NT_CreateListenerPoller(inst);
+        NT_AddPolledListener(poller, multiSub, NT_EVENT_VALUE_ALL);
+        // read value events
+        size_t eventsLen;
+        struct NT_Event* events = NT_ReadListenerQueue(poller, &eventsLen);
+        for (size_t i = 0; i < eventsLen; i++) {
+          NT_Value* value = &events[i].data.valueData.value;
+        }
+        NT_DisposeEventArray(events, eventsLen);
+        // close listener
+        NT_DestroyListenerPoller(poller);
+        // stop subscribing
+        NT_UnsubscribeMultiple(multiSub);
+        ```
 
-                    for event in events:
-                        value: ntcore.Value = event.data.value
+    .. tab-item:: Python
+     :sync: Python
 
-                # often not required in robot code, unless this class doesn't exist for
-                # the lifetime of the entire robot program, in which case close() needs to be
-                # called to stop subscribing
-                def close(self):
-                    # close listener
-                    self.poller.close()
-                    # stop subscribing
-                    self.multiSub.close()
 
-Publish/Subscribe Options
--------------------------
+        ```python
+        class Example:
+            def __init__(self, inst: ntcore.NetworkTableInstance):
+                # start subscribing; the return value must be retained.
+                # provide an array of topic name prefixes
+                self.multiSub = ntcore.MultiSubscriber(inst, ["/table1/", "/table2/"])
+                # subscribe options may be specified using PubSubOption
+                self.multiSub = ntcore.MultiSubscriber(
+                    inst, ["/table1/", "/table2/"], ntcore.PubSubOptions(keepDuplicates=True)
+                )
+                # to get value updates from a MultiSubscriber, it's necessary to create a listener
+                # (see the listener documentation for more details)
+                self.poller = ntcore.NetworkTableListenerPoller(inst)
+                self.poller.addListener(self.multiSub, ntcore.EventFlags.kValueAlls)
+            def periodic(self):
+                # read value events
+                events = self.poller.readQueue()
+                for event in events:
+                    value: ntcore.Value = event.data.value
+            # often not required in robot code, unless this class doesn't exist for
+            # the lifetime of the entire robot program, in which case close() needs to be
+            # called to stop subscribing
+            def close(self):
+                # close listener
+                self.poller.close()
+                # stop subscribing
+                self.multiSub.close()
+        ```
+
+## Publish/Subscribe Options
 
 Publishers and subscribers have various options that affect their behavior. Options can only be set at the creation of the publisher, subscriber, or entry. Options set on an entry affect both the publisher and subscriber portions of the entry. The above examples show how options can be set when creating a publisher or subscriber.
 
@@ -1198,9 +1016,8 @@ Entry options:
 
 - ``excludeSelf``: Provides the same behavior as ``excludePublisher`` for the entry's internal publisher. Defaults to false.
 
-NetworkTableEntry
------------------
+## NetworkTableEntry
 
-``NetworkTableEntry`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/NetworkTableEntry.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_network_table_entry.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/NetworkTableEntry.html>`__) is a class that exists for backwards compatibility. New code should prefer using type-specific Publisher and Subscriber classes, or GenericEntry if non-type-specific access is needed.
+``NetworkTableEntry`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/NetworkTableEntry.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_network_table_entry.html), :external:py:class:`Python <ntcore.NetworkTableEntry>`) is a class that exists for backwards compatibility. New code should prefer using type-specific Publisher and Subscriber classes, or GenericEntry if non-type-specific access is needed.
 
 It is similar to ``GenericEntry`` in that it supports both publishing and subscribing in a single object. However, unlike ``GenericEntry``, ``NetworkTableEntry`` is not released (e.g. unsubscribes/unpublishes) if ``close()`` is called (in Java) or the object is destroyed (in C++); instead, it operates similar to ``Topic``, in that only a single ``NetworkTableEntry`` exists for each topic and it lasts for the lifetime of the instance.
diff --git a/source/docs/software/networktables/reading-array-values-published-by-networktables.rst b/source/docs/software/networktables/reading-array-values-published-by-networktables.rst
index d1c0e426b4..6683323a8a 100644
--- a/source/docs/software/networktables/reading-array-values-published-by-networktables.rst
+++ b/source/docs/software/networktables/reading-array-values-published-by-networktables.rst
@@ -1,79 +1,65 @@
-Reading Array Values Published by NetworkTables
-===============================================
+# Reading Array Values Published by NetworkTables
 This article describes how to read values published by :term:`NetworkTables` using a program running on the robot. This is useful when using computer vision where the images are processed on your driver station laptop and the results stored into NetworkTables possibly using a separate vision processor like a raspberry pi, or a tool on the robot like a python program to do the image processing.
 
 Very often the values are for one or more areas of interest such as goals or game pieces and multiple instances are returned. In the example below, several x, y, width, height, and areas are returned by the image processor and the robot program can sort out which of the returned values are interesting through further processing.
 
-Verify the NetworkTables Topics Being Published
------------------------------------------------
+## Verify the NetworkTables Topics Being Published
 
 .. image:: images/reading-array-values-published-by-networktables-1.png
    :alt: Image of OutlineViewer with the NetworkTables topics
 
-You can verify the names of the NetworkTables topics used for publishing the values by using the Outline Viewer application. It is a C++ program in your user directory in the wpilib/<YEAR>/tools folder. The application is started by selecting the "WPILib" menu in Visual Studio Code then Start Tool then "OutlineViewer". In this example, with the image processing program running (GRIP) you can see the values being put into NetworkTables.
+You can verify the names of the NetworkTables topics used for publishing the values by using the Outline Viewer application. It is a C++ program in your user directory in the wpilib/<YEAR>/tools folder. The application is started by selecting the "WPILib" menu in Visual Studio Code then Start Tool then "OutlineViewer".
 
 In this case the values are stored in a table called GRIP and a sub-table called myContoursReport. You can see that the values are in brackets and there are 2 values in this case for each topic. The NetworkTables topic names are centerX, centerY, area, height and width.
 
 Both of the following examples are extremely simplified programs that just illustrate the use of NetworkTables. All the code is in the robotInit() method so it's only run when the program starts up. In your programs, you would more likely get the values in code that is evaluating which direction to aim the robot in a command or a control loop during the autonomous or teleop periods.
 
-Writing a Program to Access the Topics
---------------------------------------
+## Writing a Program to Access the Topics
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      DoubleArraySubscriber areasSub;
-
-      @Override
-      public void robotInit() {
-        NetworkTable table = NetworkTableInstance.getDefault().getTable("GRIP/mycontoursReport");
-        areasSub = table.getDoubleArrayTopic("area").subscribe(new double[] {});
-      }
-
-      @Override
-      public void teleopPeriodic() {
-          double[] areas = areasSub.get();
-
-          System.out.print("areas: " );
-
-          for (double area : areas) {
-            System.out.print(area + " ");
-          }
-
-          System.out.println();
-      }
-
-   .. code-block:: cpp
-
-      nt::DoubleArraySubscriber areasSub;
-
-      void Robot::RobotInit() override {
-        auto table = nt::NetworkTableInstance::GetDefault().GetTable("GRIP/myContoursReport");
-        areasSub = table->GetDoubleArrayTopic("area").Subscribe({});
-      }
-
-      void Robot::TeleopPeriodic() override {
-        std::cout << "Areas: ";
-
-        std::vector<double> arr = areasSub.Get();
-
-        for (double val : arr) {
-          std::cout << val << " ";
-        }
-
-        std::cout << std::endl;
-      }
-
-   .. code-block:: python
-
-        def robotInit(self):
-            table = ntcore.NetworkTableInstance.getDefault().getTable("GRIP/mycontoursReport")
-            self.areasSub = table.getDoubleArrayTopic("area").subscribe([])
-
-        def teleopPeriodic(self):
-            areas = self.areasSub.get()
-            print("Areas:", areas)
+   ```java
+   DoubleArraySubscriber areasSub;
+   @Override
+   public void robotInit() {
+     NetworkTable table = NetworkTableInstance.getDefault().getTable("GRIP/mycontoursReport");
+     areasSub = table.getDoubleArrayTopic("area").subscribe(new double[] {});
+   }
+   @Override
+   public void teleopPeriodic() {
+     double[] areas = areasSub.get();
+     System.out.print("areas: " );
+     for (double area : areas) {
+       System.out.print(area + " ");
+     }
+     System.out.println();
+   }
+   ```
+
+   ```c++
+   nt::DoubleArraySubscriber areasSub;
+   void Robot::RobotInit() override {
+     auto table = nt::NetworkTableInstance::GetDefault().GetTable("GRIP/myContoursReport");
+     areasSub = table->GetDoubleArrayTopic("area").Subscribe({});
+   }
+   void Robot::TeleopPeriodic() override {
+     std::cout << "Areas: ";
+     std::vector<double> arr = areasSub.Get();
+     for (double val : arr) {
+       std::cout << val << " ";
+     }
+     std::cout << std::endl;
+   }
+   ```
+
+   ```python
+   def robotInit(self):
+       table = ntcore.NetworkTableInstance.getDefault().getTable("GRIP/mycontoursReport")
+       self.areasSub = table.getDoubleArrayTopic("area").subscribe([])
+   def teleopPeriodic(self):
+       areas = self.areasSub.get()
+       print("Areas:", areas)
+   ```
 
 The steps to getting the values and, in this program, printing them are:
 
@@ -81,8 +67,7 @@ The steps to getting the values and, in this program, printing them are:
 2.  Initialize the subtable instance so that it can be used later for retrieving the values.
 3.  Read the array of values from NetworkTables. In the case of a communicating programs, it's possible that the program producing the output being read here might not yet be available when the robot program starts up. To avoid issues of the data not being ready, a default array of values is supplied. This default value will be returned if the NetworkTables topic hasn't yet been published. This code will loop over the value of areas every 20ms.
 
-Program Output
---------------
+## Program Output
 
 .. image:: images/reading-array-values-published-by-networktables-2.png
    :alt: Image of Riolog showing the values
diff --git a/source/docs/software/networktables/robot-program.rst b/source/docs/software/networktables/robot-program.rst
index e8300a2e32..b8d52203db 100644
--- a/source/docs/software/networktables/robot-program.rst
+++ b/source/docs/software/networktables/robot-program.rst
@@ -1,5 +1,4 @@
-Writing a Simple NetworkTables Robot Program
-============================================
+# Writing a Simple NetworkTables Robot Program
 
 In a robot program, a NetworkTables server is automatically started on the default instance. So it's only necessary to get the default instance to start publishing or subscribing and have it visible over the network.
 
@@ -7,127 +6,101 @@ The example robot program below publishes incrementing X and Y values to a table
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        package edu.wpi.first.wpilibj.templates;
-
-        import edu.wpi.first.wpilibj.TimedRobot;
-        import edu.wpi.first.networktables.DoublePublisher;
-        import edu.wpi.first.networktables.NetworkTable;
-        import edu.wpi.first.networktables.NetworkTableInstance;
-
-        public class EasyNetworkTableExample extends TimedRobot {
-          DoublePublisher xPub;
-          DoublePublisher yPub;
-
-          public void robotInit() {
-            // Get the default instance of NetworkTables that was created automatically
-            // when the robot program starts
-            NetworkTableInstance inst = NetworkTableInstance.getDefault();
-
-            // Get the table within that instance that contains the data. There can
-            // be as many tables as you like and exist to make it easier to organize
-            // your data. In this case, it's a table called datatable.
-            NetworkTable table = inst.getTable("datatable");
-
-            // Start publishing topics within that table that correspond to the X and Y values
-            // for some operation in your program.
-            // The topic names are actually "/datatable/x" and "/datatable/y".
-            xPub = table.getDoubleTopic("x").publish();
-            yPub = table.getDoubleTopic("y").publish();
-          }
-
-          double x = 0;
-          double y = 0;
-
-          public void teleopPeriodic() {
-            // Publish values that are constantly increasing.
-            xPub.set(x);
-            yPub.set(y);
-            x += 0.05;
-            y += 1.0;
-          }
-        }
-
-    .. code-block:: c++
-
-        #include <frc/TimedRobot.h>
-        #include <networktables/DoubleTopic.h>
-        #include <networktables/NetworkTable.h>
-        #include <networktables/NetworkTableInstance.h>
-
-        class EasyNetworkExample : public frc::TimedRobot {
-         public:
-          nt::DoublePublisher xPub;
-          nt::DoublePublisher yPub;
-
-          void RobotInit() {
-            // Get the default instance of NetworkTables that was created automatically
-            // when the robot program starts
-            auto inst = nt::NetworkTableInstance::GetDefault();
-
-            // Get the table within that instance that contains the data. There can
-            // be as many tables as you like and exist to make it easier to organize
-            // your data. In this case, it's a table called datatable.
-            auto table = inst.GetTable("datatable");
-
-            // Start publishing topics within that table that correspond to the X and Y values
-            // for some operation in your program.
-            // The topic names are actually "/datatable/x" and "/datatable/y".
-            xPub = table->GetDoubleTopic("x").Publish();
-            yPub = table->GetDoubleTopic("y").Publish();
-          }
-
-          double x = 0;
-          double y = 0;
-
-          void TeleopPeriodic() {
-            // Publish values that are constantly increasing.
-            xPub.Set(x);
-            yPub.Set(y);
-            x += 0.05;
-            y += 0.05;
-          }
-        }
-
-        START_ROBOT_CLASS(EasyNetworkExample)
-
-    .. code-block:: python
-
-        #!/usr/bin/env python3
-
-        import ntcore
-        import wpilib
-
-
-        class EasyNetworkTableExample(wpilib.TimedRobot):
-            def robotInit(self) -> None:
-                # Get the default instance of NetworkTables that was created automatically
-                # when the robot program starts
-                inst = ntcore.NetworkTableInstance.getDefault()
-
-                # Get the table within that instance that contains the data. There can
-                # be as many tables as you like and exist to make it easier to organize
-                # your data. In this case, it's a table called datatable.
-                table = inst.getTable("datatable")
-
-                # Start publishing topics within that table that correspond to the X and Y values
-                # for some operation in your program.
-                # The topic names are actually "/datatable/x" and "/datatable/y".
-                self.xPub = table.getDoubleTopic("x").publish()
-                self.yPub = table.getDoubleTopic("y").publish()
-
-                self.x = 0
-                self.y = 0
-
-            def teleopPeriodic(self) -> None:
-                # Publish values that are constantly increasing.
-                self.xPub.set(self.x)
-                self.yPub.set(self.y)
-                self.x += 0.05
-                self.y += 1.0
-
-
-        if __name__ == "__main__":
-            wpilib.run(EasyNetworkTableExample)
+    ```java
+    package edu.wpi.first.wpilibj.templates;
+    import edu.wpi.first.wpilibj.TimedRobot;
+    import edu.wpi.first.networktables.DoublePublisher;
+    import edu.wpi.first.networktables.NetworkTable;
+    import edu.wpi.first.networktables.NetworkTableInstance;
+    public class EasyNetworkTableExample extends TimedRobot {
+      DoublePublisher xPub;
+      DoublePublisher yPub;
+      public void robotInit() {
+        // Get the default instance of NetworkTables that was created automatically
+        // when the robot program starts
+        NetworkTableInstance inst = NetworkTableInstance.getDefault();
+        // Get the table within that instance that contains the data. There can
+        // be as many tables as you like and exist to make it easier to organize
+        // your data. In this case, it's a table called datatable.
+        NetworkTable table = inst.getTable("datatable");
+        // Start publishing topics within that table that correspond to the X and Y values
+        // for some operation in your program.
+        // The topic names are actually "/datatable/x" and "/datatable/y".
+        xPub = table.getDoubleTopic("x").publish();
+        yPub = table.getDoubleTopic("y").publish();
+      }
+      double x = 0;
+      double y = 0;
+      public void teleopPeriodic() {
+        // Publish values that are constantly increasing.
+        xPub.set(x);
+        yPub.set(y);
+        x += 0.05;
+        y += 1.0;
+      }
+    }
+    ```
+
+    ```c++
+    #include <frc/TimedRobot.h>
+    #include <networktables/DoubleTopic.h>
+    #include <networktables/NetworkTable.h>
+    #include <networktables/NetworkTableInstance.h>
+    class EasyNetworkExample : public frc::TimedRobot {
+     public:
+      nt::DoublePublisher xPub;
+      nt::DoublePublisher yPub;
+      void RobotInit() {
+        // Get the default instance of NetworkTables that was created automatically
+        // when the robot program starts
+        auto inst = nt::NetworkTableInstance::GetDefault();
+        // Get the table within that instance that contains the data. There can
+        // be as many tables as you like and exist to make it easier to organize
+        // your data. In this case, it's a table called datatable.
+        auto table = inst.GetTable("datatable");
+        // Start publishing topics within that table that correspond to the X and Y values
+        // for some operation in your program.
+        // The topic names are actually "/datatable/x" and "/datatable/y".
+        xPub = table->GetDoubleTopic("x").Publish();
+        yPub = table->GetDoubleTopic("y").Publish();
+      }
+      double x = 0;
+      double y = 0;
+      void TeleopPeriodic() {
+        // Publish values that are constantly increasing.
+        xPub.Set(x);
+        yPub.Set(y);
+        x += 0.05;
+        y += 0.05;
+      }
+    }
+    START_ROBOT_CLASS(EasyNetworkExample)
+    ```
+
+    ```python
+    import ntcore
+    import wpilib
+    class EasyNetworkTableExample(wpilib.TimedRobot):
+        def robotInit(self) -> None:
+            # Get the default instance of NetworkTables that was created automatically
+            # when the robot program starts
+            inst = ntcore.NetworkTableInstance.getDefault()
+            # Get the table within that instance that contains the data. There can
+            # be as many tables as you like and exist to make it easier to organize
+            # your data. In this case, it's a table called datatable.
+            table = inst.getTable("datatable")
+            # Start publishing topics within that table that correspond to the X and Y values
+            # for some operation in your program.
+            # The topic names are actually "/datatable/x" and "/datatable/y".
+            self.xPub = table.getDoubleTopic("x").publish()
+            self.yPub = table.getDoubleTopic("y").publish()
+            self.x = 0
+            self.y = 0
+        def teleopPeriodic(self) -> None:
+            # Publish values that are constantly increasing.
+            self.xPub.set(self.x)
+            self.yPub.set(self.y)
+            self.x += 0.05
+            self.y += 1.0
+    ```
 
diff --git a/source/docs/software/networktables/tables-and-topics.rst b/source/docs/software/networktables/tables-and-topics.rst
index c7188b3ff2..a44c78a632 100644
--- a/source/docs/software/networktables/tables-and-topics.rst
+++ b/source/docs/software/networktables/tables-and-topics.rst
@@ -1,102 +1,88 @@
-NetworkTables Tables and Topics
-===============================
+# NetworkTables Tables and Topics
 
-Using the NetworkTable Class
-----------------------------
+## Using the NetworkTable Class
 
-The ``NetworkTable`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/NetworkTable.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_network_table.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/NetworkTable.html#ntcore.NetworkTable>`__) class is an API abstraction that represents a single "folder" (or "table") of topics as described in :ref:`docs/software/networktables/networktables-intro:networktables organization`. The NetworkTable class stores the base path to the table and provides functions to get topics within the table, automatically prepending the table path.
+The ``NetworkTable`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/NetworkTable.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_network_table.html), :external:py:class:`Python <ntcore.NetworkTable>`) class is an API abstraction that represents a single "folder" (or "table") of topics as described in :ref:`docs/software/networktables/networktables-intro:networktables organization`. The NetworkTable class stores the base path to the table and provides functions to get topics within the table, automatically prepending the table path.
 
-Getting a Topic
----------------
+## Getting a Topic
 
-A ``Topic`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/Topic.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_topic.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/Topic.html>`__) object (or ``NT_Topic`` handle) represents a :term:`topic`. This has a 1:1 correspondence with the topic's name, and will not change as long as the instance exists. Unlike publishers and subscribers, it is not necessary to store a Topic object.
+A ``Topic`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/Topic.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_topic.html), :external:py:class:`Python <ntcore.Topic>`) object (or ``NT_Topic`` handle) represents a :term:`topic`. This has a 1:1 correspondence with the topic's name, and will not change as long as the instance exists. Unlike publishers and subscribers, it is not necessary to store a Topic object.
 
-Having a Topic object or handle does not mean the topic exists or is of the correct type. For convenience when creating publishers and subscribers, there are type-specific Topic classes (e.g. ``BooleanTopic``: `Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/BooleanTopic.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_boolean_topic.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/BooleanTopic.html>`__), but there is no check at the Topic level to ensure that the topic's type actually matches. The preferred method to get a type-specific topic to call the appropriate type-specific getter, but it's also possible to directly convert a generic Topic into a type-specific Topic class. Note: the handle-based API does not have a concept of type-specific classes.
+Having a Topic object or handle does not mean the topic exists or is of the correct type. For convenience when creating publishers and subscribers, there are type-specific Topic classes (e.g. ``BooleanTopic``: [Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/networktables/BooleanTopic.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classnt_1_1_boolean_topic.html), :external:py:class:`Python <ntcore.BooleanTopic>`), but there is no check at the Topic level to ensure that the topic's type actually matches. The preferred method to get a type-specific topic to call the appropriate type-specific getter, but it's also possible to directly convert a generic Topic into a type-specific Topic class. Note: the handle-based API does not have a concept of type-specific classes.
 
 .. tab-set::
 
     .. tab-item:: Java
        :sync: Java
 
-        .. code-block:: java
-
-            NetworkTableInstance inst = NetworkTableInstance.getDefault();
-            NetworkTable table = inst.getTable("datatable");
-
-            // get a topic from a NetworkTableInstance
-            // the topic name in this case is the full name
-            DoubleTopic dblTopic = inst.getDoubleTopic("/datatable/X");
-
-            // get a topic from a NetworkTable
-            // the topic name in this case is the name within the table;
-            // this line and the one above reference the same topic
-            DoubleTopic dblTopic = table.getDoubleTopic("X");
-
-            // get a type-specific topic from a generic Topic
-            Topic genericTopic = inst.getTopic("/datatable/X");
-            DoubleTopic dblTopic = new DoubleTopic(genericTopic);
+        ```java
+        NetworkTableInstance inst = NetworkTableInstance.getDefault();
+        NetworkTable table = inst.getTable("datatable");
+        // get a topic from a NetworkTableInstance
+        // the topic name in this case is the full name
+        DoubleTopic dblTopic = inst.getDoubleTopic("/datatable/X");
+        // get a topic from a NetworkTable
+        // the topic name in this case is the name within the table;
+        // this line and the one above reference the same topic
+        DoubleTopic dblTopic = table.getDoubleTopic("X");
+        // get a type-specific topic from a generic Topic
+        Topic genericTopic = inst.getTopic("/datatable/X");
+        DoubleTopic dblTopic = new DoubleTopic(genericTopic);
+        ```
 
     .. tab-item:: C++
      :sync: C++
 
-        .. code-block:: cpp
-
-            nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-            std::shared_ptr<nt::NetworkTable> table = inst.GetTable("datatable");
-
-            // get a topic from a NetworkTableInstance
-            // the topic name in this case is the full name
-            nt::DoubleTopic dblTopic = inst.GetDoubleTopic("/datatable/X");
-
-            // get a topic from a NetworkTable
-            // the topic name in this case is the name within the table;
-            // this line and the one above reference the same topic
-            nt::DoubleTopic dblTopic = table->GetDoubleTopic("X");
-
-            // get a type-specific topic from a generic Topic
-            nt::Topic genericTopic = inst.GetTopic("/datatable/X");
-            nt::DoubleTopic dblTopic{genericTopic};
+        ```c++
+        nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+        std::shared_ptr<nt::NetworkTable> table = inst.GetTable("datatable");
+        // get a topic from a NetworkTableInstance
+        // the topic name in this case is the full name
+        nt::DoubleTopic dblTopic = inst.GetDoubleTopic("/datatable/X");
+        // get a topic from a NetworkTable
+        // the topic name in this case is the name within the table;
+        // this line and the one above reference the same topic
+        nt::DoubleTopic dblTopic = table->GetDoubleTopic("X");
+        // get a type-specific topic from a generic Topic
+        nt::Topic genericTopic = inst.GetTopic("/datatable/X");
+        nt::DoubleTopic dblTopic{genericTopic};
+        ```
 
     .. tab-item:: C++ (Handle-based)
      :sync: C++ (Handle-based)
 
-        .. code-block:: cpp
-
-            NT_Instance inst = nt::GetDefaultInstance();
-
-            // get a topic from a NetworkTableInstance
-            NT_Topic topic = nt::GetTopic(inst, "/datatable/X");
+        ```c++
+        NT_Instance inst = nt::GetDefaultInstance();
+        // get a topic from a NetworkTableInstance
+        NT_Topic topic = nt::GetTopic(inst, "/datatable/X");
+        ```
 
     .. tab-item:: C
         :sync: C
 
-        .. code-block:: c
-
-            NT_Instance inst = NT_GetDefaultInstance();
-
-            // get a topic from a NetworkTableInstance
-            NT_Topic topic = NT_GetTopic(inst, "/datatable/X");
+        ```c
+        NT_Instance inst = NT_GetDefaultInstance();
+        // get a topic from a NetworkTableInstance
+        NT_Topic topic = NT_GetTopic(inst, "/datatable/X");
+        ```
 
     .. tab-item:: Python
      :sync: Python
 
 
-        .. code-block:: python
-
-            import ntcore
-
-            inst = ntcore.NetworkTableInstance.getDefault()
-            table = inst.getTable("datatable")
-
-            # get a topic from a NetworkTableInstance
-            # the topic name in this case is the full name
-            dblTopic = inst.getDoubleTopic("/datatable/X")
-
-            # get a topic from a NetworkTable
-            # the topic name in this case is the name within the table;
-            # this line and the one above reference the same topic
-            dblTopic = table.getDoubleTopic("X")
+        ```python
+        import ntcore
+        inst = ntcore.NetworkTableInstance.getDefault()
+        table = inst.getTable("datatable")
+        # get a topic from a NetworkTableInstance
+        # the topic name in this case is the full name
+        dblTopic = inst.getDoubleTopic("/datatable/X")
+        # get a topic from a NetworkTable
+        # the topic name in this case is the name within the table;
+        # this line and the one above reference the same topic
+        dblTopic = table.getDoubleTopic("X")
+        # get a type-specific topic from a generic Topic
+        genericTopic = inst.getTopic("/datatable/X")
+        dblTopic = ntcore.DoubleTopic(genericTopic)
+        ```
 
-            # get a type-specific topic from a generic Topic
-            genericTopic = inst.getTopic("/datatable/X")
-            dblTopic = new DoubleTopic(genericTopic)
diff --git a/source/docs/software/pathplanning/index.rst b/source/docs/software/pathplanning/index.rst
index 1deac2cae4..d5eaf70ab2 100644
--- a/source/docs/software/pathplanning/index.rst
+++ b/source/docs/software/pathplanning/index.rst
@@ -1,16 +1,14 @@
-Path Planning
-=============
+# Path Planning
 
 Path Planning is the process of creating and following trajectories. These paths use the WPILib trajectory APIs for generation and a :ref:`Ramsete Controller <docs/software/advanced-controls/trajectories/ramsete:Ramsete Controller>` for following. This section highlights the process of characterizing your robot for system identification, trajectory following and usage of PathWeaver. Users may also want to read the :ref:`generic trajectory following documents <docs/software/advanced-controls/trajectories/index:Trajectory Generation and Following with WPILib>` for additional information about the API and non-commandbased usage.
 
-Notice on Swerve Support
-------------------------
+## Notice on Swerve Support
 
 Swerve support in path following has a couple of limitations that teams need to be aware of:
 
-- WPILib currently does not support swerve in simulation, please see `this <https://github.com/wpilibsuite/allwpilib/pull/3374>`__ pull request.
+- WPILib currently does not support swerve in simulation, please see [this](https://github.com/wpilibsuite/allwpilib/pull/3374) pull request.
 
-- SysID only supports tuning the swerve heading using a General Mechanism project and does not regularly support module velocity data. A workaround is to lock the module's heading into place. This can be done via blocking module rotation using something like a block of wood.
+- SysId only supports tuning the swerve heading using a General Mechanism project and does not regularly support module velocity data. A workaround is to lock the module's heading into place. This can be done via blocking module rotation using something like a block of wood.
 
 - Pathweaver and Trajectory following currently do not incorporate independent heading. Path following using the WPILib trajectory framework on swerve will be the same as a DifferentialDrive robot.
 
@@ -19,6 +17,5 @@ We are sorry for the inconvenience.
 .. toctree::
    :maxdepth: 2
 
-   system-identification/index
    trajectory-tutorial/index
    pathweaver/index
diff --git a/source/docs/software/pathplanning/pathweaver/adding-field-images.rst b/source/docs/software/pathplanning/pathweaver/adding-field-images.rst
index 0dc3b76ab9..3c20a175e0 100644
--- a/source/docs/software/pathplanning/pathweaver/adding-field-images.rst
+++ b/source/docs/software/pathplanning/pathweaver/adding-field-images.rst
@@ -1,38 +1,35 @@
 .. include:: <isonum.txt>
 
-Adding field images to PathWeaver
-=================================
+# Adding field images to PathWeaver
 Here are instructions for adding your own field image using the 2019 game as an example.
 
 Games are loaded from the ``~/PathWeaver/Games`` on Linux and macOS or ``%USERPROFILE%/PathWeaver/Games`` directory on Windows. The files can be in either a game-specific subdirectory, or in a zip file in the Games directory. The ZIP file must follow the same layout as a game directory; the JSON file must be in the root of the ZIP file (cannot be in a subdirectory).
 
-Download the example *FIRST* Destination Deep Space field definition :download:`here <files/DeepSpace.zip>`. Other field definitions are available in the `allwpilib GitHub repository <https://github.com/wpilibsuite/allwpilib/tree/main/fieldImages/src/main/native/resources/edu/wpi/first/fields>`__.
-
-File Layout
------------
-.. code-block:: text
-
-   ~/PathWeaver
-     /Games
-      /Custom Game
-         custom-game.json
-         field-image.png
-      OtherGame.zip
-
-JSON Format
------------
-.. code-block:: text
-
-   {
-      "game": "game name",
-      "field-image": "relative/path/to/img.png",
-      "field-corners": {
-         "top-left": [x, y],
-         "bottom-right": [x, y]
-      },
-      "field-size": [width, length],
-      "field-unit": "unit name"
-   }
+Download the example *FIRST* Destination Deep Space field definition :download:[here](files/DeepSpace.zip). Other field definitions are available in the [allwpilib GitHub repository](https://github.com/wpilibsuite/allwpilib/tree/main/fieldImages/src/main/native/resources/edu/wpi/first/fields).
+
+## File Layout
+```text
+~/PathWeaver
+  /Games
+   /Custom Game
+      custom-game.json
+      field-image.png
+   OtherGame.zip
+```
+
+## JSON Format
+```text
+{
+   "game": "game name",
+   "field-image": "relative/path/to/img.png",
+   "field-corners": {
+      "top-left": [x, y],
+      "bottom-right": [x, y]
+   },
+   "field-size": [width, length],
+   "field-unit": "unit name"
+}
+```
 
 The path to the field image is relative to the JSON file. For simplicity, the image file should be in the same directory as the JSON file.
 
diff --git a/source/docs/software/pathplanning/pathweaver/creating-autonomous-routines.rst b/source/docs/software/pathplanning/pathweaver/creating-autonomous-routines.rst
index e32e77f183..a57e4f7f39 100644
--- a/source/docs/software/pathplanning/pathweaver/creating-autonomous-routines.rst
+++ b/source/docs/software/pathplanning/pathweaver/creating-autonomous-routines.rst
@@ -1,9 +1,7 @@
-Creating Autonomous Routines
-============================
+# Creating Autonomous Routines
 Autonomous Routines (also known as Path Groups) are a way of visualizing where one path ends and the next one starts. An example is when the robot program drives one path, does something after the path has completed, drives to another location to obtain a game piece, then back again to score it. It's important that the start and end points of each path in the routine have common end and start points. By adding all the paths to a single autonomous routine and selecting the routine, all paths in that routine will be shown. Then each path can be edited while viewing all the paths.
 
-Creating an Autonomous Routine
-------------------------------
+## Creating an Autonomous Routine
 Press the :guilabel:`+` button underneath Autonomous Routines. Then drag the Paths from the Paths section into your Autonomous Routine.
 
 Each path added to an autonomous routine will be drawn in a different color making it easy to figure out what the name is for each path.
diff --git a/source/docs/software/pathplanning/pathweaver/creating-pathweaver-project.rst b/source/docs/software/pathplanning/pathweaver/creating-pathweaver-project.rst
index 5ff7dd963a..14600f5623 100644
--- a/source/docs/software/pathplanning/pathweaver/creating-pathweaver-project.rst
+++ b/source/docs/software/pathplanning/pathweaver/creating-pathweaver-project.rst
@@ -1,12 +1,10 @@
 .. include:: <isonum.txt>
 
-Creating a Pathweaver Project
-=============================
+# Creating a Pathweaver Project
 
 PathWeaver is the tool used to draw the paths for a robot to follow. The paths for a single program are stored in a PathWeaver project.
 
-Starting PathWeaver
--------------------
+## Starting PathWeaver
 
 PathWeaver is started by clicking on the ellipsis icon in the top right of the corner of the Visual Studio Code interface. You must select a source file from the WPILib project to see the icon. Then click on "Start tool" and then click on "PathWeaver" as shown below.
 
@@ -16,8 +14,7 @@ PathWeaver is started by clicking on the ellipsis icon in the top right of the c
 .. image:: images/creating-pathweaver-project/pick-tool.png
     :alt: Choose PathWeaver from the tool dropdown list.
 
-Creating the Project
---------------------
+## Creating the Project
 
 To create a PathWeaver project, click on "Create project" and then fill out the project creation form. Notice that hovering over any of the fields in the form will display more information about what is required.
 
@@ -40,8 +37,7 @@ To create a PathWeaver project, click on "Create project" and then fill out the
 
 **Wheel Base:** The distance between the left and right wheels of your robot. This is used to ensure that no wheel on a differential drive will go over the specified max velocity around turns.
 
-PathWeaver User Interface
--------------------------
+## PathWeaver User Interface
 
 .. image:: images/creating-pathweaver-project/user-interface.png
     :alt: An overview of the PathWeaver user interface.
diff --git a/source/docs/software/pathplanning/pathweaver/drawing-pathweaver-path.rst b/source/docs/software/pathplanning/pathweaver/drawing-pathweaver-path.rst
index dc864eaf75..d4e2f3a4af 100644
--- a/source/docs/software/pathplanning/pathweaver/drawing-pathweaver-path.rst
+++ b/source/docs/software/pathplanning/pathweaver/drawing-pathweaver-path.rst
@@ -1,13 +1,11 @@
-Visualizing PathWeaver Trajectories
-===================================
+# Visualizing PathWeaver Trajectories
 
 PathWeaver's primary feature is to visualize trajectories. The following images depict a smooth trajectory that represents a trajectory that a robot might take during the autonomous period. Paths can have any number of waypoints that can allow more complex driving to be described. In this case there are 3 waypoints (including the start and stop) depicted with the triangle icons. Each waypoint consists of a X, Y position on the field as well as a robot heading described as the X and Y tangent lines.
 
 .. image:: /docs/controls-overviews/images/control-system-software/pathweaver.png
     :alt: A complete PathWeaver path to the back side of the rocket in Deep Space.
 
-Creating the Initial Trajectory
--------------------------------
+## Creating the Initial Trajectory
 
 To start creating a trajectory, click the + (plus) button in the path window. A default trajectory will be created that probably does not have the proper start and end points that you desire. The path also shows the tangent vectors (teal lines) for the start and end points. Changing the angle of the tangent vectors changes the shape of the trajectory.
 
@@ -16,28 +14,24 @@ To start creating a trajectory, click the + (plus) button in the path window. A
 
 Drag the start and end points of the trajectory to the desired locations. Notice that in this case, the default trajectory does not start in a legal spot for the 2019 game. We can drag the initial waypoint to make the robot start on the HAB.
 
-Changing a Waypoint Heading
----------------------------
+## Changing a Waypoint Heading
 
 The robot heading can be changed by dragging the tangent vector (teal) line. Here, the final waypoint was dragged to the desired final pose and was rotated to face the rocket.
 
 .. image:: images/drawing-pathweaver-path/waypoint-heading.png
     :alt: Adjusting the blue line out the front of each waypoint controls the direction it is facing.
 
-Adding Additional Waypoints to Control the Robot Path
------------------------------------------------------
+## Adding Additional Waypoints to Control the Robot Path
 
 Adding additional waypoints and changing their tangent vectors can affect the path that is followed. Additional waypoints can be added by dragging in the middle of the path. In this case, we added another waypoint in the middle of the path.
 
 .. image:: images/drawing-pathweaver-path/add-waypoint.png
     :alt: Adding an additional waypoint by clicking and dragging on the middle of the path.
 
-Locking the Tangent Lines
--------------------------
+## Locking the Tangent Lines
 
 Locking tangent lines prevents them from changing when the trajectory is being manipulated. The tangent lines will also be locked when the point is moved.
 
-More Precise control of Waypoints
----------------------------------
+## More Precise control of Waypoints
 
-While PathWeaver makes it simple to draw trajectories that the robot should follow, it is sometimes hard to precisely set where the waypoints should be placed. In this case, setting the waypoint locations can be done by entering the X and Y value which might come from an accurate CAD model of the field. The points can be entered in the X and Y fields when a waypoint is selected.
+While PathWeaver makes it simple to draw trajectories that the robot should follow, it is sometimes hard to precisely set where the waypoints should be placed. In this case, setting the waypoint locations can be done by entering the X and Y value which might come from an accurate :term:`CAD` model of the field. The points can be entered in the X and Y fields when a waypoint is selected.
diff --git a/source/docs/software/pathplanning/pathweaver/images/creating-pathweaver-project/create-project.png b/source/docs/software/pathplanning/pathweaver/images/creating-pathweaver-project/create-project.png
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diff --git a/source/docs/software/pathplanning/pathweaver/images/creating-pathweaver-project/pick-tool.png b/source/docs/software/pathplanning/pathweaver/images/creating-pathweaver-project/pick-tool.png
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diff --git a/source/docs/software/pathplanning/pathweaver/images/creating-pathweaver-project/start-tool.png b/source/docs/software/pathplanning/pathweaver/images/creating-pathweaver-project/start-tool.png
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diff --git a/source/docs/software/pathplanning/pathweaver/images/creating-pathweaver-project/user-interface.png b/source/docs/software/pathplanning/pathweaver/images/creating-pathweaver-project/user-interface.png
index a0d862366c..345f475117 100644
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diff --git a/source/docs/software/pathplanning/pathweaver/images/drawing-pathweaver-path/add-waypoint.png b/source/docs/software/pathplanning/pathweaver/images/drawing-pathweaver-path/add-waypoint.png
index 6803d2756d..b8e206a8db 100644
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diff --git a/source/docs/software/pathplanning/pathweaver/images/drawing-pathweaver-path/initial-path.png b/source/docs/software/pathplanning/pathweaver/images/drawing-pathweaver-path/initial-path.png
index 58796011b7..ee7c029859 100644
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diff --git a/source/docs/software/pathplanning/pathweaver/images/drawing-pathweaver-path/waypoint-heading.png b/source/docs/software/pathplanning/pathweaver/images/drawing-pathweaver-path/waypoint-heading.png
index ebce055d45..3b6ad10624 100644
Binary files a/source/docs/software/pathplanning/pathweaver/images/drawing-pathweaver-path/waypoint-heading.png and b/source/docs/software/pathplanning/pathweaver/images/drawing-pathweaver-path/waypoint-heading.png differ
diff --git a/source/docs/software/pathplanning/pathweaver/index.rst b/source/docs/software/pathplanning/pathweaver/index.rst
index 1b37724d30..b4a690d2b2 100644
--- a/source/docs/software/pathplanning/pathweaver/index.rst
+++ b/source/docs/software/pathplanning/pathweaver/index.rst
@@ -1,7 +1,6 @@
-PathWeaver
-==========
+# PathWeaver
 
-.. note:: Users may find a community driven project `PathPlanner <https://github.com/mjansen4857/pathplanner>`__ as potentially more useful. PathPlanner improves upon traditional pathplanning applications with an intuitive user interface and swerve path following support. Note that WPILib offers no support for community projects.
+.. note:: Users may find a community driven project [PathPlanner](https://github.com/mjansen4857/pathplanner) as potentially more useful. PathPlanner improves upon traditional pathplanning applications with an intuitive user interface and swerve path following support. Note that WPILib offers no support for community projects.
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst b/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst
index c979489d64..e5d69bd3e0 100644
--- a/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst
+++ b/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst
@@ -1,5 +1,4 @@
-Importing a PathWeaver JSON
-===========================
+# Importing a PathWeaver JSON
 
 The ``TrajectoryUtil`` class can be used to import a PathWeaver JSON into robot code to follow it. This article will go over importing the trajectory. Please visit the :ref:`end-to-end trajectory tutorial <docs/software/pathplanning/trajectory-tutorial/index:Trajectory Tutorial>` for more information on following the trajectory.
 
@@ -11,34 +10,31 @@ The ``fromPathweaverJson`` (Java) / ``FromPathweaverJson`` (C++) static methods
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      String trajectoryJSON = "paths/YourPath.wpilib.json";
-      Trajectory trajectory = new Trajectory();
-
-      @Override
-      public void robotInit() {
-         try {
-            Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
-            trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath);
-         } catch (IOException ex) {
-            DriverStation.reportError("Unable to open trajectory: " + trajectoryJSON, ex.getStackTrace());
-         }
-      }
-
-   .. code-block:: c++
-
-      #include <frc/Filesystem.h>
-      #include <frc/trajectory/TrajectoryUtil.h>
-      #include <wpi/fs.h>
-
-      frc::Trajectory trajectory;
-
-      void Robot::RobotInit() {
-         fs::path deployDirectory = frc::filesystem::GetDeployDirectory();
-         deployDirectory = deployDirectory / "paths" / "YourPath.wpilib.json";
-         trajectory = frc::TrajectoryUtil::FromPathweaverJson(deployDirectory.string());
+   ```java
+   String trajectoryJSON = "paths/YourPath.wpilib.json";
+   Trajectory trajectory = new Trajectory();
+   @Override
+   public void robotInit() {
+      try {
+         Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
+         trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath);
+      } catch (IOException ex) {
+         DriverStation.reportError("Unable to open trajectory: " + trajectoryJSON, ex.getStackTrace());
       }
+   }
+   ```
+
+   ```c++
+   #include <frc/Filesystem.h>
+   #include <frc/trajectory/TrajectoryUtil.h>
+   #include <wpi/fs.h>
+   frc::Trajectory trajectory;
+   void Robot::RobotInit() {
+      fs::path deployDirectory = frc::filesystem::GetDeployDirectory();
+      deployDirectory = deployDirectory / "paths" / "YourPath.wpilib.json";
+      trajectory = frc::TrajectoryUtil::FromPathweaverJson(deployDirectory.string());
+   }
+   ```
 
 In the examples above, ``YourPath`` should be replaced with the name of your path.
 
diff --git a/source/docs/software/pathplanning/pathweaver/introduction.rst b/source/docs/software/pathplanning/pathweaver/introduction.rst
index b6faa0dd4f..1542ccd5d1 100644
--- a/source/docs/software/pathplanning/pathweaver/introduction.rst
+++ b/source/docs/software/pathplanning/pathweaver/introduction.rst
@@ -1,7 +1,6 @@
-Introduction to PathWeaver
-==========================
+# Introduction to PathWeaver
 
-.. note:: Users may find a community driven project `PathPlanner <https://github.com/mjansen4857/pathplanner>`__ as potentially more useful. PathPlanner improves upon traditional pathplanning applications with an intuitive user interface and swerve path following support. Note that WPILib offers no support for community projects.
+.. note:: Users may find a community driven project [PathPlanner](https://github.com/mjansen4857/pathplanner) as potentially more useful. PathPlanner improves upon traditional pathplanning applications with an intuitive user interface and swerve path following support. Note that WPILib offers no support for community projects.
 
 Autonomous is an important section of the match; it is exciting when robots do impressive things in autonomous. In order to score, the robot usually need to go somewhere. The faster the robot arrives at that location, the sooner it can score points! The traditional method for autonomous is driving in a straight line, turning to a certain angle, and driving in a straight line again. This approach works fine, but the robot spends a non-negligible amount of time stopping and starting again after each straight line and turn.
 
diff --git a/source/docs/software/pathplanning/system-identification/analyzing-data.rst b/source/docs/software/pathplanning/system-identification/analyzing-data.rst
deleted file mode 100644
index c807615fbf..0000000000
--- a/source/docs/software/pathplanning/system-identification/analyzing-data.rst
+++ /dev/null
@@ -1,37 +0,0 @@
-Analyzing Data
-==============
-
-.. important:: WPILib standardizes on SI units, so its recommended that the :guilabel:`Units` option is set to **Meters**.
-
-Once we have data from an identification routine, we can analyze it using the :guilabel:`Analyzer` and :guilabel:`Diagnostic Plots` widgets.
-
-.. image:: images/analyzer-view.png
-   :alt: Using the data analyzer
-
-Loading your Data File
-----------------------
-
-Now it's time to load the data file we saved from the logger tool. Click on :guilabel:`Select`.
-
-.. image:: images/selecting-data-file.png
-   :alt: Selecting the existing data file
-
-In the resulting file dialog, select the JSON file you want to analyze. If the file appears to be malformed, an error will be shown.
-
-Running Feedforward Analysis
-----------------------------
-
-.. note:: For information on what the calculated feedback gains mean, see :ref:`docs/software/advanced-controls/introduction/introduction-to-feedforward:The Permanent-Magnet DC Motor Feedforward Equation`.  For information on using the calculated feedback gains in code, see :ref:`feedforward control <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>`.
-
-Click the dropdown arrow on the :guilabel:`Feedforward` Section.
-
-.. note:: If you would like to change units, you will have to press the :guilabel:`Override Units` button and fill out the information on the popup.
-
-.. image:: images/feedback-analysis.png
-   :alt: Analyzing data for feedforward
-
-The computed mechanism system parameters will then be displayed.
-
-.. image:: images/feedforward-values.png
-   :alt: Analysis coefficient results
-
diff --git a/source/docs/software/pathplanning/system-identification/configuring-project.rst b/source/docs/software/pathplanning/system-identification/configuring-project.rst
deleted file mode 100644
index 1250362ea4..0000000000
--- a/source/docs/software/pathplanning/system-identification/configuring-project.rst
+++ /dev/null
@@ -1,105 +0,0 @@
-Configuring a Project
-=====================
-
-To use the toolsuite, we first need to configure the settings for your specific mechanism.
-
-Configure Project Parameters
-----------------------------
-
-In order to run on your robot, the tool must know some parameters about how your robot is set up.
-
-First, you need to use the :guilabel:`Analysis Type` field to select the appropriate project config. ``General Mechanism`` is for non-drivetrain mechanisms (e.g. Simple Motor, Arm, Elevator), ``Drivetrain`` is for Drivetrain mechanisms, and ``Romi`` is for the Romi robots. This allows you to fill out the parameters specific to the type of system you are using.
-
-.. image:: images/analysis-type.png
-   :alt: Selecting the appropriate analysis type.
-
-The rest of the Generator widget is focused on the proper settings based off of the analysis type:
-
-Motor Controller Selection
-^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-The :guilabel:`Motor / Motor Controller Selection` allows you to add ports for each motor controller that will be used. The :guilabel:`+` and :guilabel:`-` buttons let you add and remove ports respectively.
-
-.. note:: If you are plugging in your encoders into motor controllers make sure that the motor controller type and port(s) are the first ones you specify.
-
-.. image:: images/motor-selection.png
-   :alt: Motor selection section.
-
-Each motor port contains the following parts:
-
-- :guilabel:`Motor Port` is where you add the port number for a specific controller
-- :guilabel:`Inverted` should be checked if the motorcontroller should be inverted
-- :guilabel:`Motor Controller` is the type of motor controller that will be used.
-
-Encoder Selection
-^^^^^^^^^^^^^^^^^
-The :guilabel:`Encoder Selection` allows you to configure the encoders that will be used. The types of encoder you can use will vary with the first motor controller type specified (see note :ref:`above <docs/software/pathplanning/system-identification/configuring-project:Motor Controller Selection>`).
-
-.. image:: images/encoder-selection.png
-   :alt: Encoder selection section.
-
-Encoder Types
-~~~~~~~~~~~~~
-- **General Types** (consistent across all motor controller selections): ``roboRIO`` corresponds to any encoders that are plugged into the roboRIO, ``CANCoder`` corresponds to the CTRE CANCoder.
-- **TalonSRX**: ``Built-in`` corresponds to any quadrature encoder plugged into the encoder port, ``Tachometer`` corresponds to the CTRE Tachometer plugged into the encoder port.
-- **TalonFX**: ``Built-in`` corresponds to the integrated encoder on the TalonFX motor.
-- **Spark MAX**: ``Encoder Port`` refers to an encoder plugged into the `encoder port <https://docs.revrobotics.com/sparkmax/feature-description/encoder-port>`__, ``Data Port`` refers to an encoder plugged into the `data port <https://docs.revrobotics.com/sparkmax/feature-description/data-port>`__.
-- **Venom**: ``Built-in`` refers to an encoder plugged into the Venom's encoder port.
-
-Encoder Settings
-""""""""""""""""
-Here are the following settings that can be configured (although the settings that are visible will vary by the previously selected encoder type):
-
-- Ports (either :guilabel:`A` and :guilabel:`B` or :guilabel:`CANCoder Port`
-- :guilabel:`Encoder Inverted` should be checked if a positive motor power doesn't correspond to a positive increase in encoder values
-- :guilabel:`Samples Per Average` is how many samples will be averaged per velocity measurement. A value greater than one can help reduce encoder noise and 5-10 is recommended for encoders with high CPR. Only mess with this setting if a previous run of SysId resulted in extremely noisy data.
-- :guilabel:`Reduce Encoding` should be checked if using high resolution encoders (e.g. CTRE Mag Encoders or REV Through Bore Encoder) that are plugged into the roboRIO. This uses the ``Encoder`` class ``1x`` decoding to reduce velocity noise. If this is checked, you will have to update your team's robot code to also use ``1x`` decoding on the encoders.
-- :guilabel:`Time Measurement Window` is the period of time in milliseconds that the velocity measurement will be taken across. This setting can reduce measurement lag at the cost of possibly introducing more noise. Only modify this if data lag is impeding accurate control and data collection.
-
-
-Encoder Parameters
-^^^^^^^^^^^^^^^^^^
-
-:guilabel:`Counts Per Revolution` is the encoder counts per revolution for your encoder which is generally specified on a datasheet. Common values include:
-
-- CTRE Magnetic Encoder: 4096
-- Falcon 500 Integrated: 2048
-- REV Throughbore: 8192
-- NEO (and NEO 550) Integrated Encoders (REV already handles this value): 1
-
-:guilabel:`Gearing` is the gearing between the encoder and output shaft. For example, an magnetic encoder on a kit chassis would have a gearing of one as it is on a 1:1 ratio with the output shaft. However, if is was an integrated encoder in a motor that was in the gearbox, the gearing would be 10.71 (per Andymark) since there is now gearing between the encoder and the output shaft.
-
-.. image:: images/encoder-parameters.png
-   :alt: Encoder parameters section.
-
-Gyro Parameters (Drivetrain Only)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-:guilabel:`Gyro` lets you select the type of supported gyro.
-:guilabel:`Gyro Parameter` lets you configure additional settings needed to configure the previously specified gyro.
-
-.. image:: images/gyro-config.png
-   :alt: Gyro configuration section.
-
-Loading and Saving Configurations
----------------------------------
-Once your robot configuration is set, you may save it to a location/name of your choice with the :guilabel:`Save` button:
-
-.. image:: images/saving-config-file.png
-   :alt: Saving the configuration file
-
-Accordingly, you can also load an existing config file with the :guilabel:`Load Config` button:
-
-.. image:: images/loading-config-file.png
-   :alt: Loading a saved configuration file
-
-
-Deploying Project
------------------
-
-Once your project has been configured, it's time to deploy the robot project to run the identification routine.
-
-.. image:: images/deploy-config.png
-   :alt: Deploying the config file
-
-:guilabel:`Team/IP` is where you set your team number or IP. You can then deploy the code with the :guilabel:`Deploy` label.
diff --git a/source/docs/software/pathplanning/system-identification/identification-routine.rst b/source/docs/software/pathplanning/system-identification/identification-routine.rst
deleted file mode 100644
index 6cf2079cba..0000000000
--- a/source/docs/software/pathplanning/system-identification/identification-routine.rst
+++ /dev/null
@@ -1,86 +0,0 @@
-Running the Identification Routine
-==================================
-
-Once the code has been deployed, we can now run the system identification routine, and record the resulting data for analysis.
-
-.. note:: Ensure you have sufficient space around the robot before running any identification routine! The drive identification requires at least 10' of space, ideally closer to 20'. The robot drive can not be accurately characterized while on blocks.
-
-Connect to the Robot
---------------------
-
-Next, we must connect to the robot. Select "Client" at the top of the Logger window and enter your team number. To characterize a simulated robot program, you can type in ``localhost``. Finally, press the :guilabel:`Apply` button. The NetworkTables connection indicator will be visible next to the :guilabel:`Apply` button.
-
-.. image:: images/connecting-to-robot.png
-   :alt: Connecting to the robot
-
-If the tool does not seem to be successfully connecting, try rebooting the robot. Eventually, the status should change to :guilabel:`NT Connected`, indicating the tool is successfully communicating with the robot.
-
-.. image:: images/connected-to-robot.png
-   :alt: Connected to the robot
-
-
-Project Parameters
-------------------
-
-.. image:: images/projectparameters.png
-   :alt: Project Parameters section of the Logger window.
-
-:guilabel:`Mechanism` controls what data is sampled and how gravity is expected to affect the analysis.
-
-:guilabel:`Unit Type` is the units you are using and the units that SysID will export the gains in.
-
-:guilabel:`Units Per Rotation` defines anything that affects the change from rotations of the output shaft to the units selected above.  As an example say you are using a KOP chassis and units of meters.  The gearing is already accounted for in the generator.  We have to take into account how our wheel will change the distance we have traveled per rotation.  The standard chassis has 6" (0.1524 meters) diameter wheels, so to get the circumference we need to multiply by Pi.  The calculation looks like:
-
-.. math:: Units Per Rotation = 0.1524 \cdot \pi
-
-Voltage Parameters
-------------------
-
-.. image:: images/voltageparameters.png
-   :alt: Voltage Parameters section of the Logger window.
-
-:guilabel:`Quasistatic Ramp Rate` controls how quickly the voltage will ramp up during the quasistatic tests.  The goal here is to get the voltage ramped up enough that a trend emerges.  If the amount of space you have to run the robot is small you might need to slightly increase this ramp rate.
-
-:guilabel:`Dynamic Step Voltage` is the voltage that will be applied immediately on start to determine how your robot accelerates.  If your robot is short on space you should slightly reduce the voltage.
-
-Running Tests
--------------
-
-A standard motor identification routine consists of two types of tests:
-
-- **Quasistatic:** In this test, the mechanism is gradually sped-up such that the voltage corresponding to acceleration is negligible (hence, "as if static").
-- **Dynamic:** In this test, a constant 'step voltage' is given to the mechanism, so that the behavior while accelerating can be determined.
-
-Each test type is run both forwards and backwards, for four tests in total, corresponding to the four buttons.
-
-.. image:: images/running-tests.png
-   :alt: Quasistatic Forward, Quasistatic Backward, Dynamic Forward, Dynamic Backward buttons
-
-The tests can be run in any order, but running a "backwards" test directly after a "forwards" test is generally advisable (as it will more or less reset the mechanism to its original position).
-
-Follow the instructions in the pop-up windows after pressing each test button.
-
-
-Track Width
-^^^^^^^^^^^
-
-You can determine the track width of the robot by selecting the :guilabel:`Drivetrain (Angular)` test. This will also provide angular Kv and Ka parameters.
-
-This test will spin your robot to determine an empirical trackwidth. It compares how far the wheel encoders drove against the reported rotation from the gyroscope.  To get the best results your wheels should maintain contact with the ground.
-
-.. note:: For high-friction wheels (like pneumatic tires), the empirical trackwidth calculated by sysid may be significantly different from the real trackwidth (e.g., off by a factor of 2). The empirical value should be preferred over the real one in robot code.
-
-The entire routine should look something like this:
-
-.. raw:: html
-
-  <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;"> <iframe src="https://www.youtube-nocookie.com/embed/FN2xqoB1sfU" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe> </div>
-
-After all four tests have been completed, you can select the folder location for the save file and click :guilabel:`Save`.
-
-.. image:: images/save-data.png
-   :alt: Saving the test data
-
-This will save the data as a JSON file with the specified location/name. A timestamp (``%Y%m%d-%H%M``) will be appended to the chosen filename. Additionally, the name of the file saved will be shown in the :guilabel:`Program Log`.
-
-.. note:: The number of samples collected for each test will be displayed in the Program Log.
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diff --git a/source/docs/software/pathplanning/system-identification/index.rst b/source/docs/software/pathplanning/system-identification/index.rst
deleted file mode 100644
index f3658bebff..0000000000
--- a/source/docs/software/pathplanning/system-identification/index.rst
+++ /dev/null
@@ -1,14 +0,0 @@
-System Identification
-======================
-
-.. toctree::
-   :maxdepth: 1
-
-   introduction
-   configuring-project
-   identification-routine
-   analyzing-data
-   viewing-diagnostics
-   analyzing-feedback
-   additional-utils
-
diff --git a/source/docs/software/pathplanning/trajectory-tutorial/characterizing-drive.rst b/source/docs/software/pathplanning/trajectory-tutorial/characterizing-drive.rst
index c664a44c5c..606bb21333 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/characterizing-drive.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/characterizing-drive.rst
@@ -1,7 +1,6 @@
-Step 1: Characterizing Your Robot Drive
-=======================================
+# Step 1: Characterizing Your Robot Drive
 
-.. note::  For detailed instructions on using the System Identification tool, see its :ref:`dedicated documentation <docs/software/pathplanning/system-identification/introduction:Introduction to System Identification>`.
+.. note::  For detailed instructions on using the System Identification tool, see its :ref:`dedicated documentation <docs/software/advanced-controls/system-identification/introduction:Introduction to System Identification>`.
 
 .. note:: The drive identification process requires ample space for the robot to drive.  Be sure to have *at least* a 10' stretch (ideally closer to 20') in which the robot can drive during the identification routine.
 
@@ -9,31 +8,27 @@ Step 1: Characterizing Your Robot Drive
 
 Before accurately following a path with a robot, it is important to have an accurate model for how the robot moves in response to its control inputs.  Determining such a model is a process called "system identification."  WPILib's System Identification tool can accurately determine such a model.
 
-Gathering the Data
-------------------
+## Gathering the Data
 
 We begin by gathering our drive identification data.
 
-1. :ref:`Configure and Deploy a robot project <docs/software/pathplanning/system-identification/configuring-project:Configuring a Project>`.
-2. :ref:`Run the identification Routine <docs/software/pathplanning/system-identification/identification-routine:Running the Identification Routine>`.
+1. :ref:`Configure and Deploy your robot project <docs/software/advanced-controls/system-identification/creating-routine:Creating an Identification Routine>`.
+2. :ref:`Run the identification Routine <docs/software/advanced-controls/system-identification/running-routine:Running the Identification Routine>`.
 
-Analyzing the Data
-------------------
+## Analyzing the Data
 
-Once the identification routine has been run and the data file has been saved, it is time to :ref:`open it in the analysis pane <docs/software/pathplanning/system-identification/analyzing-data:Analyzing Data>`.
+Once the identification routine has been run and the data file has been saved, it is time to :ref:`open it in the analysis pane <docs/software/advanced-controls/system-identification/analyzing-gains:Analyzing Data>`.
 
-Checking Diagnostics
-^^^^^^^^^^^^^^^^^^^^
+### Checking Diagnostics
 
-Per the :ref:`system identification guide <docs/software/pathplanning/system-identification/viewing-diagnostics:Viewing Diagnostics>`, we first view the diagnostics to ensure that our data look reasonable:
+Per the :ref:`system identification guide <docs/software/advanced-controls/system-identification/viewing-diagnostics:Viewing Diagnostics>`, we first view the diagnostics to ensure that our data look reasonable:
 
 .. image:: images/diagnostic-plots.png
    :alt: SysId diagnostics panel.
 
 As our data look reasonably linear, and the fit metrics are within acceptable parameters, we proceed to the next step.
 
-Record Feedforward Gains
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Record Feedforward Gains
 
 .. note:: Feedforward gains do *not*, in general, transfer across robots.  Do *not* use the gains from this tutorial for your own robot.
 
@@ -50,12 +45,11 @@ Since our wheel diameter was specified in meters, our feedforward gains are in t
 
 If you have specified your units correctly, your feedforward gains will likely be within an order of magnitude of the ones reported here (a possible exception exists for ``kA``, which may be vanishingly small if your robot is light).  If they are not, it is possible you specified one of your drive parameters incorrectly when generating your robot project.  A good test for this is to calculate the "theoretical" value of ``kV``, which is 12 volts divided by the theoretical free speed of your drivetrain (which is, in turn, the free speed of the motor times the wheel circumference divided by the gear reduction).  This value should agree very closely with the ``kV`` measured by the tool - if it does not, you have likely made an error somewhere.
 
-Calculate Feedback Gains
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Calculate Feedback Gains
 
 .. note:: Feedback gains do *not*, in general, transfer across robots.  Do *not* use the gains from this tutorial for your own robot.
 
-We now :ref:`calculate the feedback gains <docs/software/pathplanning/system-identification/analyzing-feedback:Feedback Analysis>` for the PID control that we will use to follow the path.  Trajectory following with WPILib's RAMSETE controller uses velocity closed-loop control, so we first select ``Velocity`` mode in the identification tool:
+We now :ref:`calculate the feedback gains <docs/software/advanced-controls/system-identification/analyzing-gains:Feedback Analysis>` for the PID control that we will use to follow the path.  Trajectory following with WPILib's RAMSETE controller uses velocity closed-loop control, so we first select ``Velocity`` mode in the identification tool:
 
 .. image:: images/velocity-mode.png
    :alt: How to specify velocity mode in the "Loop Type" dropdown.
diff --git a/source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst b/source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst
index 3251ca75d6..6392fee93c 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst
@@ -1,96 +1,91 @@
-Step 3: Creating a Drive Subsystem
-==================================
+# Step 3: Creating a Drive Subsystem
 
 Now that our drive is characterized, it is time to start writing our robot code *proper*.  As mentioned before, we will use the :ref:`command-based <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>` framework for our robot code.  Accordingly, our first step is to write a suitable drive :ref:`subsystem <docs/software/commandbased/subsystems:Subsystems>` class.
 
-The full drive class from the RamseteCommand Example Project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RamseteCommand>`__) can be seen below.  The rest of the article will describe the steps involved in writing this class.
+The full drive class from the RamseteCommand Example Project ([Java](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand)) can be seen below.  The rest of the article will describe the steps involved in writing this class.
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 5-
+         :linenos:
+         :lineno-start: 5
 
-Configuring the Drive Encoders
-------------------------------
+## Configuring the Drive Encoders
 
 The drive encoders measure the rotation of the wheels on each side of the drive.  To properly configure the encoders, we need to specify two things: the ports the encoders are plugged into, and the distance per encoder pulse.  Then, we need to write methods allowing access to the encoder values from code that uses the subsystem.
 
-Encoder Ports
-^^^^^^^^^^^^^
+### Encoder Ports
 
 The encoder ports are specified in the encoder's constructor, like so:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 34-46
-      :linenos:
-      :lineno-start: 34
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 31-43
+         :linenos:
+         :lineno-start: 31
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
-      :language: c++
-      :lines: 17-18
-      :linenos:
-      :lineno-start: 17
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 17-18
+         :linenos:
+         :lineno-start: 17
 
-Encoder Distance per Pulse
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Encoder Distance per Pulse
 
 The distance per pulse is specified by calling the encoder's ``setDistancePerPulse`` method.  Note that for the WPILib Encoder class, "pulse" refers to a full encoder cycle (i.e. four edges), and thus will be 1/4 the value that was specified in the SysId config.  Remember, as well, that the distance should be measured in meters!
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 62-63
-      :linenos:
-      :lineno-start: 62
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 65-66
+         :linenos:
+         :lineno-start: 65
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
-      :language: c++
-      :lines: 26-27
-      :linenos:
-      :lineno-start: 26
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 32-33
+         :linenos:
+         :lineno-start: 32
 
-Encoder Accessor Method
-^^^^^^^^^^^^^^^^^^^^^^^
+### Encoder Accessor Method
 
 To access the values measured by the encoders, we include the following method:
 
@@ -98,78 +93,75 @@ To access the values measured by the encoders, we include the following method:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 87-94
-      :linenos:
-      :lineno-start: 87
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 90-97
+         :linenos:
+         :lineno-start: 90
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
-      :language: c++
-      :lines: 82-85
-      :linenos:
-      :lineno-start: 82
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 88-91
+         :linenos:
+         :lineno-start: 88
 
 We wrap the measured encoder values in a ``DifferentialDriveWheelSpeeds`` object for easier integration with the ``RamseteCommand`` class later on.
 
-Configuring the Gyroscope
--------------------------
+## Configuring the Gyroscope
 
-The gyroscope measures the rate of change of the robot's heading (which can then be integrated to provide a measurement of the robot's heading relative to when it first turned on).  In our example, we use the `Analog Devices ADXRS450 FRC Gyro Board <https://www.analog.com/en/landing-pages/001/first.html>`__, which has been included in the kit of parts for several years:
+The gyroscope measures the rate of change of the robot's heading (which can then be integrated to provide a measurement of the robot's heading relative to when it first turned on).  In our example, we use the [Analog Devices ADXRS450 FRC Gyro Board](https://www.analog.com/en/landing-pages/001/first.html), which was included in the kit of parts for several years:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 49-50
-      :linenos:
-      :lineno-start: 49
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 45-46
+         :linenos:
+         :lineno-start: 45
 
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
-      :language: c++
-      :lines: 140-141
-      :linenos:
-      :lineno-start: 140
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
+         :language: c++
+         :lines: 134-135
+         :linenos:
+         :lineno-start: 134
 
-Gyroscope Accessor Method
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Gyroscope Accessor Method
 
 To access the current heading measured by the gyroscope, we include the following method:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 176-183
-      :linenos:
-      :lineno-start: 176
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 178-185
+         :linenos:
+         :lineno-start: 178
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
-      :language: c++
-      :lines: 70-72
-      :linenos:
-      :lineno-start: 70
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 76-78
+         :linenos:
+         :lineno-start: 76
 
-Configuring the Odometry
-------------------------
+## Configuring the Odometry
 
 Now that we have our encoders and gyroscope configured, it is time to set up our drive subsystem to automatically compute its position from the encoder and gyroscope readings.
 
@@ -177,100 +169,119 @@ First, we create a member instance of the ``DifferentialDriveOdometry`` class:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 51-52
-      :linenos:
-      :lineno-start: 51
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 48-49
+         :linenos:
+         :lineno-start: 48
 
-  .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
-      :language: c++
-      :lines: 143-144
-      :linenos:
-      :lineno-start: 143
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
+         :language: c++
+         :lines: 137-138
+         :linenos:
+         :lineno-start: 137
 
-Updating the Odometry
-^^^^^^^^^^^^^^^^^^^^^
+Then we initialize the ``DifferentialDriveOdometry``.
+
+.. tab-set::
+
+   .. tab-item:: Java
+      :sync: Java
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 69-71
+         :linenos:
+         :lineno-start: 69
+
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 19
+         :linenos:
+         :lineno-start: 19
+
+### Updating the Odometry
 
 The odometry class must be regularly updated to incorporate new readings from the encoder and gyroscope.  We accomplish this inside the subsystem's ``periodic`` method, which is automatically called once per main loop iteration:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 71-76
-      :linenos:
-      :lineno-start: 71
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 74-79
+         :linenos:
+         :lineno-start: 74
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
-      :language: c++
-      :lines: 32-37
-      :linenos:
-      :lineno-start: 32
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 38-43
+         :linenos:
+         :lineno-start: 38
 
-Odometry Accessor Method
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Odometry Accessor Method
 
 To access the robot's current computed pose, we include the following method:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 78-85
-      :linenos:
-      :lineno-start: 78
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 81-88
+         :linenos:
+         :lineno-start: 81
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
-      :language: c++
-      :lines: 78-80
-      :linenos:
-      :lineno-start: 78
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 84-86
+         :linenos:
+         :lineno-start: 84
 
 .. important:: Before running a ``RamseteCommand``, teams are strongly encouraged to deploy and test the odometry code alone, with values sent to the SmartDashboard or Shuffleboard during the ``DriveSubsystem``'s ``periodic()``.  This odometry must be correct for a RamseteCommand to successfully work, as sign or unit errors can cause a robot to move at high speeds in unpredictable directions.
 
-Voltage-Based Drive Method
---------------------------
+## Voltage-Based Drive Method
 
 Finally, we must include one additional method - a method that allows us to set the voltage to each side of the drive using the ``setVoltage()`` method of the ``MotorController`` interface.  The default WPILib drive class does not include this functionality, so we must write it ourselves:
 
 .. tab-set::
 
-  .. tab-item:: Java
-     :sync: Java
+   .. tab-item:: Java
+      :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
-      :language: java
-      :lines: 117-127
-      :linenos:
-      :lineno-start: 117
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+         :language: java
+         :lines: 119-129
+         :linenos:
+         :lineno-start: 119
 
-  .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
-      :language: c++
-      :lines: 43-47
-      :linenos:
-      :lineno-start: 43
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+         :language: c++
+         :lines: 49-53
+         :linenos:
+         :lineno-start: 49
 
 It is very important to use the ``setVoltage()`` method rather than the ordinary ``set()`` method, as this will automatically compensate for battery "voltage sag" during operation.  Since our feedforward voltages are physically-meaningful (as they are based on measured identification data), this is essential to ensuring their accuracy.
 
diff --git a/source/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.rst b/source/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.rst
index b8f20f6475..5f93e40c68 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.rst
@@ -1,16 +1,15 @@
-Step 4: Creating and Following a Trajectory
-===========================================
+# Step 4: Creating and Following a Trajectory
 
 With our drive subsystem written, it is now time to generate a trajectory and write an autonomous command to follow it.
 
-As per the :ref:`standard command-based project structure <docs/software/commandbased/structuring-command-based-project:Structuring a Command-Based Robot Project>`, we will do this in the ``getAutonomousCommand`` method of the ``RobotContainer`` class.  The full method from the RamseteCommand Example Project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RamseteCommand>`__) can be seen below.  The rest of the article will break down the different parts of the method in more detail.
+As per the :ref:`standard command-based project structure <docs/software/commandbased/structuring-command-based-project:Structuring a Command-Based Robot Project>`, we will do this in the ``getAutonomousCommand`` method of the ``RobotContainer`` class.  The full method from the RamseteCommand Example Project ([Java](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand)) can be seen below.  The rest of the article will break down the different parts of the method in more detail.
 
 .. tab-set::
 
   .. tab-item:: Java
     :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
       :lines: 74-135
       :linenos:
@@ -20,19 +19,17 @@ As per the :ref:`standard command-based project structure <docs/software/command
     :sync: C++ (Source)
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
-      :lines: 45-90
+      :lines: 45-94
       :linenos:
       :lineno-start: 45
 
-Configuring the Trajectory Constraints
---------------------------------------
+## Configuring the Trajectory Constraints
 
 First, we must set some configuration parameters for the trajectory which will ensure that the generated trajectory is followable.
 
-Creating a Voltage Constraint
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Creating a Voltage Constraint
 
 The first piece of configuration we will need is a voltage constraint.  This will ensure that the generated trajectory never commands the robot to go faster than it is capable of achieving with the given voltage supply:
 
@@ -41,7 +38,7 @@ The first piece of configuration we will need is a voltage constraint.  This wil
   .. tab-item:: Java
     :sync: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
       :lines: 80-88
       :linenos:
@@ -51,7 +48,7 @@ The first piece of configuration we will need is a voltage constraint.  This wil
     :sync: C++ (Source)
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
       :lines: 46-50
       :linenos:
@@ -59,8 +56,7 @@ The first piece of configuration we will need is a voltage constraint.  This wil
 
 Notice that we set the maximum voltage to 10V, rather than the nominal battery voltage of 12V.  This gives us some "headroom" to deal with "voltage sag" during operation.
 
-Creating the Configuration
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Creating the Configuration
 
 Now that we have our voltage constraint, we can create our ``TrajectoryConfig`` instance, which wraps together all of our path constraints:
 
@@ -70,7 +66,7 @@ Now that we have our voltage constraint, we can create our ``TrajectoryConfig``
     :sync: Java
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
       :lines: 90-98
       :linenos:
@@ -80,14 +76,13 @@ Now that we have our voltage constraint, we can create our ``TrajectoryConfig``
     :sync: C++ (Source)
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
       :lines: 52-58
       :linenos:
       :lineno-start: 52
 
-Generating the Trajectory
--------------------------
+## Generating the Trajectory
 
 With our trajectory configuration in hand, we are now ready to generate our trajectory.  For this example, we will be generating a "clamped cubic" trajectory - this means we will specify full robot poses at the endpoints, and positions only for interior waypoints (also known as "knot points").  As elsewhere, all distances are in meters.
 
@@ -97,7 +92,7 @@ With our trajectory configuration in hand, we are now ready to generate our traj
     :sync: Java
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
       :lines: 100-110
       :linenos:
@@ -107,7 +102,7 @@ With our trajectory configuration in hand, we are now ready to generate our traj
     :sync: C++ (Source)
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
       :lines: 60-69
       :linenos:
@@ -115,8 +110,7 @@ With our trajectory configuration in hand, we are now ready to generate our traj
 
 .. note:: Instead of generating the trajectory on the roboRIO as outlined above, one can also :ref:`import a PathWeaver JSON <docs/software/pathplanning/pathweaver/integrating-robot-program:Importing a PathWeaver JSON>`.
 
-Creating the RamseteCommand
----------------------------
+## Creating the RamseteCommand
 
 We will first reset our robot's pose to the starting pose of the trajectory. This ensures that the robot's location on the coordinate system and the trajectory's starting position are the same.
 
@@ -126,26 +120,26 @@ We will first reset our robot's pose to the starting pose of the trajectory. Thi
     :sync: Java
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
-      :lines: 128-130
+      :lines: 129-131
       :linenos:
-      :lineno-start: 128
+      :lineno-start: 129
 
   .. tab-item:: C++ (Source)
     :sync: C++ (Source)
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
-      :lines: 84-85
+      :lines: 84-86
       :linenos:
       :lineno-start: 84
 
 
-It is very important that the initial robot pose match the first pose in the trajectory.  For the purposes of our example, the robot will be reliably starting at a position of ``(0,0)`` with a heading of ``0``.  In actual use, however, it is probably not desirable to base your coordinate system on the robot position, and so the starting position for both the robot and the trajectory should be set to some other value.  If you wish to use a trajectory that has been defined in robot-centric coordinates in such a situation, you can transform it to be relative to the robot's current pose using the ``transformBy`` method (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/trajectory/Trajectory.html#transformBy(edu.wpi.first.math.geometry.Transform2d)>`_,  `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_trajectory.html#a8edfbd82347bbf32ddfb092679336cd8>`_).  For more information about transforming trajectories, see :ref:`docs/software/advanced-controls/trajectories/transforming-trajectories:Transforming Trajectories`.
+It is very important that the initial robot pose match the first pose in the trajectory.  For the purposes of our example, the robot will be reliably starting at a position of ``(0,0)`` with a heading of ``0``.  In actual use, however, it is probably not desirable to base your coordinate system on the robot position, and so the starting position for both the robot and the trajectory should be set to some other value.  If you wish to use a trajectory that has been defined in robot-centric coordinates in such a situation, you can transform it to be relative to the robot's current pose using the ``transformBy`` method ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/Trajectory.html#transformBy(edu.wpi.first.math.geometry.Transform2d)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_trajectory.html#a8edfbd82347bbf32ddfb092679336cd8)).  For more information about transforming trajectories, see :ref:`docs/software/advanced-controls/trajectories/transforming-trajectories:Transforming Trajectories`.
 
-Now that we have a trajectory, we can create a command that, when executed, will follow that trajectory.  To do this, we use the ``RamseteCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/RamseteCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_ramsete_command.html>`__)
+Now that we have a trajectory, we can create a command that, when executed, will follow that trajectory.  To do this, we use the ``RamseteCommand`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/RamseteCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_ramsete_command.html))
 
 .. tab-set::
 
@@ -153,7 +147,7 @@ Now that we have a trajectory, we can create a command that, when executed, will
     :sync: Java
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
       :lines: 112-127
       :linenos:
@@ -163,7 +157,7 @@ Now that we have a trajectory, we can create a command that, when executed, will
     :sync: C++ (Source)
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
       :lines: 71-82
       :linenos:
@@ -173,19 +167,18 @@ This declaration is fairly substantial, so we'll go through it argument-by-argum
 
 1. The trajectory: This is the trajectory to be followed; accordingly, we pass the command the trajectory we just constructed in our earlier steps.
 2. The pose supplier: This is a method reference (or lambda) to the :ref:`drive subsystem method that returns the pose <docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem:Odometry Accessor Method>`.  The RAMSETE controller needs the current pose measurement to determine the required wheel outputs.
-3. The RAMSETE controller: This is the ``RamseteController`` object (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/RamseteController.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_ramsete_controller.html>`__) that will perform the path-following computation that translates the current measured pose and trajectory state into a chassis speed setpoint.
-4. The drive feedforward: This is a ``SimpleMotorFeedforward`` object (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_simple_motor_feedforward.html>`__) that will automatically perform the correct feedforward calculation with the feedforward gains (``kS``, ``kV``, and ``kA``) that we obtained from the drive identification tool.
-5. The drive kinematics: This is the ``DifferentialDriveKinematics`` object (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_differential_drive_kinematics.html>`__) that we constructed earlier in our constants file, and will be used to convert chassis speeds to wheel speeds.
+3. The RAMSETE controller: This is the ``RamseteController`` object ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/RamseteController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_ramsete_controller.html)) that will perform the path-following computation that translates the current measured pose and trajectory state into a chassis speed setpoint.
+4. The drive feedforward: This is a ``SimpleMotorFeedforward`` object ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_simple_motor_feedforward.html)) that will automatically perform the correct feedforward calculation with the feedforward gains (``kS``, ``kV``, and ``kA``) that we obtained from the drive identification tool.
+5. The drive kinematics: This is the ``DifferentialDriveKinematics`` object ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_differential_drive_kinematics.html)) that we constructed earlier in our constants file, and will be used to convert chassis speeds to wheel speeds.
 6. The wheel speed supplier: This is a method reference (or lambda) to the :ref:`drive subsystem method that returns the wheel speeds <docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem:Encoder Accessor Method>`
-7. The left-side PIDController: This is the ``PIDController`` object (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/PIDController.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_p_i_d_controller.html>`__) that will track the left-side wheel speed setpoint, using the P gain that we obtained from the drive identification tool.
-8. The right-side PIDController: This is the ``PIDController`` object (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/controller/PIDController.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_p_i_d_controller.html>`__) that will track the right-side wheel speed setpoint, using the P gain that we obtained from the drive identification tool.
+7. The left-side PIDController: This is the ``PIDController`` object ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/PIDController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_p_i_d_controller.html)) that will track the left-side wheel speed setpoint, using the P gain that we obtained from the drive identification tool.
+8. The right-side PIDController: This is the ``PIDController`` object ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/PIDController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_p_i_d_controller.html)) that will track the right-side wheel speed setpoint, using the P gain that we obtained from the drive identification tool.
 9. The output consumer: This is a method reference (or lambda) to the :ref:`drive subsystem method that passes the voltage outputs to the drive motors <docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem:Voltage-Based Drive Method>`.
 10. The robot drive: This is the drive subsystem itself, included to ensure the command does not operate on the drive at the same time as any other command that uses the drive.
 
 Finally, note that we append a final "stop" command in sequence after the path-following command, to ensure that the robot stops moving at the end of the trajectory.
 
-Video
------
+## Video
 
 If all has gone well, your robot's autonomous routine should look something like this:
 
diff --git a/source/docs/software/pathplanning/trajectory-tutorial/entering-constants.rst b/source/docs/software/pathplanning/trajectory-tutorial/entering-constants.rst
index 5821fb027c..0a33f85f9c 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/entering-constants.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/entering-constants.rst
@@ -1,14 +1,12 @@
-Step 2: Entering the Calculated Constants
-=========================================
+# Step 2: Entering the Calculated Constants
 
 .. note:: In C++, it is important that the feedforward constants be entered as the correct unit type.  For more information on C++ units, see :ref:`docs/software/basic-programming/cpp-units:The C++ Units Library`.
 
 Now that we have our system constants, it is time to place them in our code.  The recommended place for this is the ``Constants`` file of the :ref:`standard command-based project structure <docs/software/commandbased/structuring-command-based-project:Constants>`.
 
-The relevant parts of the constants file from the RamseteCommand Example Project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RamseteCommand>`__) can be seen below.
+The relevant parts of the constants file from the RamseteCommand Example Project ([Java](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand)) can be seen below.
 
-Feedforward/Feedback Gains
---------------------------
+## Feedforward/Feedback Gains
 
 Firstly, we must enter the feedforward and feedback gains which we obtained from the identification tool.
 
@@ -16,39 +14,37 @@ Firstly, we must enter the feedforward and feedback gains which we obtained from
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
       :language: java
       :lines: 39-49
       :linenos:
       :lineno-start: 39
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
       :language: c++
       :lines: 47-57
       :linenos:
       :lineno-start: 47
 
-DifferentialDriveKinematics
----------------------------
+## DifferentialDriveKinematics
 
 Additionally, we must create an instance of the ``DifferentialDriveKinematics`` class, which allows us to use the trackwidth (i.e. horizontal distance between the wheels) of the robot to convert from chassis speeds to wheel speeds.  As elsewhere, we keep our units in meters.
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
     :language: java
     :lines: 29-31
     :linenos:
     :lineno-start: 29
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
     :language: c++
     :lines: 38-39
     :linenos:
     :lineno-start: 38
 
-Max Trajectory Velocity/Acceleration
-------------------------------------
+## Max Trajectory Velocity/Acceleration
 
 We must also decide on a nominal max acceleration and max velocity for the robot during path-following.  The maximum velocity value should be set somewhat below the nominal free-speed of the robot.  Due to the later use of the ``DifferentialDriveVoltageConstraint``, the maximum acceleration value is not extremely crucial.
 
@@ -56,32 +52,31 @@ We must also decide on a nominal max acceleration and max velocity for the robot
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
     :language: java
     :lines: 57-58
     :linenos:
     :lineno-start: 57
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
     :language: c++
     :lines: 61-62
     :linenos:
     :lineno-start: 61
 
-Ramsete Parameters
-------------------
+## Ramsete Parameters
 
 Finally, we must include a pair of parameters for the RAMSETE controller.  The values shown below should work well for most robots, provided distances have been correctly measured in meters - for more information on tuning these values (if it is required), see :ref:`docs/software/advanced-controls/trajectories/ramsete:Constructing the Ramsete Controller Object`.
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
       :language: java
       :lines: 60-62
       :linenos:
       :lineno-start: 60
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
       :language: c++
       :lines: 64-67
       :linenos:
diff --git a/source/docs/software/pathplanning/trajectory-tutorial/images/diagnostic-plots.png b/source/docs/software/pathplanning/trajectory-tutorial/images/diagnostic-plots.png
index 3a3be08ec4..2b7129ec90 100644
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diff --git a/source/docs/software/pathplanning/trajectory-tutorial/images/fb-gains.png b/source/docs/software/pathplanning/trajectory-tutorial/images/fb-gains.png
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diff --git a/source/docs/software/pathplanning/trajectory-tutorial/images/velocity-mode.png b/source/docs/software/pathplanning/trajectory-tutorial/images/velocity-mode.png
index 666fc1f45d..b86c4db0ee 100644
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diff --git a/source/docs/software/pathplanning/trajectory-tutorial/images/wpilib-preset.png b/source/docs/software/pathplanning/trajectory-tutorial/images/wpilib-preset.png
index 2f3283678f..34840e4342 100644
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diff --git a/source/docs/software/pathplanning/trajectory-tutorial/index.rst b/source/docs/software/pathplanning/trajectory-tutorial/index.rst
index 4366bb741e..00c3bcb26e 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/index.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/index.rst
@@ -1,7 +1,6 @@
-Trajectory Tutorial
-===================
+# Trajectory Tutorial
 
-This is full tutorial for implementing trajectory generation and following on a differential-drive robot.  The full code used in this tutorial can be found in the RamseteCommand example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RamseteCommand>`__).
+This is full tutorial for implementing trajectory generation and following on a differential-drive robot.  The full code used in this tutorial can be found in the RamseteCommand example project ([Java](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand)).
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst b/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst
index 1594cd2e52..5c53f57112 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Trajectory Tutorial Overview
-============================
+# Trajectory Tutorial Overview
 
 .. todo:: add pathweaver stuff once it is available
 
@@ -18,10 +17,9 @@ The goal of this tutorial is to provide "end-to-end" instruction on implementing
 
 This tutorial is intended to be approachable for teams without a great deal of programming expertise.  While the WPILib library offers significant flexibility in the manner in which its trajectory-following features are implemented, closely following the implementation outlined in this tutorial should provide teams with a relatively-simple, clean, and repeatable solution for autonomous movement.
 
-The full robot code for this tutorial can be found in the RamseteCommand Example Project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RamseteCommand>`__).
+The full robot code for this tutorial can be found in the RamseteCommand Example Project ([Java](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand), [C++](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibcExamples/src/main/cpp/examples/RamseteCommand)).
 
-Why Trajectory Following?
--------------------------
+## Why Trajectory Following?
 
 FRC\ |reg| games often feature autonomous tasks that require a robot to effectively and accurately move from a known starting location to a known scoring location.  Historically, the most common solution for this sort of task in FRC has been a "drive-turn-drive" approach - that is, drive forward by a known distance, turn by a known angle, and drive forward by another known distance.
 
@@ -29,12 +27,11 @@ While the "drive-turn-drive" approach is certainly functional, in recent years t
 
 Beginning in 2020, WPILib now supplies teams with working, advanced code solutions for trajectory generation and tracking, significantly lowering the "barrier-to-entry" for this kind of advanced and effective autonomous motion.
 
-Required Equipment
-------------------
+## Required Equipment
 
 To follow this tutorial, you will need ready access to the following materials:
 
-1. A differential-drive robot (such as the `AndyMark AM14U5 <https://www.andymark.com/products/am14u5-6-wheel-drop-center-robot-drive-base-first-kit-of-parts-chassis>`__), equipped with:
+1. A differential-drive robot (such as the [AndyMark AM14U5](https://www.andymark.com/products/am14u5-6-wheel-drop-center-robot-drive-base-first-kit-of-parts-chassis)), equipped with:
 
   * Quadrature encoders for measuring the wheel rotation of each side of the drive.
   * A gyroscope for measuring robot heading.
@@ -43,4 +40,4 @@ To follow this tutorial, you will need ready access to the following materials:
 
   * :ref:`FRC Driver Station <docs/zero-to-robot/step-2/frc-game-tools:Installing the FRC Game Tools>`.
   * :ref:`WPILib <docs/zero-to-robot/step-2/wpilib-setup:WPILib Installation Guide>`.
-  * :ref:`The System Identification Toolsuite <docs/software/pathplanning/system-identification/introduction:Installing the System Identification Tool>`.
+  * :ref:`The System Identification Toolsuite <docs/software/advanced-controls/system-identification/introduction:Installing SysId>`.
diff --git a/source/docs/software/python/index.rst b/source/docs/software/python/index.rst
new file mode 100644
index 0000000000..78e7d1cda4
--- /dev/null
+++ b/source/docs/software/python/index.rst
@@ -0,0 +1,10 @@
+# FRC Python Programming
+
+.. toctree::
+   :maxdepth: 2
+   :titlesonly:
+
+   /docs/zero-to-robot/step-2/python-setup
+   /docs/zero-to-robot/step-2/frc-game-tools
+   pyproject_toml
+   subcommands/index
diff --git a/source/docs/software/python/pyproject_toml.rst b/source/docs/software/python/pyproject_toml.rst
new file mode 100644
index 0000000000..162af42762
--- /dev/null
+++ b/source/docs/software/python/pyproject_toml.rst
@@ -0,0 +1,54 @@
+# pyproject.toml usage
+
+.. note:: RobotPy projects are not required to have a ``pyproject.toml``, but when you run ``robotpy sync`` one will automatically be created for you.
+
+``pyproject.toml`` has become a standard way to store build and tooling configuration for Python projects. The ``[tool.XXX]`` section(s) of the [TOML](https://toml.io) file is a place where tools can store their configuration information.
+
+Currently RobotPy only stores deployment related information in ``pyproject.toml``, in the ``[tool.robotpy]`` section. Users can customize the other sections however they want, and ``robotpy`` will ignore them.
+
+The ``pyproject.toml`` file looks something like this:
+
+```toml
+#
+# Use this configuration file to control what RobotPy packages are installed
+# on your RoboRIO
+#
+[tool.robotpy]
+# Version of robotpy this project depends on
+robotpy_version = "2024.2.1.0"
+# Which extra RobotPy components should be installed
+# -> equivalent to `pip install robotpy[extra1, ...]
+robotpy_extras = [
+    # "all"
+    # "apriltag"
+    # "commands2"
+    # "cscore"
+    # "navx"
+    # "pathplannerlib"
+    # "phoenix5"
+    # "phoenix6"
+    # "playingwithfusion"
+    # "rev"
+    # "romi"
+    # "sim"
+]
+# Other pip packages to install
+requires = []
+```
+
+Each of the following will instruct the deploy process to install packages to the roboRIO:
+
+``robotpy_version`` is the version of the ``robotpy`` PyPI package that this robot code depends on.
+
+``robotpy_extras`` defines extra RobotPy components that can be installed, as only the core RobotPy libraries are installed by default.
+
+``requires`` is a list of strings, and each item is equivalent to a line of a [requirements.txt](https://pip.pypa.io/en/stable/reference/requirements-file-format/) file. You can install any pure python packages on the roboRIO and they will likely work, but any packages that have binary dependencies must be cross-compiled for the roboRIO. For example, if you needed to use ``numpy`` in your robot code:
+
+```toml
+[tool.robotpy]
+...
+requires = ["numpy"]
+```
+
+The packages that can be installed are stored on the [WPILib Artifactory server](https://wpilib.jfrog.io/ui/native/wpilib-python-release-2024/).
+If you find that you need a package that isn't available on artifactory, consult the [roborio-wheels](https://github.com/robotpy/roborio-wheels) repository.
diff --git a/source/docs/software/python/subcommands/deploy.rst b/source/docs/software/python/subcommands/deploy.rst
new file mode 100644
index 0000000000..720885dd17
--- /dev/null
+++ b/source/docs/software/python/subcommands/deploy.rst
@@ -0,0 +1,100 @@
+# Deploy Python program to roboRIO
+
+.. note:: Before deploying the code to your robot, you must start by :doc:`installing RobotPy on your computer </docs/zero-to-robot/step-2/python-setup>`
+
+          In particular, it is expected that you have ran ``robotpy sync`` to download all of the roboRIO python dependencies.
+
+.. tab-set::
+
+   .. tab-item:: Windows
+      :sync: windows
+
+      ```sh
+      py -3 -m robotpy deploy
+      ```
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ```sh
+      python3 -m robotpy deploy
+      ```
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ```sh
+      python3 -m robotpy deploy
+      ```
+
+When you execute the ``robotpy deploy`` subcommand, it will do the following:
+
+* Run ``pytest`` tests on your code (will exit if they fail)
+* Install Python on the roboRIO (if not already present)
+* Install python packages on the roboRIO as specified by your ``pyproject.toml`` (if not already present)
+* Copy the entire robot project directory to the roboRIO and execute it
+
+.. warning:: Avoid powering off the robot while deploying robot code. Interrupting the deployment process can corrupt the roboRIO filesystem and prevent your code from working until the roboRIO is :doc:`re-imaged </docs/zero-to-robot/step-3/imaging-your-roborio>`.
+
+When successful, you will see a ``SUCCESS: Deploy was successful!`` message.
+
+You can watch your robot code's output (and see any problems) with netconsole by using the Driver Station Log Viewer or [pynetconsole](https://github.com/robotpy/pynetconsole). You can use netconsole and the normal FRC tools to interact with the running robot code.
+
+.. seealso:: :doc:`/docs/software/vscode-overview/viewing-console-output`
+
+**Immediate feedback via Netconsole**
+
+When deploying the code to the roboRIO, you can have immediate feedback by adding the option :guilabel:`--nc`. This will cause the deploy command to show your program's console output, by launching a netconsole listener.
+
+.. tab-set::
+
+   .. tab-item:: Windows
+      :sync: windows
+
+      ```sh
+      py -3 -m robotpy deploy --nc
+      ```
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ```sh
+      python3 -m robotpy deploy --nc
+      ```
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ```sh
+      python3 -m robotpy deploy --nc
+      ```
+
+.. note:: Viewing netconsole output requires the driver station software to be connected to your robot
+
+**Skipping Tests**
+
+In the event that the tests are failing but you want to upload the code anyway, you can skip them by adding the option :guilabel:`--skip-tests`.
+
+.. tab-set::
+
+   .. tab-item:: Windows
+      :sync: windows
+
+      ```sh
+      py -3 -m robotpy deploy --skip-tests
+      ```
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ```sh
+      python3 -m robotpy deploy --skip-tests
+      ```
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ```sh
+      python3 -m robotpy deploy --skip-tests
+      ```
+
diff --git a/source/docs/software/python/subcommands/index.rst b/source/docs/software/python/subcommands/index.rst
new file mode 100644
index 0000000000..ba193011ac
--- /dev/null
+++ b/source/docs/software/python/subcommands/index.rst
@@ -0,0 +1,65 @@
+# RobotPy subcommands
+
+When you install RobotPy in your Python installation, it installs a package called ``robotpy-cli``, which provides a ``robotpy`` command that can be used to perform tasks related to your robot and related code.
+
+If you execute the command from the command line, it will show the various subcommands that are available:
+
+.. tab-set::
+
+   .. tab-item:: Windows
+      :sync: windows
+
+      ```sh
+      py -3 -m robotpy
+      ```
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ```sh
+      python3 -m robotpy
+      ```
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ```sh
+      python3 -m robotpy
+      ```
+
+.. note:: If you don't see a list of commands but either see a RobotPy logo or an error saying ``No module named robotpy.__main__; 'robotpy' is a package and cannot be directly executed``, you should uninstall the ``robotpy`` module and then reinstall it via pip.
+
+          This only affects users who upgraded from pre-2024 or the 2024 beta.
+
+You can pass the ``--help`` argument to see more information about the subcommand. For example, to see help for the ``sim`` command you can do the following:
+
+.. tab-set::
+
+   .. tab-item:: Windows
+      :sync: windows
+
+      ```sh
+      py -3 -m robotpy sim --help
+      ```
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ```sh
+      python3 -m robotpy sim --help
+      ```
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ```sh
+      python3 -m robotpy sim --help
+      ```
+
+This page has more detailed documentation for some of the subcommands:
+
+.. toctree::
+   :maxdepth: 2
+   :titlesonly:
+
+   deploy
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diff --git a/source/docs/software/roborio-info/images/startup-settings.png b/source/docs/software/roborio-info/images/startup-settings.png
index 3e0ecb61c0..c20c270e22 100644
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diff --git a/source/docs/software/roborio-info/images/system-configuration-tab.png b/source/docs/software/roborio-info/images/system-configuration-tab.png
index 0ca01b2d15..4d299c163e 100644
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diff --git a/source/docs/software/roborio-info/index.rst b/source/docs/software/roborio-info/index.rst
index 903c7c831f..490834a81f 100644
--- a/source/docs/software/roborio-info/index.rst
+++ b/source/docs/software/roborio-info/index.rst
@@ -1,5 +1,4 @@
-roboRIO
-=======
+# roboRIO
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/roborio-info/recovering-a-roborio-using-safe-mode.rst b/source/docs/software/roborio-info/recovering-a-roborio-using-safe-mode.rst
index 743fc7a874..8969ab5b02 100644
--- a/source/docs/software/roborio-info/recovering-a-roborio-using-safe-mode.rst
+++ b/source/docs/software/roborio-info/recovering-a-roborio-using-safe-mode.rst
@@ -1,12 +1,10 @@
-Recovering a roboRIO using Safe Mode
-====================================
+# Recovering a roboRIO using Safe Mode
 
 Occasionally a roboRIO may become corrupted to the point that it cannot be recovered using the normal boot and imaging process. Booting the roboRIO into Safe Mode may allow the device to be successfully re-imaged.
 
 .. important:: These steps are not applicable to the roboRIO 2. Reimaging the SD card following :doc:`roboRIO 2.0 microSD card imaging process</docs/zero-to-robot/step-3/roborio2-imaging>` will fully reformat the device.
 
-Booting into Safe Mode
-----------------------
+## Booting into Safe Mode
 
 .. image:: images/roborio-safe-mode.svg
    :alt: A roboRIO with the status light and the reset button highlighted.
@@ -17,12 +15,10 @@ To boot the roboRIO into Safe Mode:
 #. Press and hold the Reset button until the Status LED lights up (~5 seconds) then release the Reset button
 #. The roboRIO will boot in Safe Mode (indicated by the Status LED flashing in groups of 3)
 
-Recovering the roboRIO
-----------------------
+## Recovering the roboRIO
 
 The roboRIO can now be imaged by using the roboRIO Imaging Tool as described in :ref:`Imaging your roboRIO <docs/zero-to-robot/step-3/imaging-your-roborio:Imaging your roboRIO 1>`.
 
-About Safe Mode
----------------
+## About Safe Mode
 
-In Safe Mode, the roboRIO boots a separate copy of the operating system into a RAM Disk. This allows you to recover the roboRIO even if the normal copy of the OS is corrupted. While in Safe Mode, any changes made to the OS (such as changes made by accessing the device via SSH or Serial) will not persist to the normal copy of the OS stored on disk.
+In Safe Mode, the roboRIO boots a separate copy of the operating system into a RAM Disk (the firmware). This allows you to recover the roboRIO even if the normal copy of the OS is corrupted. While in Safe Mode, any changes made to the OS (such as changes made by accessing the device via SSH or Serial) will not persist to the normal copy of the OS stored on disk.
diff --git a/source/docs/software/roborio-info/roborio-brownouts.rst b/source/docs/software/roborio-info/roborio-brownouts.rst
index 97371cb783..47f5c8ab5c 100644
--- a/source/docs/software/roborio-info/roborio-brownouts.rst
+++ b/source/docs/software/roborio-info/roborio-brownouts.rst
@@ -1,24 +1,20 @@
 .. include:: <isonum.txt>
 
-roboRIO Brownout and Understanding Current Draw
-===============================================
+# roboRIO Brownout and Understanding Current Draw
 
 In order to help maintain battery voltage to preserve itself and other control system components such as the radio during high current draw events, the roboRIO contains a staged brownout protection scheme. This article describes this scheme, provides information about proactively planning for system current draw, and describes how to use the new functionality of the PDP as well as the DS Log File Viewer to understand brownout events if they do happen on your robot.
 
-roboRIO Brownout Protection
----------------------------
+## roboRIO Brownout Protection
 
 The roboRIO uses a staged brownout protection scheme to attempt to preserve the input voltage to itself and other control system components in order to prevent device resets in the event of large current draws pulling the battery voltage dangerously low.
 
-Stage 1 - 6v output drop
-~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Stage 1 - 6v output drop
 
 **Voltage Trigger - 6.8V**
 
-When the voltage drops below 6.8V, the 6V output on the PWM pins will start to drop.
+When the voltage drops below 6.8V, the 6V output on the :term:`PWM` pins will start to drop.
 
-Stage 2 - Output Disable
-~~~~~~~~~~~~~~~~~~~~~~~~
+#### Stage 2 - Output Disable
 
 **Voltage Trigger - 6.3V**
 
@@ -41,8 +37,7 @@ The controller will take the following steps to attempt to preserve the battery
 
 **The controller will remain in this state until the voltage rises to greater than 7.5V or drops below the trigger for the next stage of the brownout**
 
-Stage 3 - Device Blackout
-~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Stage 3 - Device Blackout
 
 **Voltage Trigger - 4.5V**
 
@@ -50,22 +45,20 @@ Below 4.5V the device may blackout. The exact voltage may be lower than this and
 
 **The controller will remain in this state until the voltage rises above 4.65V when the device will begin the normal boot sequence.**
 
-Avoiding Brownout - Proactive Current Draw Planning
----------------------------------------------------
+## Avoiding Brownout - Proactive Current Draw Planning
 
 .. figure:: images/brownout-diagram.png
    :alt:
 
 The key to avoiding a brownout condition is to proactively plan for the current draw of your robot. The best way to do this is to create some form of power budget. This can be a complex document that attempts to quantify both estimated current draw and time in an effort to most completely understand power usage and therefore battery state at the end of a match, or it can be a simple inventory of current usage. To do this:
 
-1. Establish the max "sustained" current draw (with sustained being loosely defined here as not momentary). This is probably the most difficult part of creating the power budget. The exact current draw a battery can sustain while maintaining a voltage of 7+ volts is dependent on a variety of factors such as battery health (see :ref:`this <docs/hardware/hardware-basics/robot-battery:Robot Battery Basics>` article for measuring battery health) and state of charge. As shown in the `NP18-12 data sheet <https://www.farnell.com/datasheets/575631.pdf>`__, the terminal voltage chart gets very steep as state of charge decreases, especially as current draw increases. This datasheet shows that at 3CA continuous load (54A) a brand new battery can be continuously run for over 6 minutes while maintaining a terminal voltage of over 7V. As shown in the image above (used with permission from `Team 234s Drive System Testing document <https://www.chiefdelphi.com/t/paper-new-control-functions-drive-system-testing/139165>`__), even with a fresh battery, drawing 240A for more than a second or two is likely to cause an issue. This gives us some bounds on setting our sustained current draw. For the purposes of this exercise, we'll set our limit at 180A.
+1. Establish the max "sustained" current draw (with sustained being loosely defined here as not momentary). This is probably the most difficult part of creating the power budget. The exact current draw a battery can sustain while maintaining a voltage of 7+ volts is dependent on a variety of factors such as battery health (see :ref:`this <docs/hardware/hardware-basics/robot-battery:Robot Battery Basics>` article for measuring battery health) and state of charge. As shown in the [NP18-12 data sheet](https://www.farnell.com/datasheets/575631.pdf), the terminal voltage chart gets very steep as state of charge decreases, especially as current draw increases. This datasheet shows that at 3CA continuous load (54A) a brand new battery can be continuously run for over 6 minutes while maintaining a terminal voltage of over 7V. As shown in the image above (used with permission from [Team 234s Drive System Testing document](https://www.chiefdelphi.com/t/paper-new-control-functions-drive-system-testing/139165)), even with a fresh battery, drawing 240A for more than a second or two is likely to cause an issue. This gives us some bounds on setting our sustained current draw. For the purposes of this exercise, we'll set our limit at 180A.
 2. List out the different functions of your robot such as drivetrain, manipulator, main game mechanism, etc.
 3. Start assigning your available current to these functions. You will likely find that you run out pretty quickly. Many teams gear their drivetrain to have enough  :term:`torque` to slip their wheels at 40-50A of current draw per motor. If we have 4 motors on the drivetrain, that eats up most, or even exceeds, our power budget! This means that we may need to put together a few scenarios and understand what functions can (and need to be) be used at the same time. In many cases, this will mean that you really need to limit the current draw of the other functions if/while your robot is maxing out the drivetrain (such as trying to push something). Benchmarking the "driving" current requirements of a drivetrain for some of these alternative scenarios is a little more complex, as it depends on many factors such as number of motors, robot weight, gearing, and efficiency. Current numbers for other functions can be done by calculating the power required to complete the function and estimating efficiency (if the mechanism has not been designed) or by determining the  :term:`torque` load on the motor and using the torque-current curve to determine the current draw of the motors.
 
 4. If you have determined mutually exclusive functions in your analysis, consider enforcing the exclusion in software. You may also use the current monitoring of the PDP (covered in more detail below) in your robot program to provide output limits or exclusions dynamically (such as don't run a mechanism motor when the drivetrain current is over X or only let the motor run up to half output when the drivetrain current is over Y).
 
-Settable Brownout
------------------
+## Settable Brownout
 
 The NI roboRIO 1.0 does not support custom brownout voltages. It is fixed at 6.3V as mentioned in Stage 2 above.
 
@@ -73,23 +66,21 @@ The NI roboRIO 2.0 adds the option for a software settable brownout level.  The
 
 .. tab-set-code::
 
-  .. code-block:: java
+  ```java
+  RobotController.setBrownoutVoltage(7.0);
+  ```
 
-    RobotController.setBrownoutVoltage(7.0);
+  ```c++
+  frc::RobotController::SetBrownoutVoltage(7_V);
+  ```
 
-  .. code-block:: c++
-
-    frc::RobotController::SetBrownoutVoltage(7_V);
-
-Measuring Current Draw using the PDP/PDH
-----------------------------------------
+## Measuring Current Draw using the PDP/PDH
 
 The FRC\ |reg| Driver Station works in conjunction with the roboRIO and PDP/PDH to extract logged data from the PDP/PDH and log it on your DS PC. A viewer for this data is still under development.
 
 In the meantime, teams can use their robot code and manual logging, a LabVIEW front panel or the SmartDashboard to visualize current draw on their robot as mechanisms are developed. In LabVIEW, you can read the current on a PDP/PDH channel using the Get PD Currents VI found on the Power pallet. For C++ and Java teams, use the PowerDistribution class as described in the :doc:`Power Distribution </docs/software/can-devices/power-distribution-module>` article. Plotting this information over time (easiest with a LV Front Panel or with the SmartDashboard by using a Graph indicator can provide information to compare against and update your power budget or can locate mechanisms which do not seem to be performing as expected (due to incorrect load calculation, incorrect efficiency assumptions, or mechanism issues such as binding).
 
-Identifying Brownouts
----------------------
+## Identifying Brownouts
 
 .. figure:: images/identifying-brownouts.png
    :alt:
diff --git a/source/docs/software/roborio-info/roborio-ftp.rst b/source/docs/software/roborio-info/roborio-ftp.rst
index 3fc1a25cdf..c15b75d39e 100644
--- a/source/docs/software/roborio-info/roborio-ftp.rst
+++ b/source/docs/software/roborio-info/roborio-ftp.rst
@@ -1,18 +1,14 @@
-roboRIO FTP
-===========
+# roboRIO FTP
 
 .. note:: The roboRIO has both SFTP and anonymous FTP enabled. This article describes how to use each to access the roboRIO file system.
 
-SFTP
-----
+## SFTP
 SFTP is the recommended way to access the roboRIO file system. Because you will be using the same account that your program will run under, files copied over should always have permissions compatible with your code.
 
-Software
-^^^^^^^^
-There are a number of freely available programs for SFTP. This article will discuss using FileZilla. You can either download and install `FileZilla <https://filezilla-project.org/download.php?type=client>`__ before proceeding or extrapolate the directions below to your SFTP client of choice.
+### Software
+There are a number of freely available programs for SFTP. This article will discuss using FileZilla. You can either download and install [FileZilla](https://filezilla-project.org/download.php?show_all=1) before proceeding or extrapolate the directions below to your SFTP client of choice.
 
-Connecting to the roboRIO
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Connecting to the roboRIO
 
 .. image:: images/roborio-connect.png
    :alt: Each part of the connection information at the top of FileZilla.
@@ -25,16 +21,14 @@ To connect to your roboRIO:
 4. Enter "22" in the port box (the SFTP default port)
 5. Click Quickconnect
 
-Browsing the roboRIO filesystem
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Browsing the roboRIO filesystem
 
 .. image:: images/roborio-filesystem.png
    :alt: User will use the right pane to browse the Linux file system.
 
 After connecting to the roboRIO, Filezilla will open to the \\home\\lvuser directory. The right pane is the remote system (the roboRIO), the left pane is the local system (your computer). The top section of each pane shows you the hierarchy to the current directory you are browsing, the bottom pane shows contents of the directory. To transfer files, simply click and drag from one side to the other. To create directories on the roboRIO, right click and select "Create Directory".
 
-FTP
----
+## FTP
 
 .. image:: images/roborio-ftp.png
    :alt: Anonymous FTP being used via Windows Explorer.
diff --git a/source/docs/software/roborio-info/roborio-introduction.rst b/source/docs/software/roborio-info/roborio-introduction.rst
index 661d4765df..0c2bfc333c 100644
--- a/source/docs/software/roborio-info/roborio-introduction.rst
+++ b/source/docs/software/roborio-info/roborio-introduction.rst
@@ -1,5 +1,4 @@
-roboRIO Introduction
-====================
+# roboRIO Introduction
 
 .. image:: /docs/controls-overviews/images/control-system-hardware/roborio.png
   :width: 500
@@ -8,6 +7,6 @@ The roboRIO is designed specifically with FIRST in mind. The roboRIO has a basic
 
 The roboRIO is a reconfigurable robotics controller that includes built-in ports for inter-integrated circuits (I2C), serial peripheral interfaces (SPI), RS232, USB, Ethernet, pulse width modulation (PWM), and relays to quickly connect the common sensors and actuators used in robotics. The controller features LEDs, buttons, an onboard accelerometer, and a custom electronics port. It has an onboard dual-core ARM real-time Cortex‑A9 processor and customizable Xilinx FPGA.
 
-Detailed information on the roboRIO can be found in the `roboRIO User Manual <https://www.ni.com/docs/en-US/bundle/roborio-20-umanual/page/umanual.html>`__ and in the `roboRIO technical specifications <https://www.ni.com/docs/en-US/bundle/roborio-frc-specs/page/specs.html>`__.
+Detailed information on the roboRIO can be found in the [roboRIO User Manual](https://www.ni.com/docs/en-US/bundle/roborio-20-umanual/page/umanual.html) and in the [roboRIO technical specifications](https://www.ni.com/docs/en-US/bundle/roborio-frc-specs/page/specs.html).
 
 Before deploying programs to your roboRIO, you must first image the roboRIO: :doc:`roboRIO 1</docs/zero-to-robot/step-3/imaging-your-roborio>` :doc:`roboRIO 2</docs/zero-to-robot/step-3/roborio2-imaging>`.
diff --git a/source/docs/software/roborio-info/roborio-ssh.rst b/source/docs/software/roborio-info/roborio-ssh.rst
index f561326ab0..70b959f8ae 100644
--- a/source/docs/software/roborio-info/roborio-ssh.rst
+++ b/source/docs/software/roborio-info/roborio-ssh.rst
@@ -1,18 +1,15 @@
 .. include:: <isonum.txt>
 
-roboRIO User Accounts and SSH
-=============================
+# roboRIO User Accounts and SSH
 
 .. note:: This document contains advanced topics not required for typical FRC\ |reg| programming
 
 The roboRIO image contains a number of accounts, this article will highlight the two used  for FRC and provide some detail about their purpose. It will also describe how to connect  to the roboRIO over SSH.
 
-roboRIO User Accounts
----------------------
+## roboRIO User Accounts
 The roboRIO image contains a number of user accounts, but there are two of primary interest for FRC.
 
-Admin
-^^^^^
+### admin
 The "admin" account has root access to the system and can be used to manipulate OS files or settings. Teams should take caution when using this account as it allows for the modification of settings and files that may corrupt the operating system of the roboRIO. The credentials for this account are:
 
 ``Username: admin``
@@ -21,18 +18,15 @@ The "admin" account has root access to the system and can be used to manipulate
 
 .. note:: The password is intentionally blank.
 
-Lvuser
-^^^^^^
+### lvuser
 The "lvuser" account is the account used to run user code for all three languages. The credentials for this account should not be changed. Teams may wish to use this account (via ssh or sftp) when working with the roboRIO to ensure that any files or settings changes are being made on the same account as their code will run under.
 
-.. danger:: Changing the default ssh passwords for either "lvuser" or "admin" will prevent C++ and Java teams from uploading code.
+.. danger:: Changing the default ssh passwords for either "lvuser" or "admin" will prevent C++, Java, and Python teams from uploading code.
 
-SSH
----
+## SSH
 SSH (Secure SHell) is a protocol used for secure data communication. When broadly referred to regarding a Linux system (such as the one running on the roboRIO) it generally refers to accessing the command line console using the SSH protocol. This can be used to execute commands on the remote system. A free client which can be used for SSH is PuTTY: https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html
 
-Open Putty
-^^^^^^^^^^
+### Open Putty
 
 .. image:: images/open-putty.png
    :alt: Putty UI highlighting the Host Name field, the SSH radio button and the Open button.
@@ -47,8 +41,7 @@ Other settings can be left at defaults. Click Open to open the connection. If yo
 
 If you are connected over USB you can use 172.22.11.2 as the hostname. If your roboRIO is set to a static IP you can use that IP as the hostname if connected over Ethernet/wireless.
 
-Log In
-^^^^^^
+### Log In
 
 .. image:: images/log-in.png
    :alt: PuTTY terminal window logged in to the roboRIO.
diff --git a/source/docs/software/roborio-info/roborio-web-dashboard.rst b/source/docs/software/roborio-info/roborio-web-dashboard.rst
index ad8d487f8f..e36f9920a8 100644
--- a/source/docs/software/roborio-info/roborio-web-dashboard.rst
+++ b/source/docs/software/roborio-info/roborio-web-dashboard.rst
@@ -1,27 +1,20 @@
-roboRIO Web Dashboard
-=====================
+# roboRIO Web Dashboard
 
 The roboRIO web dashboard is a webpage built into the roboRIO that can
 be used for checking status and updating settings of the roboRIO.
 
-Users may encounter issues using IE (compatibility).
-Alternate browsers such as Google Chrome or
-Mozilla Firefox are recommended for the best experience.
-
-Opening the WebDash
--------------------
+## Opening the WebDash
 
 .. figure:: images/roborio-page-home.png
    :alt:
 
 To open the web dashboard, open a web browser and enter the address of
 the roboRIO into the address bar (172.22.11.2 for USB, or
-"roboRIO-####-FRC.local where #### is your team number, with no leading
+"roboRIO-#####-FRC.local where ##### is your team number, with no leading
 zeroes, for either interface). See this document for more details about
 mDNS and roboRIO networking: :ref:`docs/networking/networking-introduction/ip-configurations:IP Configurations`
 
-System Configuration Tab
-------------------------
+## System Configuration Tab
 
 .. figure:: images/system-configuration-tab.png
    :alt:
@@ -42,8 +35,7 @@ which has 5 main sections:
 4. System Resources (not pictured) - This section provides a snapshot of
    system resources such as memory and CPU load.
 
-Startup Settings
-~~~~~~~~~~~~~~~~
+#### Startup Settings
 
 .. figure:: images/startup-settings.png
    :alt:
@@ -53,25 +45,17 @@ Startup Settings
    use the Reset button on the roboRIO to put the device into Safe Mode
    instead (with power already applied, hold the rest button for 5
    seconds). **Default is unchecked.**
--  Enable Console Out - This enables the on-board RS232 port to be used
-   as a Console output. It is recommended to leave this enabled unless
-   you are using this port to talk to a serial device (note that this
-   port uses RS232 levels and should not be connected to many
-   microcontrollers which use TTL levels). **Default is checked.**
+-  Enable Console Out - This enables the on-board RS232 port to be used as a
+   Console output. This port uses RS232 levels and should not be connected to
+   many microcontrollers which use TTL levels). **Default is unchecked.**
 -  Disable RT Startup App - Checking this box disables code from running
    at startup. This may be used for troubleshooting if you find the
    roboRIO is unresponsive to new program download. Default is unchecked
 -  Disable FPGA Startup App - **This box should not be checked.**
--  Enable Secure Shell Server (sshd) - **It is recommended to leave this
-   box checked.** This setting enables SSH which is a way to remotely
-   access a console on the roboRIO. Unchecking this box will prevent C++
-   and Java teams from loading code onto the roboRIO.
--  LabVIEW Project Access -\*\* It is recommended to leave this box
-   checked.\*\* This setting allows LabVIEW projects to access the
-   roboRIO.
+-  LabVIEW Project Access - **It is recommended to leave this box checked.**
+   This setting allows LabVIEW projects to access the roboRIO.
 
-Network Configuration
----------------------
+## Network Configuration
 
 .. figure:: images/network-configuration.png
    :alt:
diff --git a/source/docs/software/support/support-resources.rst b/source/docs/software/support/support-resources.rst
index bd548e3d55..bf653e4958 100644
--- a/source/docs/software/support/support-resources.rst
+++ b/source/docs/software/support/support-resources.rst
@@ -1,59 +1,51 @@
 .. include:: <isonum.txt>
 
-Support Resources
-=================
+# Support Resources
 
 In addition to the documentation here, there are a variety of other resources available to FRC\ |reg| teams to help understand the Control System and software.
 
-Other Documentation
--------------------
+## Other Documentation
 
 In addition to this site there are a few other places teams may check for documentation:
 
--  `NI FRC Community Documents Section <https://forums.ni.com/t5/FIRST-Robotics-Competition/bd-p/1014?profile.language=en&view=documents>`__
--  `FIRST Inspires Technical Resources Page <https://www.firstinspires.org/resource-library?flagged=All&combine=&field_content_type_value%5B0%5D=first_robotics_competition&field_resource_library_tags_tid=171&sort_by=created_1>`__
--  `CTRE Software & Resources Page <https://store.ctr-electronics.com/software/>`__
--  `REV Robotics Documentation <https://docs.revrobotics.com/docs/>`__
+-  [NI FRC Community Documents Section](https://forums.ni.com/t5/FIRST-Robotics-Competition/bd-p/1014?profile.language=en&view=documents)
+-  [FIRST Inspires Technical Resources Page](https://www.firstinspires.org/resource-library?flagged=All&combine=&field_content_type_value%5B0%5D=first_robotics_competition&field_resource_library_tags_tid=171&sort_by=created_1)
+-  [CTRE Software & Resources Page](https://store.ctr-electronics.com/software/)
+-  [REV Robotics Documentation](https://docs.revrobotics.com/docs/)
 
-Forums
-------
+## Forums
 
 Stuck? Have a question not answered by the documentation? Official Support is provided on these forums:
 
--  `NI FRC Support Forum <https://forums.ni.com/t5/Support/ct-p/Support>`__ (roboRIO, LabVIEW and Driver Station software questions, as well as roboRIO repairs)
--  `FIRST Inspires Control System Forum <https://forums.firstinspires.org/forum/general-discussions/first-programs/first-robotics-competition/competition-discussion/control-system?f=1338>`__ (wiring, hardware and Driver Station questions)
--  `FIRST Inspires Programming Forum <https://forums.firstinspires.org/forum/general-discussions/first-programs/first-robotics-competition/competition-discussion/programming-aa>`__ (programming questions for C++, Java, or LabVIEW)
+-  [NI FRC Support Forum](https://forums.ni.com/t5/Support/ct-p/Support) (roboRIO, LabVIEW and Driver Station software questions, as well as roboRIO repairs)
+-  [FIRST Inspires Control System Forum](https://forums.firstinspires.org/forum/general-discussions/first-programs/first-robotics-competition/competition-discussion/control-system?f=1338) (wiring, hardware and Driver Station questions)
+-  [FIRST Inspires Programming Forum](https://forums.firstinspires.org/forum/general-discussions/first-programs/first-robotics-competition/competition-discussion/programming-aa) (programming questions for C++, Java, or LabVIEW)
 
-CTRE Support
-------------
+## CTRE Support
 
-Support for Cross The Road Electronics components (Pneumatics Control Module, Power Distribution Panel, Talon SRX, and Voltage Regulator Module) is provided via the email address `support@crosstheroadelectronics.com <mailto:support@crosstheroadelectronics.com>`__.
+Support for Cross The Road Electronics components (Pneumatics Control Module, Power Distribution Panel, Talon SRX, and Voltage Regulator Module) is provided via the email address [support@crosstheroadelectronics.com](mailto:support@crosstheroadelectronics.com).
 
-REV Robotics Support
---------------------
+## REV Robotics Support
 
-Support for REV Robotics components (SPARK MAX, Sensors, Pneumatic Hub, Power Distribution Hub, Radio Power Module) is provided via phone at `844-255-2267 <tel:844-255-2267>`__ or via the email address `support@revrobotics.com <support@revrobotics.com>`__.
+Support for REV Robotics components (SPARK MAX, Sensors, Pneumatic Hub, Power Distribution Hub, Radio Power Module) is provided via phone at [844-255-2267](tel:844-255-2267) or via the email address [support@revrobotics.com](support@revrobotics.com).
 
-Other Vendors
--------------
+## Other Vendors
 
 Support for vendors outside of the KOP can be found below.
 
-- `Copperforge <https://copperforge.cc/docs/software/libcu/>`__
-- `Kauai Labs (NavX) <https://www.kauailabs.com/support/navx-mxp/>`__
-- `Limelight <https://limelightvision.io/pages/contact-us>`__
-- `PhotonVision (Discord) <https://discord.com/invite/wYxTwym>`__
-- `Playing with Fusion <https://www.playingwithfusion.com/contactus.php>`__
+- [Copperforge](https://copperforge.cc/docs/software/libcu/)
+- [Kauai Labs (NavX)](https://www.kauailabs.com/support/navx-mxp/)
+- [Limelight](https://limelightvision.io/pages/contact-us)
+- [PhotonVision (Discord)](https://discord.com/invite/wYxTwym)
+- [Playing with Fusion](https://www.playingwithfusion.com/contactus.php)
 
-Unofficial Support
-------------------
+## Unofficial Support
 
 There are useful forms of support provided by the community through various forums and services. The below links and websites are not endorsed by FIRST\ |reg| and may be used at your own risk.
 
-- `Chief Delphi <https://www.chiefdelphi.com/>`__
-- `FRC Discord <https://discord.com/invite/frc>`__
+- [Chief Delphi](https://www.chiefdelphi.com/)
+- [FRC Discord](https://discord.com/invite/frc)
 
-Bug Reporting
--------------
+## Bug Reporting
 
 Found a bug? Let us know by reporting it in the Issues section of the appropriate WPILibSuite project on GitHub: https://github.com/wpilibsuite
diff --git a/source/docs/software/telemetry/3rd-party-libraries.rst b/source/docs/software/telemetry/3rd-party-libraries.rst
index b1ab515ae2..faebcefa8c 100644
--- a/source/docs/software/telemetry/3rd-party-libraries.rst
+++ b/source/docs/software/telemetry/3rd-party-libraries.rst
@@ -1,10 +1,10 @@
-Third-Party Telemetry Libraries
-===============================
+# Third-Party Telemetry Libraries
 
 .. tip:: Is your library not listed here when it should be?  Open a pull request to add it!
 
 Several third-party logging utilities and frameworks exist that provide functionality beyond what is currently provided by WPILib:
 
- * `AdvantageScope <https://github.com/Mechanical-Advantage/AdvantageScope>`__: Data visualization tool for :ref:`NetworkTables <docs/software/networktables/networktables-intro:What is NetworkTables>`, :ref:`WPILib data logs <docs/software/telemetry/datalog:On-Robot Telemetry Recording Into Data Logs>`, and :ref:`Driver Station logs <docs/software/driverstation/driver-station-log-viewer:Driver Station Log File Viewer>`.
- * `AdvantageKit <https://github.com/Mechanical-Advantage/AdvantageKit>`__ (Java only): "Log everything"-based logging framework with hooks for replaying logged data in :ref:`simulation <docs/software/wpilib-tools/robot-simulation/introduction:Introduction to Robot Simulation>`.
- * `Oblog <https://github.com/Oblarg/Oblog>`__ (Java only): Minimalistic annotation-based API for ``Shuffleboard`` (or plain ``NetworkTables``) telemetry.
+  * [AdvantageKit](https://github.com/Mechanical-Advantage/AdvantageKit) (Java only): "Log everything"-based logging framework with hooks for replaying logged data in :ref:`simulation <docs/software/wpilib-tools/robot-simulation/introduction:Introduction to Robot Simulation>`.
+  * [Monologue](https://github.com/shueja/Monologue/wiki) (Java only): annotation-based logging library.  Extensive telemetry and on-robot logging can be added to your robot code with minimal code footprint and design restrictions.
+  * [DSLOG](https://github.com/orangelight/DSLOG-Reader/tree/master): An alternate driver station log viewer.
+  * [DogLog](https://doglog.dev) (Java only): A simple logging library for Java.
diff --git a/source/docs/software/telemetry/datalog-download.rst b/source/docs/software/telemetry/datalog-download.rst
new file mode 100644
index 0000000000..6bf4611f2b
--- /dev/null
+++ b/source/docs/software/telemetry/datalog-download.rst
@@ -0,0 +1,80 @@
+# Downloading & Processing Data Logs
+
+Data logs can be processed and viewed offline by AdvantageScope, the DataLogTool, or custom utilities. If data log files are being stored to the roboRIO integrated flash memory instead of a removable USB flash drive, it's important to periodically download and delete data logs to avoid the storage from filling up.
+
+## Managing Data Logs with AdvantageScope
+
+:ref:`AdvantageScope <docs/software/dashboards/advantagescope:AdvantageScope>` is an analysis tool that supports downloading, visualizing, and exporting data logs. See the relevant sections of the documentation for more details:
+
+- [Downloading log files](https://docs.advantagescope.org/getting-started/open-file)
+- [Exporting to new formats](https://docs.advantagescope.org/more-features/export)
+
+## Managing Data Logs with the DataLogTool
+
+The DataLogTool desktop application integrates a SFTP client for downloading data log files from a network device (e.g. roboRIO or coprocessor) to the local computer.
+
+This process consists of four steps:
+
+1. Connect to roboRIO or coprocessor
+2. Navigate to remote directory and select what files to download
+3. Select download folder
+4. Download files and optionally delete remote files after downloading
+
+### Connecting to RoboRIO
+
+.. note:: The downloader uses SSH, so it will not be able to connect wirelessly if the radio firewall is enabled (e.g. when the robot is on the competition field).
+
+.. image:: images/datalogtool/download-connecting.png
+   :alt: Connection display showing team number, username, and password fields.
+
+Either a team number, IP address, or hostname can be entered into the :guilabel:`Team Number / Address` field.  This field specifies the remote host to connect to. If a team number is entered, ``roborio-TEAM-frc.local`` is used as the connection address.
+
+The remote username and password are also entered here.  For the roboRIO, the username should be ``lvuser`` with a blank password.
+
+The tool also supports connecting to network devices other than the roboRIO, such as coprocessors, as long as the device supports SFTP password-based authentication.
+
+Click :guilabel:`Connect` to connect to the remote device.  This will attempt to connect to the device.  The connection attempt can be aborted at any time by clicking :guilabel:`Disconnect`.  If the application is unable to connect to the remote device, an error will be displayed above the :guilabel:`Team Number / Address` field and a new connection can be attempted.
+
+### Downloading Files
+
+After the connection is successfully established, a simplified file browser will be displayed.  This is used to navigate the remote filesystem and select which files to download.  The first text box shows the current directory.  A specific directory can be navigated to by typing it in this text box and pressing Enter.  Alternatively, directory navigation can be performed by clicking on one of the directories that are listed below the remote dir textbox.  Following the list of directories is a table of files.  Only files with a ``.wpilog`` extension are shown, so the table will be empty if there are no log files in the current directory.  The checkbox next to each data log file indicates whether the file should be downloaded.
+
+.. note:: On the roboRIO, log files are typically saved to either ``/home/lvuser/logs`` or ``/u/logs`` (USB stick location).
+
+.. image:: images/datalogtool/download-file-selection.png
+   :alt: Remote file browser showing remote directory, list of directories, and list of files with checkboxes next to each one.
+
+Click :guilabel:`Select Download Folder...` to bring up a file browser for the local computer.
+
+If you want to delete the files from the remote device after they are downloaded, check the :guilabel:`Delete after download` checkbox.
+
+Once a download folder is selected, :guilabel:`Download` will appear.  After clicking this button, the display will change to a download progress display.  Any errors will be shown next to each file.  Click :guilabel:`Download complete!` to return to the file browser.
+
+.. image:: images/datalogtool/download-downloading.png
+   :alt: Download status showing 100% completion on the first file and a "file exists" error on the second file.
+
+### Converting Data Logs to CSV
+
+As data logs are binary files, the DataLogTool desktop application provides functionality to convert data logs into CSV files for further processing or analysis.  Multiple data logs may be simultaneously loaded into the tool for batch processing, and partial data exports can be performed by selecting only the data that is desired to be output.
+
+.. image:: images/datalogtool/csv-export.png
+   :alt: DataLogTool window showing two open files, a tree view of entries with corresponding checkboxes and information about each entry, and an output window with export style option.
+
+The conversion process is started by opening data log files in the "Input Files" window.  Files are opened by clicking :guilabel:`Open File(s)...`.  Summary status on each file (e.g. number of records and entries) is displayed.  Clicking :guilabel:`X` in the table row closes the file.
+
+After at least one file is loaded, the "Entries" window displays a tree view of the entries (this can be changed to a flat view by right clicking on the "Entries" window title bar and unchecking :guilabel:`Tree View`).  Individual entries or entire subtrees can be checked or unchecked to indicate whether they should be included in the export.  The data type information and initial metadata for each entry is also shown in the table.  As the "Entries" view shows a merged view of all entries across all input files, if more than one input file is open, hovering over an entry's name will highlight what input files contain that entry.
+
+The output window is used to specify the output folder (via :guilabel:`Select Output Folder...`) as well as the output style (list or table).  The list output style outputs a CSV file with 3 columns (timestamp, entry name, and value) and a row for every value change (for every exported entry).  The table output style outputs a CSV file with a timestamp column and a column for every exported entry; a row is output for every value change (for every exported entry), but the value is placed in the correct column for that entry.  Clicking :guilabel:`Export CSV` will create a ``.csv`` file in the output folder corresponding to each input file.
+
+## Managing Data Logs with the Driver Station
+
+.. image:: images/datalogtool/DS_WPILogs.png
+   :alt: Selecting Upload WPILogs in the Driver Station
+
+The Driver Station software can download WPILogs. Click on the gear icon and select :guilabel:`Upload WPILogs`. The logs in ``/home/lvuser/logs`` or ``/u/logs`` will be downloaded automatically to ``C:\Users\Public\Documents\FRC\Log Files\WPILogs``
+
+## Custom Processing of Data Logs
+
+For more advanced processing of data logs (e.g. for processing of binary values that can't be converted to CSV), WPILib provides a ``DataLogReader`` class for reading data logs in [Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/util/datalog/DataLogReader.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classwpi_1_1log_1_1_data_log_reader.html), or :external:py:class:[Python](wpiutil.log.DataLogReader). There is also a pure python datalog reader ([datalog.py](https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/examples/printlog/datalog.py)). For other languages, the [data log format](https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/doc/datalog.adoc) is also documented.
+
+DataLogReader provides a low-level view of a data log, in that it supports iterating over a data log's control and data records and decoding of common data types, but does not provide any higher level abstractions such as a NetworkTables-like map of entries.  The printlog example in [Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/src/printlog/java/printlog/PrintLog.java) and [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/examples/printlog/printlog.cpp) (and the Python ``datalog.py``) demonstrates basic usage.
diff --git a/source/docs/software/telemetry/datalog.rst b/source/docs/software/telemetry/datalog.rst
index e7e43dc269..34f956da34 100644
--- a/source/docs/software/telemetry/datalog.rst
+++ b/source/docs/software/telemetry/datalog.rst
@@ -1,25 +1,22 @@
-On-Robot Telemetry Recording Into Data Logs
-===========================================
+# On-Robot Telemetry Recording Into Data Logs
 
 By default, no telemetry data is recorded (saved) on the robot. The ``DataLogManager`` class provides a convenient wrapper around the lower-level ``DataLog`` class for on-robot recording of telemetry data into data logs.  The WPILib data logs are binary for size and speed reasons.  In general, the data log facilities provided by WPILib have minimal overhead to robot code, as all file I/O is performed on a separate thread--the log operation consists of mainly a mutex acquisition and copying the data.
 
-Structure of Data Logs
-----------------------
+## Structure of Data Logs
 
 Similar to NetworkTables, data logs have the concept of entries with string identifiers (keys) with a specified data type.  Unlike NetworkTables, the data type cannot be changed after the entry is created, and entries also have metadata--an arbitrary (but typically JSON) string that can be used to convey additional information about the entry such as the data source or data schema.  Also unlike NetworkTables, data log operation is unidirectional--the ``DataLog`` class can only write data logs (it does not support read-back of written values) and the ``DataLogReader`` class can only read data logs (it does not support changing values in the data log).
 
 Data logs consist of a series of timestamped records.  Control records allow starting, finishing, or changing the metadata of entries, and data records record data value changes.  Timestamps are stored in integer microseconds; when running on the RoboRIO, the FPGA timestamp is used (the same timestamp returned by ``Timer.getFPGATimestamp()``).
 
-.. note: For more information on the details of the data log file format, see the `WPILib Data Log File Format Specification <https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/doc/datalog.adoc>`__.
+.. note:: For more information on the details of the data log file format, see the [WPILib Data Log File Format Specification](https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/doc/datalog.adoc).
 
-Standard Data Logging using DataLogManager
-------------------------------------------
+## Standard Data Logging using DataLogManager
 
-The ``DataLogManager`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/DataLogManager.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_data_log_manager.html>`__) provides a centralized data log that provides automatic data log file management.  It automatically cleans up old files when disk space is low and renames the file based either on current date/time or (if available) competition match number.  The data file will be saved to a USB flash drive if one is attached, or to ``/home/lvuser`` otherwise.
+The ``DataLogManager`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/DataLogManager.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_data_log_manager.html), :external:py:class:`Python <wpilib.DataLogManager>`) provides a centralized data log that provides automatic data log file management.  It automatically cleans up old files when disk space is low and renames the file based either on current date/time or (if available) competition match number.  The data file will be saved to a USB flash drive in a folder called ``logs`` if one is attached, or to ``/home/lvuser/logs`` otherwise.
 
-.. note: USB flash drives need to be formatted as FAT32 to work with the roboRIO.  NTFS or exFAT formatted drives will not work.
+.. note:: USB flash drives need to be formatted as FAT32 to work with the roboRIO.  NTFS or exFAT formatted drives will not work.
 
-Log files are initially named ``FRC_TBD_{random}.wpilog`` until the DS connects.  After the DS connects, the log file is renamed to ``FRC_yyyyMMdd_HHmmss.wpilog`` (where the date/time is UTC).  If the FMS is connected and provides a match number, the log file is renamed to ``FRC_yyyyMMdd_HHmmss_{event}_{match}.wpilog``.
+Log files are initially named ``FRC_TBD_{random}.wpilog`` until the DS connects.  After the DS connects, the log file is renamed to ``FRC_yyyyMMdd_HHmmss.wpilog`` (where the date/time is UTC).  If the :term:`FMS` is connected and provides a match number, the log file is renamed to ``FRC_yyyyMMdd_HHmmss_{event}_{match}.wpilog``.
 
 On startup, all existing log files where a DS has not been connected will be deleted.  If there is less than 50 MB of free space on the target storage, ``FRC_`` log files are deleted (oldest to newest) until there is 50 MB free OR there are 10 files remaining.
 
@@ -27,19 +24,22 @@ The most basic usage of DataLogManager only requires a single line of code (typi
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    import edu.wpi.first.wpilibj.DataLogManager;
+    // Starts recording to data log
+    DataLogManager.start();
+    ```
 
-        import edu.wpi.first.wpilibj.DataLogManager;
+    ```c++
+    #include "frc/DataLogManager.h"
+    // Starts recording to data log
+    frc::DataLogManager::Start();
+    ```
 
-        // Starts recording to data log
-        DataLogManager.start();
-
-    .. code-block:: c++
-
-        #include "frc/DataLogManager.h"
-
-        // Starts recording to data log
-        frc::DataLogManager::Start();
+    ```python
+    from wpilib import DataLogManager
+    DataLogManager.start()
+    ```
 
 DataLogManager provides a convenience function (``DataLogManager.log()``) for logging of text messages to the ``messages`` entry in the data log. The message is also printed to standard output, so this can be a replacement for ``System.out.println()``.
 
@@ -47,187 +47,129 @@ DataLogManager also records the current roboRIO system time (in UTC) to the data
 
 For custom logging, the managed ``DataLog`` can be accessed via ``DataLogManager.getLog()``.
 
-Logging Joystick Data
-^^^^^^^^^^^^^^^^^^^^^
+### Logging Joystick Data
 
 DataLogManager by default does not record joystick data.  The ``DriverStation`` class provides support for logging of DS control and joystick data via the ``startDataLog()`` function:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        import edu.wpi.first.wpilibj.DataLogManager;
-        import edu.wpi.first.wpilibj.DriverStation;
-
-        // Starts recording to data log
-        DataLogManager.start();
-
-        // Record both DS control and joystick data
-        DriverStation.startDataLog(DataLogManager.getLog());
-
-        // (alternatively) Record only DS control data
-        DriverStation.startDataLog(DataLogManager.getLog(), false);
-
-    .. code-block:: c++
-
-        #include "frc/DataLogManager.h"
-        #include "frc/DriverStation.h"
-
-        // Starts recording to data log
-        frc::DataLogManager::Start();
-
-        // Record both DS control and joystick data
-        DriverStation::StartDataLog(DataLogManager::GetLog());
-
-        // (alternatively) Record only DS control data
-        DriverStation::StartDataLog(DataLogManager::GetLog(), false);
-
-Custom Data Logging using DataLog
----------------------------------
-
-The ``DataLog`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/util/datalog/DataLog.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classwpi_1_1log_1_1_data_log.html>`__) and its associated LogEntry classes (e.g. ``BooleanLogEntry``, ``DoubleLogEntry``, etc) provides low-level access for writing data logs.
-
-.. note: Unlike NetworkTables, there is no change checking performed.  **Every** call to a ``LogEntry.append()`` function will result in a record being written to the data log.  Checking for changes and only appending to the log when necessary is the responsibility of the caller.
+    ```java
+    import edu.wpi.first.wpilibj.DataLogManager;
+    import edu.wpi.first.wpilibj.DriverStation;
+    // Starts recording to data log
+    DataLogManager.start();
+    // Record both DS control and joystick data
+    DriverStation.startDataLog(DataLogManager.getLog());
+    // (alternatively) Record only DS control data
+    DriverStation.startDataLog(DataLogManager.getLog(), false);
+    ```
+
+    ```c++
+    #include "frc/DataLogManager.h"
+    #include "frc/DriverStation.h"
+    // Starts recording to data log
+    frc::DataLogManager::Start();
+    // Record both DS control and joystick data
+    DriverStation::StartDataLog(DataLogManager::GetLog());
+    // (alternatively) Record only DS control data
+    DriverStation::StartDataLog(DataLogManager::GetLog(), false);
+    ```
+
+    ```python
+    from wpilib import DataLogManager, DriverStation
+    # Starts recording to data log
+    DataLogManager.start()
+    # Record both DS control and joystick data
+    DriverStation.startDataLog(DataLogManager.getLog())
+    # (alternatively) Record only DS control data
+    DriverStation.startDataLog(DataLogManager.getLog(), False)
+    ```
+
+## Custom Data Logging using DataLog
+
+The ``DataLog`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/util/datalog/DataLog.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classwpi_1_1log_1_1_data_log.html), :external:py:class:`Python <wpiutil.log.DataLog>`) and its associated LogEntry classes (e.g. ``BooleanLogEntry``, ``DoubleLogEntry``, etc) provides low-level access for writing data logs.
+
+.. note:: Unlike NetworkTables, there is no change checking performed.  **Every** call to a ``LogEntry.append()`` function will result in a record being written to the data log.  Checking for changes and only appending to the log when necessary is the responsibility of the caller.
 
 The LogEntry classes can be used in conjunction with DataLogManager to record values only to a data log and not to NetworkTables:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        import edu.wpi.first.util.datalog.BooleanLogEntry;
-        import edu.wpi.first.util.datalog.DataLog;
-        import edu.wpi.first.util.datalog.DoubleLogEntry;
-        import edu.wpi.first.util.datalog.StringLogEntry;
-        import edu.wpi.first.wpilibj.DataLogManager;
-
-        BooleanLogEntry myBooleanLog;
-        DoubleLogEntry myDoubleLog;
-        StringLogEntry myStringLog;
-
-        public void robotInit() {
-          // Starts recording to data log
-          DataLogManager.start();
-
-          // Set up custom log entries
-          DataLog log = DataLogManager.getLog();
-          myBooleanLog = new BooleanLogEntry(log, "/my/boolean");
-          myDoubleLog = new DoubleLogEntry(log, "/my/double");
-          myStringLog = new StringLogEntry(log, "/my/string");
-        }
-
-        public void teleopPeriodic() {
-          if (...) {
-            // Only log when necessary
-            myBooleanLog.append(true);
-            myDoubleLog.append(3.5);
-            myStringLog.append("wow!");
-          }
-        }
-
-    .. code-block:: c++
-
-        #include "frc/DataLogManager.h"
-        #include "wpi/DataLog.h"
-
-        wpi::log::BooleanLogEntry myBooleanLog;
-        wpi::log::DoubleLogEntry myDoubleLog;
-        wpi::log::StringLogEntry myStringLog;
-
-        void RobotInit() {
-          // Starts recording to data log
-          frc::DataLogManager::Start();
-
-          // Set up custom log entries
-          wpi::log::DataLog& log = frc::DataLogManager::GetLog();
-          myBooleanLog = wpi::Log::BooleanLogEntry(log, "/my/boolean");
-          myDoubleLog = wpi::log::DoubleLogEntry(log, "/my/double");
-          myStringLog = wpi::log::StringLogEntry(log, "/my/string");
-        }
-
-        void TeleopPeriodic() {
-          if (...) {
-            // Only log when necessary
-            myBooleanLog.Append(true);
-            myDoubleLog.Append(3.5);
-            myStringLog.Append("wow!");
-          }
-        }
-
-Downloading Data Logs from the Robot
-------------------------------------
-
-If data log files are being stored to the roboRIO integrated flash memory instead of a removable USB flash drive, it's important to periodically download and delete data logs to avoid the storage from filling up.
-
-To facilitate this, the DataLogTool desktop application integrates a SFTP client for downloading data log files from a network device (e.g. roboRIO or coprocessor) to the local computer.
-
-This process consists of four steps:
-
-1. Connect to roboRIO or coprocessor
-2. Navigate to remote directory and select what files to download
-3. Select download folder
-4. Download files and optionally delete remote files after downloading
-
-Connecting to RoboRIO
-^^^^^^^^^^^^^^^^^^^^^
-
-.. note:: The downloader uses SSH, so it will not be able to connect wirelessly if the radio firewall is enabled (e.g. when the robot is on the competition field).
-
-.. image:: images/datalogtool/download-connecting.png
-   :alt: Connection display showing team number, username, and password fields.
-
-Either a team number, IP address, or hostname can be entered into the :guilabel:`Team Number / Address` field.  This field specifies the remote host to connect to. If a team number is entered, ``roborio-TEAM-frc.local`` is used as the connection address.
-
-The remote username and password are also entered here.  For the roboRIO, the username should be ``lvuser`` with a blank password.
-
-The tool also supports connecting to network devices other than the roboRIO, such as coprocessors, as long as the device supports SFTP password-based authentication.
-
-Click :guilabel:`Connect` to connect to the remote device.  This will attempt to connect to the device.  The connection attempt can be aborted at any time by clicking :guilabel:`Disconnect`.  If the application is unable to connect to the remote device, an error will be displayed above the :guilabel:`Team Number / Address` field and a new connection can be attempted.
-
-Downloading Files
-^^^^^^^^^^^^^^^^^
-
-After the connection is successfully established, a simplified file browser will be displayed.  This is used to navigate the remote filesystem and select which files to download.  The first text box shows the current directory.  A specific directory can be navigated to by typing it in this text box and pressing Enter.  Alternatively, directory navigation can be performed by clicking on one of the directories that are listed below the remote dir textbox.  Following the list of directories is a table of files.  Only files with a ``.wpilog`` extension are shown, so the table will be empty if there are no log files in the current directory.  The checkbox next to each data log file indicates whether the file should be downloaded.
-
-.. note: On the roboRIO, log files are typically saved to either ``/home/lvuser`` or ``/u`` (USB stick location).
-
-.. image:: images/datalogtool/download-file-selection.png
-   :alt: Remote file browser showing remote directory, list of directories, and list of files with checkboxes next to each one.
-
-Click :guilabel:`Select Download Folder...` to bring up a file browser for the local computer.
-
-If you want to delete the files from the remote device after they are downloaded, check the :guilabel:`Delete after download` checkbox.
-
-Once a download folder is selected, :guilabel:`Download` will appear.  After clicking this button, the display will change to a download progress display.  Any errors will be shown next to each file.  Click :guilabel:`Download complete!` to return to the file browser.
-
-.. image:: images/datalogtool/download-downloading.png
-   :alt: Download status showing 100% completion on the first file and a "file exists" error on the second file.
-
-Converting Data Logs to CSV
----------------------------
-
-As data logs are binary files, the DataLogTool desktop application provides functionality to convert data logs into CSV files for further processing or analysis.  Multiple data logs may be simultaneously loaded into the tool for batch processing, and partial data exports can be performed by selecting only the data that is desired to be output.
-
-.. image:: images/datalogtool/csv-export.png
-   :alt: DataLogTool window showing two open files, a tree view of entries with corresponding checkboxes and information about each entry, and an output window with export style option.
-
-The conversion process is started by opening data log files in the "Input Files" window.  Files are opened by clicking :guilabel:`Open File(s)...`.  Summary status on each file (e.g. number of records and entries) is displayed.  Clicking :guilabel:`X` in the table row closes the file.
-
-After at least one file is loaded, the "Entries" window displays a tree view of the entries (this can be changed to a flat view by right clicking on the "Entries" window title bar and unchecking :guilabel:`Tree View`).  Individual entries or entire subtrees can be checked or unchecked to indicate whether they should be included in the export.  The data type information and initial metadata for each entry is also shown in the table.  As the "Entries" view shows a merged view of all entries across all input files, if more than one input file is open, hovering over an entry's name will highlight what input files contain that entry.
-
-The output window is used to specify the output folder (via :guilabel:`Select Output Folder...`) as well as the output style (list or table).  The list output style outputs a CSV file with 3 columns (timestamp, entry name, and value) and a row for every value change (for every exported entry).  The table output style outputs a CSV file with a timestamp column and a column for every exported entry; a row is output for every value change (for every exported entry), but the value is placed in the correct column for that entry.  Clicking :guilabel:`Export CSV` will create a ``.csv`` file in the output folder corresponding to each input file.
-
-Data Log Visualization
---------------------------
-
-`AdvantageScope <https://github.com/Mechanical-Advantage/AdvantageScope>`__ is a third-party tool allowing users to play back and visualize data stored in WPILib data logs, with support for line graphs, field displays, video synchronization, etc. More details are available in the `AdvantageScope documentation <https://github.com/Mechanical-Advantage/AdvantageScope/blob/main/docs/INDEX.md>`__. Note that WPILib offers no support for third-party projects.
-
-.. image:: images/advantagescope.png
-   :alt: Screenshot of an AdvantageScope window displaying a line graph, a list of fields, and a series of miscellaneous tabs.
-
-Custom Processing of Data Logs
-------------------------------
-
-For more advanced processing of data logs (e.g. for processing of binary values that can't be converted to CSV), WPILib provides a ``DataLogReader`` class for reading data logs in `Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/util/datalog/DataLogReader.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classwpi_1_1log_1_1_data_log_reader.html>`__, or `Python <https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/examples/printlog/datalog.py>`__.  For other languages, the `data log format <https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/doc/datalog.adoc>`__ is also documented.
+    ```java
+    import edu.wpi.first.util.datalog.BooleanLogEntry;
+    import edu.wpi.first.util.datalog.DataLog;
+    import edu.wpi.first.util.datalog.DoubleLogEntry;
+    import edu.wpi.first.util.datalog.StringLogEntry;
+    import edu.wpi.first.wpilibj.DataLogManager;
+    BooleanLogEntry myBooleanLog;
+    DoubleLogEntry myDoubleLog;
+    StringLogEntry myStringLog;
+    public void robotInit() {
+      // Starts recording to data log
+      DataLogManager.start();
+      // Set up custom log entries
+      DataLog log = DataLogManager.getLog();
+      myBooleanLog = new BooleanLogEntry(log, "/my/boolean");
+      myDoubleLog = new DoubleLogEntry(log, "/my/double");
+      myStringLog = new StringLogEntry(log, "/my/string");
+    }
+    public void teleopPeriodic() {
+      if (...) {
+        // Only log when necessary
+        myBooleanLog.append(true);
+        myDoubleLog.append(3.5);
+        myStringLog.append("wow!");
+      }
+    }
+    ```
+
+    ```c++
+    #include "frc/DataLogManager.h"
+    #include "wpi/DataLog.h"
+    wpi::log::BooleanLogEntry myBooleanLog;
+    wpi::log::DoubleLogEntry myDoubleLog;
+    wpi::log::StringLogEntry myStringLog;
+    void RobotInit() {
+      // Starts recording to data log
+      frc::DataLogManager::Start();
+      // Set up custom log entries
+      wpi::log::DataLog& log = frc::DataLogManager::GetLog();
+      myBooleanLog = wpi::log::BooleanLogEntry(log, "/my/boolean");
+      myDoubleLog = wpi::log::DoubleLogEntry(log, "/my/double");
+      myStringLog = wpi::log::StringLogEntry(log, "/my/string");
+    }
+    void TeleopPeriodic() {
+      if (...) {
+        // Only log when necessary
+        myBooleanLog.Append(true);
+        myDoubleLog.Append(3.5);
+        myStringLog.Append("wow!");
+      }
+    }
+    ```
+
+    ```python
+    from wpilib import DataLogManager, TimedRobot
+    from wpiutil.log import (
+        DataLog,
+        BooleanLogEntry,
+        DoubleLogEntry,
+        StringLogEntry,
+    )
+   class MyRobot(TimedRobot):
+        def robotInit(self):
+            # Starts recording to data log
+            DataLogManager.start()
+            # Set up custom log entries
+            log = DataLogManager.getLog()
+            self.myBooleanLog = BooleanLogEntry(log, "/my/boolean")
+            self.myDoubleLog = DoubleLogEntry(log, "/my/double")
+            self.myStringLog = StringLogEntry(log, "/my/string")
+        def teleopPeriodic(self):
+            if ...:
+                # Only log when necessary
+                self.myBooleanLog.append(True)
+                self.myDoubleLog.append(3.5)
+                self.myStringLog.append("wow!")
+    ```
 
-DataLogReader provides a low-level view of a data log, in that it supports iterating over a data log's control and data records and decoding of common data types, but does not provide any higher level abstractions such as a NetworkTables-like map of entries.  The printlog example in `Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/src/printlog/java/printlog/PrintLog.java>`__ and `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpiutil/examples/printlog/printlog.cpp>`__ (and the Python ``datalog.py``) demonstrates basic usage.
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diff --git a/source/docs/software/telemetry/images/datalogtool/download-file-selection.png b/source/docs/software/telemetry/images/datalogtool/download-file-selection.png
index 9ddc15c5fc..16b478c2f3 100644
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diff --git a/source/docs/software/telemetry/index.rst b/source/docs/software/telemetry/index.rst
index 2898b878f8..73aa62a789 100644
--- a/source/docs/software/telemetry/index.rst
+++ b/source/docs/software/telemetry/index.rst
@@ -1,11 +1,13 @@
-Telemetry
-=========
+# Telemetry
 
 .. toctree::
    :maxdepth: 1
 
    telemetry.rst
+   robot-telemetry-with-annotations.rst
+   persistent-alerts.rst
    robot-telemetry-with-sendable.rst
    datalog.rst
+   datalog-download.rst
    writing-sendable-classes.rst
    3rd-party-libraries.rst
diff --git a/source/docs/software/telemetry/persistent-alerts.rst b/source/docs/software/telemetry/persistent-alerts.rst
new file mode 100644
index 0000000000..214525b978
--- /dev/null
+++ b/source/docs/software/telemetry/persistent-alerts.rst
@@ -0,0 +1,57 @@
+# Recording Faults with Persistent Alerts
+
+Robots encounter a variety of fault conditions: disconnected sensors/motors, invalid mechanism states, initialization failures, etc. While the FRC Driver Station provides a :ref:`console interface <docs/software/driverstation/driver-station:Messages Tab>` for instantaneous alerts, the risk of missing important messages makes it poorly suited to communicate faults that persist over time.
+
+Instead, the ``Alert`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Alert.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_alert.html)) can be used for managing persistent alerts published via Network Tables. Alerts are assigned a priority (*error*, *warning*, or *info*) and can be *activated* or *deactivated* in robot code. The set of active alerts can be displayed on a dashboard, as shown below in Shuffleboard.
+
+.. image:: images/alerts.png
+   :alt: A screenshot of the alerts widget in Shuffleboard, with several active alerts.
+
+Active alerts are automatically displayed in order based on priority and how recently they were activated, with newer and more critical alerts at the top of the list. This provides a mechanism for drivers (on the field) and programmers (off the field) to quickly assess the state of the robot and determine whether it is in a "match-ready" state. Highly descriptive alerts also allow drive teams to adapt to faults in real time, such as switching strategies in case of a subsystem failure.
+
+## API Usage
+
+Alerts are created and managed using the ``Alert`` class. Typically, an alert should be instantiated once and stored as a class member. The ``set`` method accepts a boolean for the alert state, which activates or deactivates the alert. Change detection is built-in, so calling ``set`` multiple times with the same value does affect the order in which alerts are displayed.
+
+Alert states are often expressed most easily as a conditional, such as whether the latest signal from a CAN device is up-to-date. In this case, we recommend calling the ``set`` method in a periodic loop and relying on the built-in change detection to activate the alert.
+
+.. tab-set-code::
+   .. code-block:: java
+
+      class Robot {
+        Alert alert = new Alert("Something went wrong", AlertType.kWarning);
+
+        periodic() {
+          alert.set(...);
+        }
+      }
+
+   .. code-block:: c++
+
+      class Robot {
+        frc::Alert alert{"Something went wrong", frc::Alert::AlertType::kWarning};
+      }
+
+      Robot::periodic() {
+        alert.Set(...);
+      }
+
+   .. code-block:: python
+
+      self.alert = Alert("Something went wrong", AlertType.kWarning)
+
+      def periodic() {
+        self.alert.set(...)
+      }
+
+.. note:: Suggested usage of each alert type (error, warning, or info) is provided in the enum API documentation.
+
+The text description of an alert can be updated after the alert has been created by calling ``setText``, allowing additional information to be provided inline. For example, an alert indicating that a motor is overheating could include the motor's current temperature.
+
+Optionally, a group name can also be provided to the ``Alert`` constructor. Alerts are published to Network Tables using this name, allowing multiple sets of alerts to be displayed on separate widgets (such as "Auto" and "Teleop" alert sets). If the group name is omitted, the alert is published to a group called "Alerts".
+
+## Dashboard Usage
+
+Alerts are published to Network Tables using the key ``/SmartDashboard/<Group Name>``. Shuffleboard automatically populates data from this table to the "SmartDashboard" tab, or the widget can be manually created by dragging the alert table from the Network Tables tree to the main view as described :ref:`here <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data:Displaying data from your robot>`.
+
+.. note:: In addition to Shuffleboard, the alerts API is supported by many third-party dashboards. Check the documentation of your preferred dashboard for details.
diff --git a/source/docs/software/telemetry/robot-telemetry-with-annotations.rst b/source/docs/software/telemetry/robot-telemetry-with-annotations.rst
new file mode 100644
index 0000000000..41d1e937f4
--- /dev/null
+++ b/source/docs/software/telemetry/robot-telemetry-with-annotations.rst
@@ -0,0 +1,275 @@
+New for 2025: Robot Telemetry with Annotations (Java Only)
+==========================================================
+
+At its most basic, telemetry with annotations can be accomplished with only a few lines of code:
+
+#. Add the ``@Logged`` annotation to your main robot class and to the classes it references, like subsystems
+#. Bind the logger to the robot in the constructor to start logging
+
+This is enough to start logging data to NetworkTables for display and capture on a desktop application like a dashboard or AdvantageScope. Optionally, you can start the data log manager to capture the NetworkTables-logged data and save it to a log file on the roboRIO.
+
+.. tab-set-code::
+
+    ```java
+    @Logged
+    public class Robot extends TimedRobot {
+      private final Arm arm;
+      private final Drivetrain drivetrain;
+      public Robot() {
+        arm = new Arm();
+        drivetrain = new Drivetrain();
+        DataLogManager.start(); // Optional to mirror the NetworkTables-logged data to a file on disk
+        Epilogue.bind(this);
+      }
+    }
+    @Logged
+    public class Arm {
+      // ...
+    }
+    @Logged
+    public class Drivetrain {
+      // ...
+    }
+    ```
+
+The ``@Logged`` annotation, when placed on a class, tells the Java compiler to run WPILib's code generator to write custom logging code that will log everything it can in your class. The generated code will exist in the ``build/generated/sources/annotationProcessor`` folder in your robot project, and your code can reference and use that generated code. The ``Epilogue`` class is, in fact, one of those generated files - it is responsible for tracking all of the custom class-specific loggers created by the code generator and is the entry point for configuring and starting automatic logging. Placing the ``@Logged`` annotation on individual fields and methods will let you control how they appear in log files or networktables; placing ``@NotLogged`` on a field or method will explicitly exclude it from being logged, regardless of how its enclosing class is configured.
+
+Annotation logging will detect all public and private fields and all public methods in an annotated class, as long as those fields and methods return a known loggable type. Placing an ``@Logged`` annotation on any non-loggable field or method will result in a compilation error. Static fields and methods cannot be logged, nor can non-public methods or methods that accept arguments.
+
+Currently, annotation logging supports the following data types:
+
+* Any type (class, interface, or enum) tagged with the ``@Logged`` annotation
+* Any type (class, interface, or enum) with a custom logger defined with a ``@CustomLoggerFor`` annotation (intended to be used for logging of third-party classes)
+* All primitive types (``byte``, ``char``, ``short``, ``int``, ``long``, ``float``, ``double``, and ``boolean``) (note: this excludes wrapper types like ``Byte``, ``Integer``, and ``Boolean``)
+* Strings
+* Any type that inherits from ``StructSerializable``, such as WPILib math types or custom user-defined types
+* Any ``edu.wpi.first.units.Measure`` (logged as a double in terms of the base unit)
+* ``byte[]``, ``int[]``, ``long[]``, ``float[]``, ``double[]``, and ``boolean[]`` primitive arrays
+* ``String[]`` arrays
+* Arrays of anything that inherits from ``StructSerializable``, such as ``Rotation2d[]`` or ``SwerveModuleState[]``
+* Java collections, like ``List`` and ``Set``, of ``String`` or ``StructSerializable`` objects, such as ``Set<String>`` or ``List<SwerveModuleState>``
+* Any ``Sendable`` object, like a ``DigitalInput`` (note: commands and subsystems are excluded and will not be logged using their sendable implementation)
+* Any ``BooleanSupplier``, ``IntSupplier``, ``LongSupplier``, or ``DoubleSupplier`` (note: this includes command triggers!)
+
+
+Customizing your logging setup
+------------------------------
+
+The default logging behavior is to log *every* non-static field (public or private) and public method in a class annotated with ``@Logged``, where the associated log entries will use the name of the element. For example, a field declared as ``private double m_someValue`` will appear in logs under the entry ``"m_someValue"``, and a method declared as ``public double getSomeValue()`` will appear under the entry ``"getSomeValue"``.
+
+You can change what gets logged and what doesn't by configuring the class-level ``@Logged`` annotation with ``strategy = OPT_IN``. This will tell the annotation processor to *only* log fields and methods that you place a ``@Logged`` annotation on, rather than the default behavior of logging everything that doesn't have a ``@NotLogged`` annotation.
+
+The names of log entries can be changed using the ``name`` configuration option on fields and methods (on a class-level annotation, it changes the name of the autogenerated logger class for avoiding name conflicts and does not change the log names of any instance of that class). For example, a ``private double m_someValue`` field with an ``@Logged(name = "Motor Temperature")`` will appear in logs as ``"Motor Temperature"`` instead of the default ``"m_someValue"`` that would be used.
+
+.. list-table:: ``@Logged`` Configurations
+    :header-rows: 1
+
+    * - Attribute
+      - Description
+    * - Name
+      -  Sets a specific name to use for the annotated element. If placed on a class, this controls the name of the generated logger class for avoiding name conflicts.
+    * - Importance
+      - Sets the specific importance level for the annotated element, which can be used by the runtime ``minimumImportance`` configuration to control what data to log. If placed on a class, this sets the *default* importance level for all contained elements, which can be overridden on an element-by-element basis. Defaults to ``DEBUG``.
+    * - Strategy (class only)
+      - Sets the opt-in/opt-out strategy to use for logging elements in the annotated class. Defaults to opt-out, which means every loggable element in the class will be logged unless opted out using the ``@NotLogged`` annotation. Setting this to opt-in gives finer control over what gets logged, but takes more work to set up by manually annotating all the opted-in elements. Setting this option on a field or method has no effect.
+
+.. tab-set::
+
+   .. tab-item:: Original code without logging
+
+        ```java
+        public class Robot extends RobotBase {
+          private final Arm arm;
+          public Robot() {
+            arm = new Arm();
+          }
+        }
+        class Arm {
+          public final Trigger atLowStop = new Trigger(...);
+          public final Trigger atHighStop = new Trigger(...);
+          private Rotation2d lastPosition = getPosition();
+          public Rotation2d getPosition() {
+            // ...
+          }
+          public Measure<Velocity<Angle>> getSpeed() {
+            // ...
+          }
+        }
+        ```
+
+   .. tab-item:: Code with logging (minimal)
+
+        ```java
+        @Logged
+        public class Robot extends RobotBase {
+          private final Arm arm; // Anything loggable within the arm object will be logged under an "arm" entry
+            public Robot() {
+            arm = new Arm();
+            Epilogue.bind(this);
+          }
+        }
+        @Logged
+        class Arm {
+          public final Trigger atLowStop = new Trigger(...);  // Logged as a boolean in an "atLowStop" entry
+          public final Trigger atHighStop = new Trigger(...); // Logged as a boolean in an "atHighStop" entry
+          private Rotation2d lastPosition = getPosition();    // Logged as a Rotation2d struct in a "lastPosition" entry
+          // Logged as a Rotation2d struct object in a "getPosition" entry
+          public Rotation2d getPosition() {
+            // ...
+          }
+          // Logged as a double in terms of radians per second in a "getSpeed" entry
+          public Measure<Velocity<Angle>> getSpeed() {
+            // ...
+          }
+        }
+        ```
+
+        Data will be logged as:
+
+        ```
+        /Robot/arm/atLowStop
+        /Robot/arm/atHighStop
+        /Robot/arm/lastPosition
+        /Robot/arm/getPosition
+        /Robot/arm/getSpeed
+        ```
+
+   .. tab-item:: Code with logging (configured)
+
+        ```java
+        @Logged
+        public class Robot extends RobotBase {
+          @Logged(name = "Arm")
+          private Arm arm;
+          public Robot() {
+            arm = new Arm();
+            DataLogManager.start();
+            Epilogue.bind(this);
+          }
+        }
+        @Logged(strategy = OPT_IN)
+        class Arm {
+          @Logged(name = "At Low Stop", importance = DEBUG)
+          public final Trigger atLowStop = new Trigger(...);
+          @Logged(name = "At High Stop", importance = DEBUG)
+          public final Trigger atHighStop = new Trigger(...);
+          @NotLogged // Redundant because the class strategy is opt-in
+          private Rotation2d lastPosition = getPosition(); // No @Logged annotation, not logged
+          @Logged(name = "Position", importance = CRITICAL)
+          public Rotation2d getPosition() {
+            // ...
+          }
+          @Logged(name = "Speed", importance = CRITICAL)
+          public Measure<Velocity<Angle>> getSpeed() {
+              // ...
+          }
+        }
+        ```
+
+        Data will be logged as:
+
+        ```
+        /Robot/Arm/At Low Stop
+        /Robot/Arm/At High Stop
+        /Robot/Arm/Position
+        /Robot/Arm/Speed
+        ```
+
+The Epilogue Class
+------------------
+
+``Epilogue`` is a special class that is created by the code generator. Its responsibility is to keep track of all the custom logger files and as the main entry point for configuring and starting automatic data logging.
+
+If your main robot class inherits from ``TimedRobot``, the generated ``Epilogue`` class will have an additional ``bind()`` method that can be used to add a periodic logging call to the robot. The logging call will run at the same frequency as the main robot loop (typically 50Hz), but offset by half a phase to avoid extra CPU overhead while control loops are running. Keep in mind that, depending on your code structure, this means that logged data may be slightly out of sync with the data that the control loops operate on.
+
+.. list-table:: Logging Configurations
+    :header-rows: 1
+
+    * - Configuration
+      - Description
+      - Default Value
+    * - Data Logger
+      - The data logging implementation to use to save logged data.
+      - NetworkTables-based logging, which the DataLogManager can read and save to a file on disk
+    * - Root Data Entry
+      - The root entry that logged data will appear under. Used for both NetworkTables-based and DataLog-based logging. Can be set to any string.
+      - ``"Robot"``
+    * - Minimum Importance Level
+      - The minimum importance level of data for it to be logged. Any logged data marked with a lower priority will be excluded from telemetry.
+      - ``DEBUG`` (logs everything)
+    * - Error handler
+      - Catches and responds to errors encountered while logging data. Error handlers are used to prevent any errors encountered during logging from crashing the entire robot program.
+      - Errors are caught and printed to the console
+
+.. tab-set-code::
+
+    ```java
+    @Logged
+    public class Robot extends TimedRobot {
+      public Robot() {
+        Epilogue.configure(config -> {
+          // Log only to disk, instead of the default NetworkTables logging
+          // Note that this means data cannot be analyzed in realtime by a dashboard
+          config.dataLogger = new FileLogger(DataLogManager.getLog());
+          if (isSimulation()) {
+            // If running in simulation, then we'd want to re-throw any errors that
+            // occur so we can debug and fix them!
+            config.errorHandler = ErrorHandler.crashOnError();
+          }
+              // Change the root data path
+          config.root = "Telemetry";
+          // Only log critical information instead of the default DEBUG level.
+          // This can be helpful in a pinch to reduce network bandwidth or log file size
+          // while still logging important information.
+          config.minimumImportance = Logged.Importance.CRITICAL;
+        });
+        Epilogue.bind(this);
+      }
+    }
+        ```
+
+Logging Third-Party Data
+------------------------
+
+A large part of the Java ecosystem is its access to third-party libraries that provide extra functionality, such as vendor libraries for interacting with custom hardware like motor controllers and sensors. If those vendors do not use logging annotations in their libraries, then you can still log them by writing a custom logger class! These classes are actually what the WPILib annotations will generate; you just write a custom one because third-party code cannot be annotated.
+
+Custom loggers can be declared in any package, and only need to have the ``@CustomLoggerFor`` annotation present to be able to be detected and used. They must extend from ``ClassSpecificLogger`` ([Javadoc](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/epilogue/logging/ClassSpecificLogger.html)) and must have a public no-argument constructor - failing to declare one will result in a compilation error - and must pass the type they log to the superclass constructor.
+
+.. note:: Only one custom logger may be defined for a single type. Custom loggers will only be detected and used if they are defined in the robot project; custom loggers defined in third-party libraries cannot be detected.
+
+.. tab-set-code::
+    ```java
+    class VendorMotor {
+      public int getFaults();
+      public void set(double speed);
+      public double get();
+      public double getAppliedVoltage();
+      public double getInputCurrent();
+    }
+    @CustomLoggerFor(VendorMotor.class)
+    public class YourCustomVendorMotorLogger extends ClassSpecificLogger<VendorMotor> {
+      public YourCustomVendorMotorLogger() {
+        super(VendorMotor.class);
+      }
+      @Override
+      public void update(DataLogger dataLogger, VendorMotor motor) {
+        if (Epilogue.shouldLog(Logged.Importance.DEBUG)) {
+          dataLogger.log("Faults", motor.getFaults());
+        }
+        dataLogger.log("Requested Speed (Duty Cycle)", motor.get());
+        dataLogger.log("Motor Voltage (V)", motor.getAppliedVoltage());
+        dataLogger.log("Input Current (A)", motor.getInputCurrent());
+      }
+    }
+    ```
+
+Caveats and Limitations
+-----------------------
+
+Because the logging code generation runs at compile time, information only available at runtime cannot be used. If a field is declared to be of some type ``T``, then it will be logged using whatever configuration is defined for ``T``, even if at runtime it is set to a concrete subtype ``S`` that has its own distinct logging configuration. You may encounter this if your code uses IO interfaces; consider annotating the interface with ``@Logged`` and provide methods for reading data you want to be logged regardless of implementation, such as motor voltages and sensor readings.
+
+Null values are unrepresentable in log data and therefore cannot be logged. If a logged field is set to ``null`` or is uninitialized, or if a logged method returns ``null``, then the logging code will throw a ``NullPointerException`` to be handled by the configured error handler.
+
+Data logging increases CPU load on the roboRIO and can lead to loop overruns. The CPU load is not caused by the logging itself, but from calling expensive methods to read data. This is most often seen when querying information from devices on a CAN bus. If your code frequently sees loop overruns caused by logging, consider reducing the number of logged fields or restructure your code to periodically read and cache data from connected devices and log the cached data instead of logging methods that needlessly re-query it.
+
+.. note:: Time spent on logging in each loop will be logged to ``/Epilogue/Stats/Last Run`` in NetworkTables and can be analyzed in a tool like AdvantageScope.
diff --git a/source/docs/software/telemetry/robot-telemetry-with-sendable.rst b/source/docs/software/telemetry/robot-telemetry-with-sendable.rst
index 6392387e89..bf25a6d560 100644
--- a/source/docs/software/telemetry/robot-telemetry-with-sendable.rst
+++ b/source/docs/software/telemetry/robot-telemetry-with-sendable.rst
@@ -1,5 +1,4 @@
-Robot Telemetry with Sendable
-=============================
+# Robot Telemetry with Sendable
 
 While the WPILib dashboard APIs allow users to easily send small pieces of data from their robot code to the dashboard, it is often tedious to manually write code for publishing telemetry values from the robot code's operational logic.
 
@@ -7,17 +6,15 @@ A cleaner approach is to leverage the existing object-oriented structure of user
 
 WPILib provides this functionality with the ``Sendable`` interface.  Classes that implement ``Sendable`` are able to register value listeners that automatically send data to the dashboard - and, in some cases, receive values back.  These classes can be declaratively sent to any of the WPILib dashboards (as one would an ordinary data field), removing the need for teams to write their own code to send/poll for updates.
 
-What is Sendable?
------------------
+## What is Sendable?
 
-``Sendable`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/util/sendable/Sendable.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classwpi_1_1_sendable.html>`__) is an interface provided by WPILib to facilitate robot telemetry.  Classes that implement ``Sendable`` can declaratively send their state to the dashboard - once declared, WPILib will automatically send the telemetry values every robot loop.  This removes the need for teams to handle the iteration-to-iteration logic of sending and receiving values from the dashboard, and also allows teams to separate their telemetry code from their robot logic.
+``Sendable`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/util/sendable/Sendable.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classwpi_1_1_sendable.html), :external:py:class:`Python <wpiutil.Sendable>`) is an interface provided by WPILib to facilitate robot telemetry.  Classes that implement ``Sendable`` can declaratively send their state to the dashboard - once declared, WPILib will automatically send the telemetry values every robot loop.  This removes the need for teams to handle the iteration-to-iteration logic of sending and receiving values from the dashboard, and also allows teams to separate their telemetry code from their robot logic.
 
 Many WPILib classes (such as :ref:`Commands <docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems:Commands and Subsystems>`) already implement ``Sendable``, and so can be sent to the dashboard without any user modification.  Users are also able to easily extend their own classes to implement ``Sendable``.
 
 The ``Sendable`` interface contains only one method: ``initSendable``.  Implementing classes override this method to perform the binding of in-code data values to structured :term:`JSON` data, which is then automatically sent to the robot dashboard via NetworkTables.  Implementation of the ``Sendable`` interface is discussed in the :ref:`next article<docs/software/telemetry/writing-sendable-classes:Writing Your Own Sendable Classes>`.
 
-Sending a Sendable to the Dashboard
------------------------------------
+## Sending a Sendable to the Dashboard
 
 .. note:: Unlike simple data types, Sendables are automatically kept up-to-date on the dashboard by WPILib, without any further user code - "set it and forget it".  Accordingly, they should usually be sent to the dashboard in an initialization block or constructor, *not* in a periodic function.
 
@@ -25,12 +22,17 @@ To send a ``Sendable`` object to the dashboard, simply use the dashboard's ``put
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    SmartDashboard.putData("Arm PID", armPIDController);
+    ```
 
-        SmartDashboard.putData("Arm PID", armPIDController);
+    ```c++
+    frc::SmartDashboard::PutData("Arm PID", &armPIDController);
+    ```
 
-    .. code-block:: cpp
-
-        frc::SmartDashboard::PutData("Arm PID", &armPIDController);
+    ```python
+    from wpilib import SmartDashboard
+    SmartDashboard.putData("Arm PID", armPIDController)
+    ```
 
 Additionally, some ``Sendable`` classes bind setters to the data values sent *from the dashboard to the robot*, allowing remote tuning of robot parameters.
diff --git a/source/docs/software/telemetry/telemetry.rst b/source/docs/software/telemetry/telemetry.rst
index 59da940552..7c70e6bcea 100644
--- a/source/docs/software/telemetry/telemetry.rst
+++ b/source/docs/software/telemetry/telemetry.rst
@@ -1,14 +1,12 @@
-Telemetry: Recording and Sending Real-Time Data
-===============================================
+# Telemetry: Recording and Sending Real-Time Data
 
 Recording and viewing :term:`telemetry` data is a crucial part of the engineering process - accurate telemetry data helps you tune your robot to perform optimally, and is indispensable for debugging your robot when it fails to perform as expected.
 
-By default, no telemetry data is recorded (saved) on the robot.  However, recording data on the robot can provide benefits over recording on a dashboard, namely that more data can be recorded (there are no bandwidth limitations), and all the recorded data can be very accurately timestamped.  WPILib has integrated support for on-robot recording of telemetry data via the ``DataLogManager`` and ``DataLog`` classes and provides a tool for downloading data log files and converting them to CSV.
+By default, no telemetry data is recorded (saved) on the robot.  However, recording data on the robot can provide benefits over recording on a dashboard, namely that more data can be recorded (there are no bandwidth limitations), and all the recorded data can be very accurately timestamped.  WPILib has integrated support for on-robot recording of telemetry data via the ``DataLogManager`` and ``DataLog`` classes and provides a tool for downloading data log files and converting them to CSV. The Java library also provides a convenient :doc:`annotation <robot-telemetry-with-annotations>` to autogenerate telemetry logging code based on your project.
 
 .. note:: In addition to on-robot recording of telemetry data, teams can record their telemetry data on their driver station computer with :ref:`Shuffleboard recordings <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-recording:Recording and Playback>`.
 
-Adding Telemetry to Robot Code
-------------------------------
+## Adding Telemetry to Robot Code
 
 WPILib supports several different ways to record and send telemetry data from robot code.
 
diff --git a/source/docs/software/telemetry/writing-sendable-classes.rst b/source/docs/software/telemetry/writing-sendable-classes.rst
index fb03561fe4..bf1815d3f9 100644
--- a/source/docs/software/telemetry/writing-sendable-classes.rst
+++ b/source/docs/software/telemetry/writing-sendable-classes.rst
@@ -1,5 +1,4 @@
-Writing Your Own Sendable Classes
-=================================
+# Writing Your Own Sendable Classes
 
 Since the ``Sendable`` interface only has one method, writing your own classes that implement ``Sendable`` (and thus automatically log values to and/or consume values from the dashboard) is extremely easy: just provide an implementation for the overridable ``initSendable`` method, in which setters and getters for your class's fields are declaratively bound to key values (their display names on the dashboard).
 
@@ -7,27 +6,25 @@ For example, here is the implementation of ``initSendable`` from WPILib's ``Bang
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java
         :language: java
-        :lines: 150-158
+        :lines: 151-159
         :linenos:
-        :lineno-start: 150
+        :lineno-start: 151
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpimath/src/main/native/cpp/controller/BangBangController.cpp
-        :language: cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpimath/src/main/native/cpp/controller/BangBangController.cpp
+        :language: c++
         :lines: 55-69
         :linenos:
         :lineno-start: 55
 
 To enable the automatic updating of values by WPILib "in the background", ``Sendable`` data names are bound to getter and setter functions rather than specific data values.  If a field that you wish to log has no defined setters and getters, they can be defined inline with a lambda expression.
 
-The SendableBuilder Class
--------------------------
+## The SendableBuilder Class
 
-As seen above, the ``initSendable`` method takes a single parameter, ``builder``, of type ``SendableBuilder`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/util/sendable/SendableBuilder.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classwpi_1_1_sendable_builder.html>`__).  This builder exposes methods that allow binding of getters and setters to dashboard names, as well as methods for safely ensuring that values consumed *from* the dashboard do not cause unsafe robot behavior.
+As seen above, the ``initSendable`` method takes a single parameter, ``builder``, of type ``SendableBuilder`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/util/sendable/SendableBuilder.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classwpi_1_1_sendable_builder.html), :external:py:class:`Python <wpiutil.SendableBuilder>`).  This builder exposes methods that allow binding of getters and setters to dashboard names, as well as methods for safely ensuring that values consumed *from* the dashboard do not cause unsafe robot behavior.
 
-Databinding with addProperty Methods
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Databinding with addProperty Methods
 
 Like all WPILib dashboard code, ``Sendable`` fields are ultimately transmitted over :ref:`NetworkTables <docs/software/networktables/networktables-intro:What is NetworkTables>`, and thus the databinding methods provided by ``SendableBuilder`` match the supported NetworkTables data types:
 
@@ -39,8 +36,7 @@ Like all WPILib dashboard code, ``Sendable`` fields are ultimately transmitted o
 * ``string[]``: ``addStringArrayProperty``
 * ``byte[]``: ``addRawProperty``
 
-Ensuring Safety with setSafeState and setActuator
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Ensuring Safety with setSafeState and setActuator
 
 Since ``Sendable`` allows users to consume arbitrary values from the dashboard, it is possible for users to pipe dashboard controls directly to robot actuations.  This is extremely unsafe if not done with care; dashboards are not a particularly good interface for controlling robot movement, and users generally do not expect the robot to move in response to a change on the dashboard.
 
@@ -48,14 +44,14 @@ To help users ensure safety when interfacing with dashboard values, ``SendableBu
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
         :language: java
-        :lines: 118-124
+        :lines: 120-126
         :linenos:
-        :lineno-start: 118
+        :lineno-start: 120
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
-        :language: cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+        :language: c++
         :lines: 56-62
         :linenos:
         :lineno-start: 56
diff --git a/source/docs/software/vision-processing/apriltag/apriltag-intro.rst b/source/docs/software/vision-processing/apriltag/apriltag-intro.rst
index 94e718db0f..8eef6bbb0e 100644
--- a/source/docs/software/vision-processing/apriltag/apriltag-intro.rst
+++ b/source/docs/software/vision-processing/apriltag/apriltag-intro.rst
@@ -1,43 +1,38 @@
 .. include:: <isonum.txt>
 
-What Are AprilTags?
-===================
+# What Are AprilTags?
 
-.. image:: images/apriltagrobots_overlay.png
+.. image:: images/apriltagrobots_overlay.jpg
    :alt: A demonstration of AprilTag fiducial targets attached to generic robots.
 
 AprilTags are a system of visual tags developed by researchers at the University of Michigan to provide low overhead, high accuracy localization for many different applications.
 
-Additional information about the tag system and its creators `can be found on their website <https://april.eecs.umich.edu/software/apriltag>`__. This document attempts to summarize the content for FIRST robotics related purposes.
+Additional information about the tag system and its creators [can be found on their website](https://april.eecs.umich.edu/software/apriltag). This document attempts to summarize the content for FIRST robotics related purposes.
 
-Application to FRC
-------------------
+## Application to FRC
 
 In the context of FRC, AprilTags are useful for helping your robot know where it is at on the field, so it can align itself to some goal position.
 
 AprilTags have been in development since 2011, and have been refined over the years to increase the robustness and speed of detection.
 
-`Starting in 2023, FIRST is providing a number of tags, <https://www.firstinspires.org/robotics/frc/blog/2022-2023-approved-devices-rules-preview-and-vision-target-update>`__ scattered throughout the field, each at a known :term:`pose`.
+[Starting in 2023, FIRST is providing a number of tags,](https://www.firstinspires.org/robotics/frc/blog/2022-2023-approved-devices-rules-preview-and-vision-target-update) scattered throughout the field, each at a known :term:`pose`.
 
-All of the tags are from the 16h5 family.
+In 2024, [the tag family was updated to the 36h11 family](https://www.firstinspires.org/robotics/frc/blog/2023-technology-updates-past-present-future-and-beyond).
 
-.. note:: Many of the pictures in this documentation are from the 36h11 family, which are similar (but not identical) to the 16h5 actually in use for FRC. All the underlying concepts are the same.
+.. collapse:: What is the 36h11 family?
 
-.. collapse:: What is the 16h5 family?
+   The AprilTag library implementation defines standards on how sets of tags should be designed. Some of the possible tag families [are described here](https://www.ssontech.com/docs/SynthEyesUM_files/Choosing_an_AprilTag.html).
 
-   The AprilTag library implementation defines standards on how sets of tags should be designed. Some of the possible tag families `are described here <https://www.ssontech.com/docs/SynthEyesUM_files/Choosing_an_AprilTag.html>`__.
+   FIRST has chosen the 36h11 family for 2024. This family of tags is made of a 6x6 grid of pixels, each representing one bit of information. An additional black and white border must be present around the outside of the bits.
 
-   FIRST has chosen the 16h5 family for 2023. This family of tags is made of a 4x4 grid of pixels, each representing one bit of information. An additional black and white border must be present around the outside of the bits.
-
-   While there are :math:`2^{16} = 65536` theoretical possible tags, only 30 are actually used. These are chosen to:
+   While there are :math:`2^{36} = 68,719,476,736` theoretical possible tags, only 587 are actually used. These are chosen to:
 
    1. Be robust against some bit flips (IE, issues where a bit has its color incorrectly identified).
    2. Not involve "simple" geometric patterns likely to be found on things which are not tags. (IE, squares, stripes, etc.)
    3. Ensure the geometric pattern is asymmetric enough that you can always figure out which way is up.
 
-|
 
-All tags will be printed such that the tag's main "body" is 6 inches in length.
+All tags will be printed such that the tag's main "body" is 6.5 inches in length.
 
 .. image:: images/tag_size.png
    :alt: Diagram showing the dimensions of an FRC AprilTag fiducial target.
@@ -45,10 +40,9 @@ All tags will be printed such that the tag's main "body" is 6 inches in length.
 
 For home usage, tag files may be printed off and placed around your practice area. Mount them to a rigid backing material to ensure the tag stays flat, as the processing algorithm assumes the tags are flat.
 
-Software Support
-----------------
+## Software Support
 
-The main repository for the source code that detects and decodes AprilTags `is located here <https://github.com/AprilRobotics/apriltag>`__.
+The main repository for the source code that detects and decodes AprilTags [is located here](https://github.com/wpilibsuite/apriltag/tree/main).
 
 WPILib has forked the repository to add new features for FRC. These include:
 
@@ -58,8 +52,7 @@ WPILib has forked the repository to add new features for FRC. These include:
 
 .. todo:: Work in this library is still ongoing, this list may change in the future.
 
-Processing Technique
---------------------
+## Processing Technique
 
 While most FRC teams should not have to implement their own code to identify AprilTags in a camera image, it is useful to know the basics of how the underlying libraries function.
 
@@ -153,11 +146,9 @@ While most FRC teams should not have to implement their own code to identify Apr
       Note that this step is optional, and can be skipped for faster image processing. However, skipping it can induce significant errors into your robot's behavior, depending on how you are using the tag outputs.
 
 
-Usage
------
+## Usage
 
-2D Alignment
-^^^^^^^^^^^^
+### 2D Alignment
 
 A simple strategy for using targets is to move the robot until the target is centered in the image. Assuming the field and robot are constructed such that the gamepiece, scoring location, vision target, and camera are all aligned, this method should proved a straightforward method to automatically align the robot to the scoring position.
 
@@ -166,14 +157,13 @@ Using a camera, identify the *centroid* of the AprilTags in view. If the tag's I
 This method does not require calibrating the camera or performing the homography step.
 
 
-3D Alignment
-^^^^^^^^^^^^
+### 3D Alignment
 
 .. image:: images/homography.png
 
 .. todo:: Code examples coming soon!
 
-A more advanced usage of AprilTags is to use their corner locations to help perform on-field localization.
+A more advanced usage of AprilTags is to use their corner locations to help perform :term:`pose estimation`.
 
 Each image is searched for AprilTags using the algorithm described on this page. Using assumptions about how the camera's lense distorts the 3d world onto the 2d array of pixels in the camera, an estimate of the camera's position relative to the tag is calculated. A good camera calibration is required for the assumptions about its lens behavior to be accurate.
 
@@ -185,8 +175,7 @@ If the camera's position on the robot is known, the robot's position on the fiel
 
 These estimates can be incorporated into the WPILib pose estimation classes.
 
-2D to 3D Ambiguity
-------------------
+## 2D to 3D Ambiguity
 
 The process of translating the four known corners of the target in the image (two-dimensional) into a real-world position relative to the camera (three-dimensional) is inherently ambiguous. That is to say, there are multiple real-world positions that result in the target corners ending up in the same spot in the camera image.
 
@@ -210,14 +199,13 @@ Humans can often use lighting or background clues to understand how objects are
 
 Resolving which position is "correct" can be done in a few different ways:
 
-1. Use your odometry history from all sensors to pick the pose closest to where you expect the robot to be.
+1. Use your :term:`odometry` history from all sensors to pick the pose closest to where you expect the robot to be.
 2. Reject poses which are very unlikely (ex: outside the field perimeter, or up in the air)
 3. Ignore pose estimates which are very close together (and hard to differentiate)
 4. Use multiple cameras to look at the same target, such that at least one camera can generate a good pose estimate
 5. Look at many targets at once, using each to generate multiple pose estimates. Discard the outlying estimates, use the ones which are tightly clustered together.
 
-Adjustable Parameters
----------------------
+## Adjustable Parameters
 
 ``Decimation factor`` impacts how much the image is down-sampled before processing. Increasing it will increase detection speed, at the cost of not being able to see tags which are far away.
 
@@ -225,10 +213,9 @@ Adjustable Parameters
 
 ``Threads`` changes the number of parallel threads which the algorithm uses to process the image. Certain steps may be sped up by allowing multithreading. In general, you want this to be approximately equal to the number of physical cores in your CPU, minus the number of cores which will be used for other processing tasks.
 
-Detailed information about the tunable parameters `can be found here <https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide#tuning-the-detector-parameters>`__.
+Detailed information about the tunable parameters [can be found here](https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide#tuning-the-detector-parameters).
 
-Further Learning
-----------------
+## Further Learning
 
 The three major versions of AprilTags are described in three academic papers. It's recommended to read them in order, as each builds upon the previous:
 
diff --git a/source/docs/software/vision-processing/apriltag/images/adaptive_threshold.png b/source/docs/software/vision-processing/apriltag/images/adaptive_threshold.png
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similarity index 100%
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diff --git a/source/docs/software/vision-processing/apriltag/images/tag_size.png b/source/docs/software/vision-processing/apriltag/images/tag_size.png
index c99b6fa40c..94cc38e09d 100644
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diff --git a/source/docs/software/vision-processing/apriltag/index.rst b/source/docs/software/vision-processing/apriltag/index.rst
index 4a9c8f26e2..06f7e9506b 100644
--- a/source/docs/software/vision-processing/apriltag/index.rst
+++ b/source/docs/software/vision-processing/apriltag/index.rst
@@ -1,5 +1,4 @@
-AprilTag Introduction
-=====================
+# AprilTag Introduction
 
 .. toctree::
    :maxdepth: 2
diff --git a/source/docs/software/vision-processing/grip/generating-code-from-grip.rst b/source/docs/software/vision-processing/grip/generating-code-from-grip.rst
deleted file mode 100644
index 9b5a887944..0000000000
--- a/source/docs/software/vision-processing/grip/generating-code-from-grip.rst
+++ /dev/null
@@ -1,70 +0,0 @@
-Generating Code from GRIP
-=========================
-GRIP Code Generation
---------------------
-When running your vision algorithm on a small processor such as a roboRIO or Raspberry PI it is encouraged to run OpenCV directly
-on the processor without the overhead of GRIP. To facilitate this, GRIP can generate code in C++, Java, and Python for the pipeline
-that you have created. This generated code can be added to your robot project and called directly from your existing robot code.
-
-Input sources such as cameras or image directories and output steps such as NetworkTables are not generated. Your code must supply
-images as OpenCV mats. On the roboRIO, the CameraServer class supplies images in that format. For getting results you can just use
-generated getter methods for retrieving the resultant values such as contour x and y values.
-
-Generating Code
----------------
-To generate code, go to ``Tools > Generate Code``. This will bring up a save dialog that lets you create a C++, Java, or Python
-class that performs the steps in the GRIP pipeline.
-
-.. figure:: images/generating-code-from-grip/generating-code.png
-
-If generating code to be used in a pre-existing project, choose a relevant directory to save the pipeline to.
-
--   **C++ Users**: the pipeline class is split into a header and implementation file
--   **Java Users**: the generated class lacks a package declaration, so a declaration should be added to match the directory where
-    the file was saved.
--   **Python Users**: the module name will be identical to the class, so the import statement will be something like ``from Pipeline
-    import Pipeline``
-
-Structure of the Generated Code
--------------------------------
-::
-
-    Pipeline:
-      // Process -- this will run the pipeline
-      process(Mat source)
-
-      // Output accessors
-      getFooOutput()
-      getBar0Output()
-      getBar1Output()
-      ...
-
-Running the Pipeline
-^^^^^^^^^^^^^^^^^^^^
-To run the Pipeline, call the process method with the sources (webcams, IP camera, image file, etc) as arguments. This will
-expose the outputs of every operation in the pipeline with the ``getFooOutput`` methods.
-
-Getting the Results
-^^^^^^^^^^^^^^^^^^^
-Users are able to the outputs of every step in the pipeline. The outputs of these operations would be accessible through
-their respective accessors.  For example:
-
-=============== =========================== ==========================
-Operation       Java/C++ getter             Python variable
-=============== =========================== ==========================
-RGB Threshold   ``getRgbThresholdOutput``   ``rgb_threshold_output``
-Blur            ``getBlurOutput``           ``blur_output``
-CV Erode        ``getCvErodeOutput``        ``mcv_erode_output``
-Find Contours   ``getFindContoursOutput``   ``find_contours_output``
-Filter Contours ``getFilterContoursOutput`` ``filter_contours_output``
-=============== =========================== ==========================
-
-If an operation appears multiple times in the pipeline, the accessors for those operations have the number of that operation:
-
-========= ================ ==================
-Operation Which appearance  Accessor
-========= ================ ==================
-Blur      First            ``getBlur0Output``
-Blur      Second           ``getBlur1Output``
-Blur      Third            ``getBlur2Output``
-========= ================ ==================
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diff --git a/source/docs/software/vision-processing/grip/index.rst b/source/docs/software/vision-processing/grip/index.rst
deleted file mode 100644
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--- a/source/docs/software/vision-processing/grip/index.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-Vision with GRIP
-================
-
-.. toctree::
-   :maxdepth: 1
-
-   introduction-to-grip
-   generating-code-from-grip
-   using-generated-code-in-a-robot-program
-   using-grip-with-a-kangaroo-computer
diff --git a/source/docs/software/vision-processing/grip/introduction-to-grip.rst b/source/docs/software/vision-processing/grip/introduction-to-grip.rst
deleted file mode 100644
index ae15692440..0000000000
--- a/source/docs/software/vision-processing/grip/introduction-to-grip.rst
+++ /dev/null
@@ -1,118 +0,0 @@
-Introduction to GRIP
-====================
-GRIP is a tool for developing computer vision algorithms interactively rather than through trial and error coding.
-After developing your algorithm you may run GRIP in headless mode on your roboRIO, on a Driver Station Laptop, or on
-a coprocessor connected to your robot network. With Grip you choose vision operations to create a graphical pipeline
-that represents the sequence of operations that are performed to complete the vision algorithm.
-
-GRIP is based on OpenCV, one of the most popular computer vision software libraries used for research, robotics, and
-vision algorithm implementations. The operations that are available in GRIP are almost a 1 to 1 match with the
-operations available if you were hand coding the same algorithm with some text-based programming language.
-
-The GRIP user interface
------------------------
-.. figure::   images/introduction-to-grip/the-grip-user-interface.png
-
-The GRIP user interface consists of 4 parts:
-
--   **Image Sources** are the ways of getting images into the GRIP pipeline. You can provide images through attached cameras
-    or files. Sources are almost always the beginning of the image processing algorithm.
--   **Operation Palette** contains the image processing steps from the OpenCV library that you can chain together in the
-    pipeline to form your algorithm. Clicking on an operation in the palette adds it to the end of the pipeline. You can
-    then use the left and right arrows to move the operation within the pipeline.
--   **Pipeline** is the sequence of steps that make up the algorithm. Each step (operation) in the pipeline is connected to
-    a previous step from the output of one step to an input to the next step. The data flows from generally from left to
-    right through the connections that you create.
--   **Image Preview** are shows previews of the result of each step that has it's preview button pressed. This makes it easy
-    to debug algorithms by being able to preview the outputs of each intermediate step.
-
-Finding the yellow square
--------------------------
-.. figure::   images/introduction-to-grip/finding-the-yellow-square.png
-
-In this application we will try to find the yellow square in the image and display it's position. The setup is pretty
-simple, just a USB web camera connected to the computer looking down at some colorful objects. The yellow plastic square
-is the thing that we're interested in locating in the image.
-
-Enable the image source
------------------------
-.. figure::   images/introduction-to-grip/enable-the-image-source.png
-
-The first step is to acquire an image. To use the source, click on the "Add Webcam" button and select the camera number.
-In this case the Logitech USB camera that appeared as Webcam 0 and the computer monitor camera was Webcam 1. The web camera
-is selected in this case to grab the image behind the computer as shown in the setup. Then select the image preview button
-and the real-time display of the camera stream will be shown in the preview area.
-
-Resize the image
-----------------
-.. figure::   images/introduction-to-grip/resize-the-image.png
-
-In this case the camera resolution is too high for our purposes, and in fact the entire image cannot even be viewed in the
-preview window. The "Resize" operation is clicked from the Operation Palette to add it to the end of the pipeline. To help
-locate the Resize operation, type "Resize" into the search box at the top of the palette. The steps are:
-
-
-1.  Type "Resize" into the search box on the palette
-2.  Click the Resize operation from the palette. It will appear in the pipeline.
-3.  Enter the x and y resize scale factor into the resize operation in the pipeline. In this case 0.25 was chosen for both.
-4.  Drag from the Webcam image output mat socket to the Resize image source mat socket. A connection will be shown
-    indicating that the camera output is being sent to the resize input.
-5.  Click on the destination preview button on the "Resize" operation in the pipeline. The smaller image will be displayed
-    alongside the larger original image. You might need to scroll horizontally to see both as shown.
-6.  Lastly, click the Webcam source preview button since there is no reason to look at both the large image and the smaller
-    image at the same time.
-
-Find only the yellow parts of the image
----------------------------------------
-.. figure::   images/introduction-to-grip/find-only-the-yellow-parts-of-the-image.png
-
-The next step is to remove everything from the image that doesn't match the yellow color of the piece of plastic that is the
-object being detected. To do that a HSV Threshold operation is chosen to set upper and lower limits of HSV values to indicate
-which pixels should be included in the resultant binary image. Notice that the target area is white while everything that
-wasn't within the threshold values are shown in black. Again, as before:
-
-1.  Type HSV into the search box to find the HSV Threshold operation.
-2.  Click on the operation in the palette and it will appear at the end of the pipeline.
-3.  Connect the dst (output) socket on the resize operation to the input of the HSV Threshold.
-4.  Enable the preview of the HSV Threshold operation so the result of the operation is displayed in the preview window.
-5.  Adjust the Hue, Saturation, and Value parameters only the target object is shown in the preview window.
-
-Get rid of the noise and extraneous hits
-----------------------------------------
-.. figure::   images/introduction-to-grip/get-rid-of-the-noise.png
-
-This looks pretty good so far, but sometimes there is noise from other things that couldn't quite be filtered out. To
-illustrate one possible technique to reduce those occasional pixels that were detected, an Erosion operation is chosen.
-Erosion will remove small groups of pixels that are not part of the area of interest.
-
-Mask just the yellow area from the original image
--------------------------------------------------
-.. figure::   images/introduction-to-grip/mask-just-the-yellow-area.png
-
-Here a new image is generated by taking the original image and masking (and operation) it with the results of the
-erosion. This leaves just the yellow card as seen in the original image with nothing else shown. And it makes it easy to
-visualize exactly what was being found through the series of filters.
-
-Find the yellow area (blob)
----------------------------
-.. figure::   images/introduction-to-grip/find-the-yellow-area.png
-
-The last step is actually detecting the yellow card using a Blob Detector. This operation looks for a grouping of pixels that
-have some minimum area. In this case, the only non-black pixels are from the yellow card after the filtering is done. You can
-see that a circle is drawn around the detected portion of the image. In the release version of GRIP (watch for more updates
-between now and kickoff) you will be able to send parameters about the detected blob to your robot program using :term:`NetworkTables`.
-
-Status of GRIP
---------------
-As you can see from this example, it is very easy and fast to be able to do simple object recognition using GRIP. While this is
-a very simple example, it illustrates the basic principles of using GRIP and feature extraction in general. Over the coming
-weeks the project team will be posting updates to GRIP as more features are added. Currently it supports cameras (Axis ethernet
-camera and web cameras) and image inputs. There is no provision for output yet although NetworkTables and ROS (Robot Operating
-System) are planned.
-
-You can either download a pre-built release of the code from the GitHub page "Releases" section
-(https://github.com/WPIRoboticsProjects/GRIP) or you can clone the source repository and built it yourself. Directions on
-building GRIP are on the project page. There is also additional documentation on the project wiki.
-
-So, please play with GRiP and give us feedback here on the forum. If you find bugs, you can either post them here or as a
-GitHub project issue on the project page.
diff --git a/source/docs/software/vision-processing/grip/using-generated-code-in-a-robot-program.rst b/source/docs/software/vision-processing/grip/using-generated-code-in-a-robot-program.rst
deleted file mode 100644
index 4cc955e167..0000000000
--- a/source/docs/software/vision-processing/grip/using-generated-code-in-a-robot-program.rst
+++ /dev/null
@@ -1,126 +0,0 @@
-.. include:: <isonum.txt>
-
-Using Generated Code in a Robot Program
-=======================================
-
-GRIP generates a class that can be added to an FRC\ |reg| program that runs on a roboRIO and without a lot of additional code, drive
-the robot based on the output.
-
-Included here is a complete sample program that uses a GRIP pipeline that drives a robot towards a piece of retroreflective
-material.
-
-This program is designed to illustrate how the vision code works and does not necessarily represent the best technique for
-writing your robot program. When writing your own program be aware of the following considerations:
-
-1.  **Using the camera output for steering the robot could be problematic**. The camera code in this example that captures and
-    processes images runs at a much slower rate that is desirable for a control loop for steering the robot. A better, and
-    only slightly more complex solution, is to get headings from the camera and it's processing rate, then have a much faster
-    control loop steering to those headings using a gyro sensor.
-2.  **Keep the vision code in the class that wraps the pipeline**. A better way of writing object oriented code is to subclass or
-    instantiate the generated pipeline class and process the OpenCV results there rather than in the robot program. In this
-    example, the robot code extracts the direction to drive by manipulating the resultant OpenCV contours. By having the OpenCV
-    code exposed throughout the robot program it makes it difficult to change the vision algorithm should you have a better one.
-
-Iterative program definitions
------------------------------
-.. tab-set-code::
-
-    .. code-block:: java
-
-        package org.usfirst.frc.team190.robot;
-
-        import org.usfirst.frc.team190.grip.MyVisionPipeline;
-
-        import org.opencv.core.Rect;
-        import org.opencv.imgproc.Imgproc;
-
-        import edu.wpi.cscore.UsbCamera;
-        import edu.wpi.first.cameraserver.CameraServer;
-        import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-        import edu.wpi.first.wpilibj.PWMSparkMax;
-        import edu.wpi.first.wpilibj.TimedRobot;
-        import edu.wpi.first.vision.VisionRunner;
-        import edu.wpi.first.vision.VisionThread;
-
-        public class Robot extends TimedRobot {
-
-            private static final int IMG_WIDTH = 320;
-            private static final int IMG_HEIGHT = 240;
-
-            private VisionThread visionThread;
-            private double centerX = 0.0;
-            private DifferentialDrive drive;
-            private PWMSparkMax left;
-            private PWMSparkMax right;
-
-            private final Object imgLock = new Object();
-
-In this first part of the program you can see all the import statements for the WPILib classes used for this program.
-
--   The **image width and height** are defined as 320x240 pixels.
--   The **VisionThread** is a WPILib class makes it easy to do your camera processing in a separate thread from the rest of the
-    robot program.
--   **centerX** value will be the computed center X value of the detected target.
--   **DifferentialDrive** encapsulates the drive motors on this robot and allows simplified driving.
--   **imgLock** is a variable to synchronize access to the data being simultaneously updated with each image acquisition pass
-    and the code that's processing the coordinates and steering the robot.
-
-.. tab-set-code::
-
-    .. code-block:: java
-
-        @Override
-        public void robotInit() {
-            UsbCamera camera = CameraServer.startAutomaticCapture();
-            camera.setResolution(IMG_WIDTH, IMG_HEIGHT);
-
-            visionThread = new VisionThread(camera, new MyVisionPipeline(), pipeline -> {
-                if (!pipeline.filterContoursOutput().isEmpty()) {
-                    Rect r = Imgproc.boundingRect(pipeline.filterContoursOutput().get(0));
-                    synchronized (imgLock) {
-                        centerX = r.x + (r.width / 2);
-                    }
-                }
-            });
-            visionThread.start();
-
-            left = new PWMSparkMax(0);
-            right = new PWMSparkMax(1);
-            drive = new DifferentialDrive(left, right);
-        }
-
-The **robotInit()** method is called once when the program starts up. It creates a **CameraServer** instance that begins
-capturing images at the requested resolution (IMG_WIDTH by IMG_HEIGHT).
-
-Next an instance of the class **VisionThread** is created. VisionThread begins capturing images from the camera asynchronously
-in a separate thread. After processing each image, the pipeline computed **bounding box** around the target is retrieved and
-it's **center X** value is computed. This centerX value will be the x pixel value of the center of the rectangle in the image.
-
-The VisionThread also takes a **VisionPipeline** instance (here, we have a subclass **MyVisionPipeline** generated by GRIP) as
-well as a callback that we use to handle the output of the pipeline. In this example, the pipeline outputs a list of contours
-(outlines of areas in an image) that mark goals or targets of some kind. The callback finds the bounding box of the first contour
-in order to find its center, then saves that value in the variable centerX. Note the synchronized block around the assignment:
-this makes sure the main robot thread will always have the most up-to-date value of the variable, as long as it also uses
-**synchronized** blocks to read the variable.
-
-.. tab-set-code::
-
-    .. code-block:: java
-
-        @Override
-        public void autonomousPeriodic() {
-            double centerX;
-            synchronized (imgLock) {
-                centerX = this.centerX;
-            }
-            double turn = centerX - (IMG_WIDTH / 2);
-            drive.arcadeDrive(-0.6, turn * 0.005);
-        }
-
-This, the final part of the program, is called repeatedly during the **autonomous period** of the match. It gets the **centerX**
-pixel value of the target and **subtracts half the image width** to change it to a value that is **zero when the rectangle is
-centered** in the image and **positive or negative when the target center is on the left or right side of the frame.** That
-value is used to steer the robot towards the target.
-
-Note the **synchronized** block at the beginning. This takes a snapshot of the most recent centerX value found by the
-VisionThread.
diff --git a/source/docs/software/vision-processing/grip/using-grip-with-a-kangaroo-computer.rst b/source/docs/software/vision-processing/grip/using-grip-with-a-kangaroo-computer.rst
deleted file mode 100644
index 3e804aef02..0000000000
--- a/source/docs/software/vision-processing/grip/using-grip-with-a-kangaroo-computer.rst
+++ /dev/null
@@ -1,66 +0,0 @@
-.. include:: <isonum.txt>
-
-Using GRIP with a Kangaroo Computer
-===================================
-
-A recently available computer called the Kangaroo looks like a great platform for running GRIP on FRC\ |reg| robots. Some of the specs
-for this processor include:
-
--   Quad core 1.4Ghz Atom processor
--   HDMI port
--   2 USB ports (1 USB2 and 1 USB3)
--   2GB RAM
--   32GB Flash
--   Flash card slot
--   WiFi
--   Battery with 4 hours running time
--   Power supply
--   Windows 10
--   and a fingerprint reader
-
-The advantage of this setup is that it offloads the roboRIO from doing image processing and it is a normal Windows system so all
-of our software should work without modification. Be sure to read the caveats at the end of this page before jumping in.
-
-**More detailed instructions** for using a Kangaroo for running GRIP can be found in the following PDF document created by
-Scott Taylor and FRC 1735. His explanation goes beyond what is shown here, detailing how to get the GRIP program to auto-start
-on boot and many other details.
-
-    `Grip Plus Kangaroo <grip-plus-kangaroo.pdf>`_
-
-Setup
------
-
-.. figure:: images/using-grip-with-a-kangaroo-computer/setup.png
-
-The nice thing about this setup is that you just need to plug in a monitor, keyboard, mouse and (in this case) the Microsoft web
-camera and you are good to go with programming the GRIP pipeline. When you are finished, disconnect the keyboard, mouse and monitor
-and put the Kangaroo on your robot. You will need to disable the WiFi on the Kangaroo and connect it to the robot with a USB
-ethernet dongle to the extra ethernet port on the robot radio.
-
-In this example you can see the Kangaroo computer (1) connected to a USB hub (3), keyboard, and an HDMI monitor for programming.
-The USB hub is connected to the camera and mouse.
-
-Sample GRIP program
--------------------
-
-.. figure:: images/using-grip-with-a-kangaroo-computer/sample-grip-program.png
-
-Attached is the sample program running on the Kangaroo detecting the red heart on the little foam robot in the image (left panel).
-It is doing a HSV threshold to only get that red color then finding contours, and then filtering the contours using the size and
-solidity. At the end of the pipeline, the values are being published to NetworkTables.
-
-Viewing Contours Report in NetworkTables
-----------------------------------------
-
-.. figure:: images/using-grip-with-a-kangaroo-computer/viewing-contours-report-in-networktables.png
-
-This is the output from the OutlineViewer (<username>/WPILib/tools/OutlineViewer.jar), running on a different computer as a server
-(since there is no roboRIO on the network in this example) and the values being reported back for the single contour that the
-program detected that met the requirements of the Filter Contours operation.
-
-Considerations
---------------
-
-The Kangaroo runs Windows 10, so care must to be taken to make sure GRIP will keep running on the robot during a match or testing.
-For example, it should not try to do a Windows Update, Virus scan refresh, go to sleep, etc. Once configured, it has the advantage
-of being a normal Intel Architecture and should give predictable performance since it is running only one application.
diff --git a/source/docs/software/vision-processing/index.rst b/source/docs/software/vision-processing/index.rst
index 707e1af898..6cedafbc44 100644
--- a/source/docs/software/vision-processing/index.rst
+++ b/source/docs/software/vision-processing/index.rst
@@ -1,5 +1,4 @@
-Vision Processing
-=================
+# Vision Processing
 
 .. toctree::
    :maxdepth: 2
diff --git a/source/docs/software/vision-processing/introduction/2017-vision-examples.rst b/source/docs/software/vision-processing/introduction/2017-vision-examples.rst
deleted file mode 100644
index 8b0d39de5c..0000000000
--- a/source/docs/software/vision-processing/introduction/2017-vision-examples.rst
+++ /dev/null
@@ -1,9 +0,0 @@
-.. include:: <isonum.txt>
-
-2017 Vision Examples
-====================
-
-LabVIEW
--------
-
-The 2017 LabVIEW Vision Example is included with the other LabVIEW examples. From the Splash screen, click Support->Find FRC\ |reg| Examples or from any other LabVIEW window, click Help->Find Examples and locate the Vision folder to find the 2017 Vision Example. The example images are bundled with the example.
diff --git a/source/docs/software/vision-processing/introduction/cameraserver-class.rst b/source/docs/software/vision-processing/introduction/cameraserver-class.rst
index 5a5fe67482..663db8e440 100644
--- a/source/docs/software/vision-processing/introduction/cameraserver-class.rst
+++ b/source/docs/software/vision-processing/introduction/cameraserver-class.rst
@@ -1,65 +1,54 @@
 .. include:: <isonum.txt>
 
-Read and Process Video: CameraServer Class
-==========================================
+# Read and Process Video: CameraServer Class
 
-Concepts
---------
+## Concepts
 
-The cameras typically used in FRC\ |reg| (commodity USB and Ethernet cameras such as the Axis camera) offer relatively limited modes of operation. In general, they provide only a single image output (typically in an RGB compressed format such as JPG) at a single resolution and frame rate. USB cameras are particularly limited as only one application may access the camera at a time.
+The cameras typically used in FRC\ |reg| (commodity USB and Ethernet cameras) offer relatively limited modes of operation. In general, they provide only a single image output (typically in an RGB compressed format such as JPG) at a single resolution and frame rate. USB cameras are particularly limited as only one application may access the camera at a time.
 
 CameraServer supports multiple cameras. It handles details such as automatically reconnecting when a camera is disconnected, and also makes images from the camera available to multiple "clients" (e.g. both your robot code and the dashboard can connect to the camera simultaneously).
 
-Camera Names
-^^^^^^^^^^^^
+### Camera Names
 
-Each camera in CameraServer must be uniquely named. This is also the name that appears for the camera in the Dashboard. Some variants of the CameraServer ``startAutomaticCapture()`` and ``addAxisCamera()`` functions will automatically name the camera (e.g. "USB Camera 0" or "Axis Camera"), or you can give the camera a more descriptive name (e.g. "Intake Cam"). The only requirement is that each camera have a unique name.
+Each camera in CameraServer must be uniquely named. This is also the name that appears for the camera in the Dashboard. Some variants of the CameraServer ``startAutomaticCapture()`` functions will automatically name the camera (e.g. "USB Camera 0"), or you can give the camera a more descriptive name (e.g. "Intake Cam"). The only requirement is that each camera have a unique name.
 
-USB Camera Notes
-----------------
+## USB Camera Notes
 
-CPU Usage
-^^^^^^^^^
+### CPU Usage
 
 The CameraServer is designed to minimize CPU usage by only performing compression and decompression operations when required and automatically disabling streaming when no clients are connected.
 
 To minimize CPU usage, the dashboard resolution should be set to the same resolution as the camera; this allows the CameraServer to not decompress and recompress the image, instead, it can simply forward the JPEG image received from the camera directly to the dashboard. It's important to note that changing the resolution on the dashboard does *not* change the camera resolution; changing the camera resolution may be done by calling ``setResolution()`` on the camera object.
 
-USB Bandwidth
-^^^^^^^^^^^^^
+### USB Bandwidth
 
 The roboRIO can only transmit and receive so much data at a time over its USB interfaces. Camera images can require a lot of data, and so it is relatively easy to run into this limit. The most common cause of a USB bandwidth error is selecting a non-JPEG video mode or running too high of a resolution, particularly when multiple cameras are connected.
 
-Architecture
-------------
+## Architecture
 
 The CameraServer consists of two layers, the high level WPILib **CameraServer class** and the low level **cscore library**.
 
-CameraServer Class
-------------------
+## CameraServer Class
 
 The CameraServer class (part of WPILib) provides a high level interface for adding cameras to your robot code. It also is responsible for publishing information about the cameras and camera servers to NetworkTables so that Driver Station dashboards such as the LabVIEW Dashboard and Shuffleboard can list the cameras and determine where their streams are located. It uses a singleton pattern to maintain a database of all created cameras and servers.
 
 Some key functions in CameraServer are:
 
 - ``startAutomaticCapture()``: Add a USB camera (e.g. Microsoft LifeCam) and starts a server for it so it can be viewed from the dashboard.
-- ``addAxisCamera()``: Add an Axis camera. Even if you aren't processing images from the Axis camera in your robot code, you may want to use this function so that the Axis camera appears in the Dashboard's drop down list of cameras. It also starts a server so the Axis stream can still be viewed when your driver station is connected to the roboRIO via USB (useful at competition if you have both the Axis camera and roboRIO connected to the two robot radio Ethernet ports).
 - ``getVideo()``: Get OpenCV access to a camera. This allows you to get images from the camera for image processing on the roboRIO (in your robot code).
 - ``putVideo()``: Start a server that you can feed OpenCV images to. This allows you to pass custom processed and/or annotated images to the dashboard.
 
-cscore Library
---------------
+## cscore Library
 
 The cscore library provides the lower level implementation to:
 
-- Get images from USB and HTTP (e.g. Axis) cameras
+- Get images from USB and HTTP cameras
 - Change camera settings (e.g. contrast and brightness)
 - Change camera video modes (pixel format, resolution and frame rate)
 - Act as a web server and serve images as a standard MJPEG stream
 - Convert images to/from OpenCV ``Mat`` objects for image processing
 
-Sources and Sinks
-^^^^^^^^^^^^^^^^^
+### Sources and Sinks
 
 The basic architecture of the cscore library is similar to that of MJPGStreamer, with functionality split between sources and sinks. There can be multiple sources and multiple sinks created and operating simultaneously.
 
@@ -84,78 +73,65 @@ The above graph is what the following CameraServer snippet creates:
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        import edu.wpi.first.cameraserver.CameraServer;
-        import edu.wpi.cscore.CvSink;
-        import edu.wpi.cscore.CvSource;
-
-        // Creates UsbCamera and MjpegServer [1] and connects them
-        CameraServer.startAutomaticCapture();
-
-        // Creates the CvSink and connects it to the UsbCamera
-        CvSink cvSink = CameraServer.getVideo();
-
-        // Creates the CvSource and MjpegServer [2] and connects them
-        CvSource outputStream = CameraServer.putVideo("Blur", 640, 480);
-
-    .. code-block:: c++
-
-        #include "cameraserver/CameraServer.h"
-
-        // Creates UsbCamera and MjpegServer [1] and connects them
-        frc::CameraServer::StartAutomaticCapture();
-
-        // Creates the CvSink and connects it to the UsbCamera
-        cs::CvSink cvSink = frc::CameraServer::GetVideo();
-
-        // Creates the CvSource and MjpegServer [2] and connects them
-        cs::CvSource outputStream = frc::CameraServer::PutVideo("Blur", 640, 480);
+    ```java
+    import edu.wpi.first.cameraserver.CameraServer;
+    import edu.wpi.cscore.CvSink;
+    import edu.wpi.cscore.CvSource;
+    // Creates UsbCamera and MjpegServer [1] and connects them
+    CameraServer.startAutomaticCapture();
+    // Creates the CvSink and connects it to the UsbCamera
+    CvSink cvSink = CameraServer.getVideo();
+    // Creates the CvSource and MjpegServer [2] and connects them
+    CvSource outputStream = CameraServer.putVideo("Blur", 640, 480);
+    ```
+
+    ```c++
+    #include "cameraserver/CameraServer.h"
+    // Creates UsbCamera and MjpegServer [1] and connects them
+    frc::CameraServer::StartAutomaticCapture();
+    // Creates the CvSink and connects it to the UsbCamera
+    cs::CvSink cvSink = frc::CameraServer::GetVideo();
+    // Creates the CvSource and MjpegServer [2] and connects them
+    cs::CvSource outputStream = frc::CameraServer::PutVideo("Blur", 640, 480);
+    ```
 
 The CameraServer implementation effectively does the following at the cscore level (for explanation purposes). CameraServer takes care of many of the details such as creating unique names for all cscore objects and automatically selecting port numbers. CameraServer also keeps a singleton registry of created objects so they aren't destroyed if they go out of scope.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        import edu.wpi.cscore.CvSink;
-        import edu.wpi.cscore.CvSource;
-        import edu.wpi.cscore.MjpegServer;
-        import edu.wpi.cscore.UsbCamera;
-
-        // Creates UsbCamera and MjpegServer [1] and connects them
-        UsbCamera usbCamera = new UsbCamera("USB Camera 0", 0);
-        MjpegServer mjpegServer1 = new MjpegServer("serve_USB Camera 0", 1181);
-        mjpegServer1.setSource(usbCamera);
-
-        // Creates the CvSink and connects it to the UsbCamera
-        CvSink cvSink = new CvSink("opencv_USB Camera 0");
-        cvSink.setSource(usbCamera);
-
-        // Creates the CvSource and MjpegServer [2] and connects them
-        CvSource outputStream = new CvSource("Blur", PixelFormat.kMJPEG, 640, 480, 30);
-        MjpegServer mjpegServer2 = new MjpegServer("serve_Blur", 1182);
-        mjpegServer2.setSource(outputStream);
-
-    .. code-block:: c++
-
-        #include "cscore_oo.h"
-
-        // Creates UsbCamera and MjpegServer [1] and connects them
-        cs::UsbCamera usbCamera("USB Camera 0", 0);
-        cs::MjpegServer mjpegServer1("serve_USB Camera 0", 1181);
-        mjpegServer1.SetSource(usbCamera);
-
-        // Creates the CvSink and connects it to the UsbCamera
-        cs::CvSink cvSink("opencv_USB Camera 0");
-        cvSink.SetSource(usbCamera);
-
-        // Creates the CvSource and MjpegServer [2] and connects them
-        cs::CvSource outputStream("Blur", cs::PixelFormat::kMJPEG, 640, 480, 30);
-        cs::MjpegServer mjpegServer2("serve_Blur", 1182);
-        mjpegServer2.SetSource(outputStream);
-
-Reference Counting
-^^^^^^^^^^^^^^^^^^
+    ```java
+    import edu.wpi.cscore.CvSink;
+    import edu.wpi.cscore.CvSource;
+    import edu.wpi.cscore.MjpegServer;
+    import edu.wpi.cscore.UsbCamera;
+    // Creates UsbCamera and MjpegServer [1] and connects them
+    UsbCamera usbCamera = new UsbCamera("USB Camera 0", 0);
+    MjpegServer mjpegServer1 = new MjpegServer("serve_USB Camera 0", 1181);
+    mjpegServer1.setSource(usbCamera);
+    // Creates the CvSink and connects it to the UsbCamera
+    CvSink cvSink = new CvSink("opencv_USB Camera 0");
+    cvSink.setSource(usbCamera);
+    // Creates the CvSource and MjpegServer [2] and connects them
+    CvSource outputStream = new CvSource("Blur", PixelFormat.kMJPEG, 640, 480, 30);
+    MjpegServer mjpegServer2 = new MjpegServer("serve_Blur", 1182);
+    mjpegServer2.setSource(outputStream);
+    ```
+
+    ```c++
+    #include "cscore_oo.h"
+    // Creates UsbCamera and MjpegServer [1] and connects them
+    cs::UsbCamera usbCamera("USB Camera 0", 0);
+    cs::MjpegServer mjpegServer1("serve_USB Camera 0", 1181);
+    mjpegServer1.SetSource(usbCamera);
+    // Creates the CvSink and connects it to the UsbCamera
+    cs::CvSink cvSink("opencv_USB Camera 0");
+    cvSink.SetSource(usbCamera);
+    // Creates the CvSource and MjpegServer [2] and connects them
+    cs::CvSource outputStream("Blur", cs::PixelFormat::kMJPEG, 640, 480, 30);
+    cs::MjpegServer mjpegServer2("serve_Blur", 1182);
+    mjpegServer2.SetSource(outputStream);
+    ```
+
+### Reference Counting
 
 All cscore objects are internally reference counted. Connecting a sink to a source increments the source's reference count, so it's only strictly necessary to keep the sink in scope. The CameraServer class keeps a registry of all objects created with CameraServer functions, so sources and sinks created in that way effectively never go out of scope (unless explicitly removed).
diff --git a/source/docs/software/vision-processing/introduction/identifying-and-processing-the-targets.rst b/source/docs/software/vision-processing/introduction/identifying-and-processing-the-targets.rst
index b5c92950b0..2086d5323d 100644
--- a/source/docs/software/vision-processing/introduction/identifying-and-processing-the-targets.rst
+++ b/source/docs/software/vision-processing/introduction/identifying-and-processing-the-targets.rst
@@ -1,27 +1,23 @@
 .. include:: <isonum.txt>
 
-Identifying and Processing the Targets
-======================================
+# Identifying and Processing the Targets
 
 Once an image is captured, the next step is to identify Vision Target(s) in the image. This document will walk through one approach to identifying the 2016 targets. Note that the images used in this section were taken with the camera intentionally set to underexpose the images, producing very dark images with the exception of the lit targets, see the section on Camera Settings for details.
 
-Original Image
---------------
+## Original Image
 
 The image shown below is the starting image for the example described here. The image was taken using the green ring light available in *FIRST*\ |reg| Choice combined with an additional ring light of a different size. Additional sample images are provided with the vision code examples.
 
 .. image:: images/identifying-and-processing-the-targets/original-image.png
    :alt: Sample image using a green ring light showing the retroreflective tape.
 
-What is HSL/HSV?
-----------------
+## What is HSL/HSV?
 
 The Hue or tone of the color is commonly seen on the artist’s color wheel and contains the colors of the rainbow Red, Orange, Yellow, Green, Blue, Indigo, and Violet. The hue is specified using a radial angle on the wheel, but in imaging the circle typically contains only 256 units, starting with red at zero, cycling through the rainbow, and wrapping back to red at the upper end. Saturation of a color specifies amount of color, or the ratio of the hue color to a shade of gray. Higher ratio means more colorful, less gray. Zero saturation has no hue and is completely gray. Luminance or Value indicates the shade of gray that the hue is blended with. Black is 0 and white is 255.
 
 The example code uses the HSV color space to specify the color of the target. The primary reason is that it readily allows for using the brightness of the targets relative to the rest of the image as a filtering criteria by using the Value (HSV) or Luminance (HSL) component. Another reason to use the HSV color system is that the thresholding operation used in the example runs more efficiently on the roboRIO when done in the HSV color space.
 
-Masking
--------
+## Masking
 
 In this initial step, pixel values are compared to constant color or brightness values to create a binary mask shown below in yellow. This single step eliminates most of the pixels that are not part of a target’s retro-reflective tape. Color based masking works well provided the color is relatively saturated, bright, and consistent. Color inequalities are generally more accurate when specified using the HSL (Hue, Saturation, and Luminance) or HSV (Hue, Saturation, and Value) color space than the RGB (Red, Green, and Blue) space. This is especially true when the color range is quite large in one or more dimension.
 
@@ -30,43 +26,36 @@ Notice that in addition to the target, other bright parts of the image (overhead
 .. image:: images/identifying-and-processing-the-targets/masking.png
    :alt: Masked version of the image above showing the "bright" parts of the image.
 
-Particle Analysis
------------------
+## Particle Analysis
 
 After the masking operation, a particle report operation is used to examine the area, bounding rectangle, and equivalent rectangle for the particles. These are used to compute several scored terms to help pick the shapes that are most rectangular. Each test described below generates a score (0-100) which is then compared to pre-defined score limits to decide if the particle is a target or not.
 
-Coverage Area
-^^^^^^^^^^^^^
+### Coverage Area
 
 The Area score is calculated by comparing the area of the particle compared to the area of the bounding box drawn around the particle. The area of the retroreflective strips is 80 square inches (~516 :math:`cm^2`). The area of the rectangle that contains the target is 240 square inches (~0.15 :math:`m^2`). This means that the ideal ratio between area and bounding box area is 1/3. Area ratios close to 1/3 will produce a score near 100, as the ratio diverges from 1/3 the score will approach 0.
 
-Aspect Ratio
-^^^^^^^^^^^^
+### Aspect Ratio
 
 The aspect ratio score is based on (Particle Width / Particle Height). The width and height of the particle are determined using something called the "equivalent rectangle". The equivalent rectangle is the rectangle with side lengths :math:`x` and :math:`y` where :math:`2x+2y` equals the particle perimeter and :math:`x \cdot y` equals the particle area. The equivalent rectangle is used for the aspect ratio calculation as it is less affected by skewing of the rectangle than using the bounding box. When using the bounding box rectangle for aspect ratio, as the rectangle is skewed the height increases and the width decreases.
 
 The target is 20" (508 mm) wide by 12" (304.8 mm) tall, for a ratio of 1.6. The detected aspect ratio is compared to this ideal ratio. The aspect ratio score is normalized to return 100 when the ratio matches the target ratio and drops linearly as the ratio varies below or above.
 
-Moment
-^^^^^^
+### Moment
 
 The "moment" measurement calculates how spread out each pixel is from the center of the blob. This measurement provides a representation of the pixel distribution in the particle. It can be thought of as analogous to a physics :term:`moment of inertia` calculation. The ideal score for this test is ~0.28.
 
-X/Y Profiles
-^^^^^^^^^^^^
+### X/Y Profiles
 
 .. image:: images/identifying-and-processing-the-targets/xy-profiles.png
    :alt: A graph and LabVIEW plot showing X/Y Profiles.
 
 The edge score describes whether the particle matches the appropriate profile in both the X and Y directions. As shown, it is calculated using the row and column averages across the bounding box extracted from the original image and comparing that to a profile mask. The score ranges from 0 to 100 based on the number of values within the row or column averages that are between the upper and lower limit values.
 
-Measurements
-------------
+## Measurements
 
 If a particle scores well enough to be considered a target, it makes sense to calculate some real-world measurements such as position and distance. The example code includes these basic measurements, so let’s look at the math involved to better understand it.
 
-Position
-^^^^^^^^
+### Position
 
 The target position is well described by both the particle and the bounding box, but all coordinates are in pixels with 0,0 being at the top left of the screen and the right and bottom edges determined by the camera resolution. This is a useful system for pixel math, but not nearly as useful for driving a robot; so let’s change it to something that may be more useful.
 
@@ -79,8 +68,7 @@ The resulting coordinates are close to what you may want, but the Y axis is inve
 .. image:: images/identifying-and-processing-the-targets/position.png
    :alt: Two images one of a pixel based axis and another from -1 to 1 that can be directly used with motors for aiming.
 
-Field of View
-^^^^^^^^^^^^^
+### Field of View
 
 You can use known constants and the position of the target on the coordinate plane to determine your distance, yaw, and pitch from the target. However, in order to calculate these, you must determine your FOV (field of view). In order to empirically determine vertical field of view, set your camera a set distance away from an flat surface, and measure the distance between the topmost and bottommost row of pixels.
 
@@ -88,8 +76,7 @@ You can use known constants and the position of the target on the coordinate pla
 
 You can find the horizontal FOV using the same method, but using the distance between the first and last column of pixels.
 
-Pitch and Yaw
-^^^^^^^^^^^^^
+### Pitch and Yaw
 
 Finding the pitch and yaw of the target relative to your robot is simple once you know your FOVs and the location of your target in the aiming coordinate system.
 
@@ -99,8 +86,7 @@ Finding the pitch and yaw of the target relative to your robot is simple once yo
 .. math::
    yaw=\frac{A_x}{2}FOV_{horizontal}
 
-Distance
-^^^^^^^^
+### Distance
 
 If your target is at a significantly different height than your robot, you can use known constants, such as the physical height of the target and your camera, as well as the angle your camera is mounted, to calculate the distance between your camera and the target.
 
diff --git a/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/distance.png b/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/distance.png
index b471ba2e0f..9cfbbaff79 100644
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diff --git a/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/masking.png b/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/masking.png
index 9881614736..422b2db0d7 100644
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diff --git a/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/original-image.png b/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/original-image.png
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diff --git a/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/position.png b/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/position.png
index 081854f507..554422353e 100644
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diff --git a/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/xy-profiles.png b/source/docs/software/vision-processing/introduction/images/identifying-and-processing-the-targets/xy-profiles.png
index 247b4101d5..e4815ec9a6 100644
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diff --git a/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/lighting.png b/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/lighting.png
index 6c8f756074..017817bc10 100644
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diff --git a/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/target-diagram.png b/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/target-diagram.png
index bbf7dab021..67f21cee6f 100644
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diff --git a/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/target-output.png b/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/target-output.png
index 39fb16ed06..ecf52e41e4 100644
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diff --git a/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/vest.png b/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/vest.png
index 812b6b9ad0..4e7066e9ab 100644
Binary files a/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/vest.png and b/source/docs/software/vision-processing/introduction/images/target-info-and-retroreflection/vest.png differ
diff --git a/source/docs/software/vision-processing/introduction/index.rst b/source/docs/software/vision-processing/introduction/index.rst
index 1dff50bba1..b3ba765ec7 100644
--- a/source/docs/software/vision-processing/introduction/index.rst
+++ b/source/docs/software/vision-processing/introduction/index.rst
@@ -1,5 +1,4 @@
-Vision Introduction
-===================
+# Vision Introduction
 
 .. toctree::
    :maxdepth: 1
@@ -9,4 +8,3 @@ Vision Introduction
    target-info-and-retroreflection
    identifying-and-processing-the-targets
    cameraserver-class
-   2017-vision-examples
diff --git a/source/docs/software/vision-processing/introduction/strategies-for-vision-programming.rst b/source/docs/software/vision-processing/introduction/strategies-for-vision-programming.rst
index e74cd640ee..3648cfedb2 100644
--- a/source/docs/software/vision-processing/introduction/strategies-for-vision-programming.rst
+++ b/source/docs/software/vision-processing/introduction/strategies-for-vision-programming.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Strategies for Vision Programming
-=================================
+# Strategies for Vision Programming
 
 Using computer vision is a great way of making your robot be responsive to the elements on the field and make it much more autonomous. Often in FRC\ |reg| games there are bonus points for autonomously shooting balls or other game pieces into goals or navigating to locations on the field. Computer vision is a great way of solving many of these problems. And if you have autonomous code that can do the challenge, then it can be used during the teleop period as well to help the human drivers.
 
@@ -10,13 +9,11 @@ There are many options for choosing the components for vision processing and whe
 .. image:: diagrams/vision-workflows.drawio.svg
    :alt: Different vision workflows in FRC.
 
-OpenCV Computer Vision Library
-------------------------------
+## OpenCV Computer Vision Library
 
 **OpenCV** is an open source computer vision library that is widely used throughout academia and industry. It has support from hardware manufactures providing GPU accelerated processing, it has bindings for a number of languages including C++, Java, and Python. It is also well documented with many web sites, books, videos, and training courses so there are lots of resources available to help learn how to use it. The C++ and Java versions of WPILib include the OpenCV libraries, there is support in the library for capturing, processing and viewing video, and tools to help you create your vision algorithms. For more information about OpenCV see https://opencv.org.
 
-Vision Code on roboRIO
-----------------------
+## Vision Code on roboRIO
 
 .. image:: diagrams/vision-code-on-roborio.drawio.svg
    :alt: The chain from a USB Webcam to roboRIO to Ethernet Switch over a video stream to the driver station computer.
@@ -27,8 +24,7 @@ In this approach, the vision code simply produces results that the robot code di
 
 Using functions provided by the CameraServer class, the video stream can be sent to dashboards such as Shuffleboard so operators can see what the camera sees. In addition, annotations can be added to the images using OpenCV commands so targets or other interesting objects can be identified in the dashboard view.
 
-Vision Code on DS Computer
---------------------------
+## Vision Code on DS Computer
 
 .. image:: diagrams/vision-code-on-ds-computer.drawio.svg
    :alt: Same as the above diagram but the Driver Station computer must process that video and send NetworkTables updates back to the roboRIO.
@@ -39,8 +35,7 @@ After the images are processed, the key values such as the target position, dist
 
 The video stream can be displayed on Shuffleboard or SmartDashboard.
 
-Vision Code on Coprocessor
---------------------------
+## Vision Code on Coprocessor
 
 .. image:: diagrams/vision-code-on-a-coprocessor.drawio.svg
    :alt: Coprocessor is on same network as the roboRIO so it off loads the compute without having the latency of going to the Driver Station and back.
@@ -51,8 +46,7 @@ This approach takes a bit more programming expertise as well as a small amount o
 
 Data can be sent from the vision program on the coprocessor to the robot using NetworkTables or a private protocol over a network or serial connection.
 
-Camera Options
---------------
+## Camera Options
 
 There are a number of camera options supported by WPILib. Cameras have a number of parameters that affect operation; for example, frame rate and image resolution affect the quality of the received images, but when set too high impact processing time and, if sent to the driver station, may exceed the available bandwidth on the field.
 
diff --git a/source/docs/software/vision-processing/introduction/target-info-and-retroreflection.rst b/source/docs/software/vision-processing/introduction/target-info-and-retroreflection.rst
index 67a38a14b1..bb38acd3a1 100644
--- a/source/docs/software/vision-processing/introduction/target-info-and-retroreflection.rst
+++ b/source/docs/software/vision-processing/introduction/target-info-and-retroreflection.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Target Info and Retroreflection
-===============================
+# Target Info and Retroreflection
 
 Many FRC\ |reg| games have retroreflective tape attached to field elements to aid in vision processing. This document describes the Vision Targets from the 2016 FRC game and the visual properties of the material making up the targets.
 
 .. note:: For official dimensions and drawings of all field components, please see the Official Field Drawings.
 
-Targets
--------
+## Targets
 
 .. image:: images/target-info-and-retroreflection/target-diagram.png
   :alt: Game manual picture of the 2016 game tower and it's retroreflective tape targets.
@@ -20,8 +18,7 @@ Targets
 
 Each 2016 vision target consists of a 1' 8" wide, 1' tall U-shape made of 2" wide retroreflective material (3M 8830 Silver Marking Film). The targets are located immediately adjacent to the bottom of each high goal. When properly lit, the retroreflective tape produces a bright and/or color-saturated marker.
 
-Retroreflectivity vs. Reflectivity
-----------------------------------
+## Retroreflectivity vs. Reflectivity
 
 .. image:: diagrams/retroreflectivity-vs-reflectivity.drawio.svg
   :alt: How light bounces off of retroreflective and reflective surfaces.
@@ -30,8 +27,7 @@ Highly reflective materials are generally mirrored so that light "bounces off" a
 
 Retro-reflective materials are not mirrored, but it will typically have either shiny facets across the surface, or it will have a pearl-like appearance. Not all faceted or pearl-like materials exhibit :term:`retro-reflection`, however. Retro-reflective materials return the majority of light back to the light source, and they do this for a wide range of angles between the surface and the light source, not just the 90 degree case. Retro-reflective materials accomplish this using small prisms, such as found on a bicycle or roadside reflector, or by using small spheres with the appropriate index of refraction that accomplish multiple internal reflections. In nature, the eyes of some animals, including house cats, also exhibit the retro-reflective effect typically referred to as night-shine.
 
-Examples of Retroreflection
----------------------------
+## Examples of Retroreflection
 
 .. image:: images/target-info-and-retroreflection/raised-pavement-marker.jpg
   :alt: Center line divider retroreflective markers on the road.
@@ -44,8 +40,7 @@ This material should be relatively familiar as it is often used to enhance night
 
 Initially, retro-reflection may not seem like a useful property for nighttime safety, but when the light and eye are near one another, as shown above, the reflected light returns to the eye, and the material shines brightly even at large distances. Due to the small angle between the driver’s eyes and vehicle headlights, retro-reflective materials can greatly increase visibility of distant objects during nighttime driving.
 
-Demonstration
--------------
+## Demonstration
 
 To further explore retro-reflective material properties:
 
@@ -56,8 +51,7 @@ To further explore retro-reflective material properties:
 
 Experiment with different light sources. The material is hundreds of times more reflective than white paint; so dim light sources will work fine. For example, a red bicycle safety light will demonstrate that the color of the light source determines the color of the reflected light. If possible, position several team members at different locations, each with their own light source. This will show that the effects are largely independent, and the material can simultaneously appear different colors to various team members. This also demonstrates that the material is largely immune to environmental lighting. The light returning to the viewer is almost entirely determined by a light source they control or one directly behind them. Using the flashlight, identify other retro-reflective articles already in your environment: on clothing, backpacks, shoes, etc.
 
-Lighting
---------
+## Lighting
 
 .. image:: images/target-info-and-retroreflection/lighting.png
   :alt: A green ring light around a camera.
@@ -66,7 +60,6 @@ We have seen that the retro-reflective tape will not shine unless a light source
 
 As shown above, inexpensive circular arrangements of LEDs are available in a variety of colors and sizes and are easy to attach to cameras, and some can even be powered off of a Raspberry Pi. While not designed for diffuse even lighting, they work quite well for causing retro-reflective tape to shine. A small green LED ring is available through FIRST Choice. Other similar LED rings are available from suppliers such as SuperBrightLEDs.
 
-Sample Images
--------------
+## Sample Images
 
 Sample images are located with the code examples for each language (packaged with LabVIEW, and in a separate ZIP in the same location as the C++/Java samples).
diff --git a/source/docs/software/vision-processing/introduction/what-is-vision.rst b/source/docs/software/vision-processing/introduction/what-is-vision.rst
index f4c2a22b58..b98f1176f3 100644
--- a/source/docs/software/vision-processing/introduction/what-is-vision.rst
+++ b/source/docs/software/vision-processing/introduction/what-is-vision.rst
@@ -1,24 +1,20 @@
 .. include:: <isonum.txt>
 
-What is Vision?
-===============
+# What is Vision?
 
 Vision in FRC\ |reg| uses a camera connected to the robot in order to help teams score and drive, during both the autonomous and teleoperated periods.
 
-Vision Methods
---------------
+## Vision Methods
 
 There are two main method that most teams use for vision in FRC.
 
-Streaming
-^^^^^^^^^
+### Streaming
 
 This method involves streaming the camera to the Driver Station so that the driver and manipulator can get visual information from the robot's point of view. This method is simple and takes little time to implement, making it a good option if you do not need features of vision processing.
 
 - :ref:`Streaming using the roboRIO <docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio:Using the CameraServer on the roboRIO>`
 
-Processing
-^^^^^^^^^^
+### Processing
 
 Instead of only streaming the camera to the Driver Station, this method involves using the frames captured by the camera to compute information, such as a game piece's or target's angle and distance from the camera. This method requires more technical knowledge and time in order to implement, as well as being more computationally expensive. However, this method can help improve autonomous performance and assist in "auto-scoring" operations during the teleoperated period. This method can be done using the roboRIO or a coprocessor such as the Raspberry Pi using OpenCV.
 
diff --git a/source/docs/software/vision-processing/roborio/cameraserver-webserver.rst b/source/docs/software/vision-processing/roborio/cameraserver-webserver.rst
index c7c9162a1e..b53abf5658 100644
--- a/source/docs/software/vision-processing/roborio/cameraserver-webserver.rst
+++ b/source/docs/software/vision-processing/roborio/cameraserver-webserver.rst
@@ -1,20 +1,17 @@
-CameraServer Web Interface
-==========================
+# CameraServer Web Interface
 
 When CameraServer opens a camera, it creates a webpage that you can use to view the camera stream and view the effects of various camera settings. To connect to the web interface, use a web browser to navigate to ``http://roboRIO-TEAM-frc.local:1181``. There is no additional code needed other then :ref:`docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio:Simple CameraServer Program`.
 
 .. note:: The port ``1181`` is used for the first camera. The port increments for additional camera, so if you have two cameras, the replace ``1181`` above with ``1182``.
 
-Camera Settings
----------------
+## Camera Settings
 
 .. image:: images/cameraserver-webserver/cameraserver-webserver-settings.png
   :alt: CameraServer webpage showing camera image and settings sliders.
 
 The web server will show a live camera image and has sliders to adjust various camera settings, such as brightness, contrast, sharpness and many other options. You can adjust the values and see the results live, and then use the ``VideoCamera`` class to set those in your robot code.
 
-Camera Video Modes
-------------------
+## Camera Video Modes
 
 .. image:: images/cameraserver-webserver/cameraserver-webserver-video-modes.png
   :alt: CameraServer webpage showing camera video modes
diff --git a/source/docs/software/vision-processing/roborio/images/cameraserver-webserver/cameraserver-webserver-settings.png b/source/docs/software/vision-processing/roborio/images/cameraserver-webserver/cameraserver-webserver-settings.png
index cacaf4062a..3cf5ef6937 100644
Binary files a/source/docs/software/vision-processing/roborio/images/cameraserver-webserver/cameraserver-webserver-settings.png and b/source/docs/software/vision-processing/roborio/images/cameraserver-webserver/cameraserver-webserver-settings.png differ
diff --git a/source/docs/software/vision-processing/roborio/images/cameraserver-webserver/cameraserver-webserver-video-modes.png b/source/docs/software/vision-processing/roborio/images/cameraserver-webserver/cameraserver-webserver-video-modes.png
index 419aeee57f..5cf1753142 100644
Binary files a/source/docs/software/vision-processing/roborio/images/cameraserver-webserver/cameraserver-webserver-video-modes.png and b/source/docs/software/vision-processing/roborio/images/cameraserver-webserver/cameraserver-webserver-video-modes.png differ
diff --git a/source/docs/software/vision-processing/roborio/images/using-the-cameraserver-on-the-roborio/simple-cameraserver-program.png b/source/docs/software/vision-processing/roborio/images/using-the-cameraserver-on-the-roborio/simple-cameraserver-program.png
index 2c300aa8c9..b40e4ad18b 100644
Binary files a/source/docs/software/vision-processing/roborio/images/using-the-cameraserver-on-the-roborio/simple-cameraserver-program.png and b/source/docs/software/vision-processing/roborio/images/using-the-cameraserver-on-the-roborio/simple-cameraserver-program.png differ
diff --git a/source/docs/software/vision-processing/roborio/index.rst b/source/docs/software/vision-processing/roborio/index.rst
index 364e477e74..c64f0bb7dc 100644
--- a/source/docs/software/vision-processing/roborio/index.rst
+++ b/source/docs/software/vision-processing/roborio/index.rst
@@ -1,5 +1,4 @@
-Vision on the RoboRIO
-=====================
+# Vision on the RoboRIO
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst b/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst
index 4c2156ad8a..1e3ee1e1f5 100644
--- a/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst
+++ b/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst
@@ -1,188 +1,277 @@
-Using Multiple Cameras
-======================
+# Using Multiple Cameras
 
-Switching the Driver Views
---------------------------
+## Switching the Driver Views
 
 If you're interested in just switching what the driver sees, and are using SmartDashboard, the SmartDashboard CameraServer Stream Viewer has an option ("Selected Camera Path") that reads the given :term:`NetworkTables` key and changes the "Camera Choice" to that value (displaying that camera). The robot code then just needs to set the :term:`NetworkTables` key to the correct camera name. Assuming "Selected Camera Path" is set to "CameraSelection", the following code uses the joystick 1 trigger button state to show camera1 and camera2.
 
-.. tab-set-code::
-
-    .. code-block:: java
-
-       UsbCamera camera1;
-       UsbCamera camera2;
-       Joystick joy1 = new Joystick(0);
-       NetworkTableEntry cameraSelection;
-
-       @Override
-       public void robotInit() {
-           camera1 = CameraServer.startAutomaticCapture(0);
-           camera2 = CameraServer.startAutomaticCapture(1);
-
-           cameraSelection = NetworkTableInstance.getDefault().getTable("").getEntry("CameraSelection");
-       }
-
-       @Override
-       public void teleopPeriodic() {
-           if (joy1.getTriggerPressed()) {
-               System.out.println("Setting camera 2");
-               cameraSelection.setString(camera2.getName());
-           } else if (joy1.getTriggerReleased()) {
-               System.out.println("Setting camera 1");
-               cameraSelection.setString(camera1.getName());
-           }
-       }
-
-    .. code-block:: c++
-
-       cs::UsbCamera camera1;
-       cs::UsbCamera camera2;
-       frc::Joystick joy1{0};
-
-       nt::NetworkTableEntry cameraSelection;
-
-       void RobotInit() override {
-         camera1 = frc::CameraServer::StartAutomaticCapture(0);
-         camera2 = frc::CameraServer::StartAutomaticCapture(1);
-
-         cameraSelection = nt::NetworkTableInstance::GetDefault().GetTable("")->GetEntry("CameraSelection");
-       }
-
-       void TeleopPeriodic() override {
-         if (joy1.GetTriggerPressed()) {
-           std::cout << "Setting Camera 2" << std::endl;
-           cameraSelection.SetString(camera2.GetName());
-         } else if (joy1.GetTriggerReleased()) {
-           std::cout << "Setting Camera 1" << std::endl;
-           cameraSelection.SetString(camera1.GetName());
-         }
-       }
+.. tab-set::
+
+  .. tab-item:: Java
+    :sync: tabcode-java
+
+    ```java
+    UsbCamera camera1;
+    UsbCamera camera2;
+    Joystick joy1 = new Joystick(0);
+    NetworkTableEntry cameraSelection;
+    @Override
+    public void robotInit() {
+        camera1 = CameraServer.startAutomaticCapture(0);
+        camera2 = CameraServer.startAutomaticCapture(1);
+        cameraSelection = NetworkTableInstance.getDefault().getTable("").getEntry("CameraSelection");
+    }
+    @Override
+    public void teleopPeriodic() {
+        if (joy1.getTriggerPressed()) {
+            System.out.println("Setting camera 2");
+            cameraSelection.setString(camera2.getName());
+        } else if (joy1.getTriggerReleased()) {
+            System.out.println("Setting camera 1");
+            cameraSelection.setString(camera1.getName());
+        }
+    }
+    ```
+
+  .. tab-item:: C++
+    :sync: tabcode-c++
+
+    ```c++
+    cs::UsbCamera camera1;
+    cs::UsbCamera camera2;
+    frc::Joystick joy1{0};
+    nt::NetworkTableEntry cameraSelection;
+    void RobotInit() override {
+      camera1 = frc::CameraServer::StartAutomaticCapture(0);
+      camera2 = frc::CameraServer::StartAutomaticCapture(1);
+      cameraSelection = nt::NetworkTableInstance::GetDefault().GetTable("")->GetEntry("CameraSelection");
+    }
+    void TeleopPeriodic() override {
+      if (joy1.GetTriggerPressed()) {
+        std::cout << "Setting Camera 2" << std::endl;
+        cameraSelection.SetString(camera2.GetName());
+      } else if (joy1.GetTriggerReleased()) {
+        std::cout << "Setting Camera 1" << std::endl;
+        cameraSelection.SetString(camera1.GetName());
+      }
+    }
+    ```
+
+  .. tab-item:: PYTHON
+    :sync: tabcode-python
+
+    .. note:: Python requires you to place your image processing code in a separate file from your robot code. You can create ``robot.py`` and ``vision.py`` in the same directory.
+
+    ``robot.py`` contents:
+
+    ```python
+    import wpilib
+    from ntcore import NetworkTableInstance
+    class MyRobot(wpilib.TimedRobot):
+        def robotInit(self):
+            self.joy1 = wpilib.Joystick(0)
+            self.cameraSelection = NetworkTableInstance.getDefault().getTable("").getEntry("CameraSelection")
+            wpilib.CameraServer.launch("vision.py:main")
+        def teleopPeriodic(self):
+            if self.joy1.getTriggerPressed():
+                print("Setting camera 2")
+                self.cameraSelection.setString("USB Camera 1")
+            elif self.joy1.getTriggerReleased():
+                print("Setting camera 1")
+                self.cameraSelection.setString("USB Camera 0")
+    ```
+
+    ``vision.py`` contents:
+
+    ```python
+    from cscore import CameraServer
+    def main():
+        CameraServer.enableLogging()
+        camera1 = CameraServer.startAutomaticCapture(0)
+        camera2 = CameraServer.startAutomaticCapture(1)
+        CameraServer.waitForever()
+    ```
+
+    ``pyproject.toml`` contents (this only shows the portions you need to update):
+
+    ```toml
+    [tool.robotpy]
+    ...
+    # Add cscore to the robotpy-extras list
+    robotpy_extras = ["cscore"]
+    ```
 
 If you're using some other dashboard, you can change the camera used by the camera server dynamically. If you open a stream viewer nominally to camera1, the robot code will change the stream contents to either camera1 or camera2 based on the joystick trigger.
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-       UsbCamera camera1;
-       UsbCamera camera2;
-       VideoSink server;
-       Joystick joy1 = new Joystick(0);
-
-       @Override
-       public void robotInit() {
-           camera1 = CameraServer.startAutomaticCapture(0);
-           camera2 = CameraServer.startAutomaticCapture(1);
-           server = CameraServer.getServer();
-       }
-
-       @Override
-       public void teleopPeriodic() {
-           if (joy1.getTriggerPressed()) {
-               System.out.println("Setting camera 2");
-               server.setSource(camera2);
-           } else if (joy1.getTriggerReleased()) {
-               System.out.println("Setting camera 1");
-               server.setSource(camera1);
-           }
-       }
-
-    .. code-block:: c++
-
-       cs::UsbCamera camera1;
-       cs::UsbCamera camera2;
-       cs::VideoSink server;
-       frc::Joystick joy1{0};
-       bool prevTrigger = false;
-
-       void RobotInit() override {
-         camera1 = frc::CameraServer::StartAutomaticCapture(0);
-         camera2 = frc::CameraServer::StartAutomaticCapture(1);
-         server = frc::CameraServer::GetServer();
-       }
-
-       void TeleopPeriodic() override {
-         if (joy1.GetTrigger() && !prevTrigger) {
-           std::cout << "Setting Camera 2" << std::endl;
-           server.SetSource(camera2);
-         } else if (!joy1.GetTrigger() && prevTrigger) {
-           std::cout << "Setting Camera 1" << std::endl;
-           server.SetSource(camera1);
-         }
-         prevTrigger = joy1.GetTrigger();
-       }
-
-Keeping Streams Open
---------------------
+    ```java
+    UsbCamera camera1;
+    UsbCamera camera2;
+    VideoSink server;
+    Joystick joy1 = new Joystick(0);
+    @Override
+    public void robotInit() {
+        camera1 = CameraServer.startAutomaticCapture(0);
+        camera2 = CameraServer.startAutomaticCapture(1);
+        server = CameraServer.getServer();
+    }
+    @Override
+    public void teleopPeriodic() {
+        if (joy1.getTriggerPressed()) {
+            System.out.println("Setting camera 2");
+            server.setSource(camera2);
+        } else if (joy1.getTriggerReleased()) {
+            System.out.println("Setting camera 1");
+            server.setSource(camera1);
+        }
+    }
+    ```
+
+    ```c++
+    cs::UsbCamera camera1;
+    cs::UsbCamera camera2;
+    cs::VideoSink server;
+    frc::Joystick joy1{0};
+    bool prevTrigger = false;
+    void RobotInit() override {
+      camera1 = frc::CameraServer::StartAutomaticCapture(0);
+      camera2 = frc::CameraServer::StartAutomaticCapture(1);
+      server = frc::CameraServer::GetServer();
+    }
+    void TeleopPeriodic() override {
+      if (joy1.GetTrigger() && !prevTrigger) {
+        std::cout << "Setting Camera 2" << std::endl;
+        server.SetSource(camera2);
+      } else if (!joy1.GetTrigger() && prevTrigger) {
+        std::cout << "Setting Camera 1" << std::endl;
+        server.SetSource(camera1);
+      }
+      prevTrigger = joy1.GetTrigger();
+    }
+    ```
+
+    ```python
+    # Setting the source directly via joystick isn't possible in Python, you
+    # should use NetworkTables as shown above instead
+    ```
+
+## Keeping Streams Open
 
 By default, the cscore library is pretty aggressive in turning off cameras not in use. What this means is that when you switch cameras, it may disconnect from the camera not in use, so switching back will have some delay as it reconnects to the camera. To keep both camera connections open, use the ``SetConnectionStrategy()`` method to tell the library to keep the streams open, even if you aren't using them.
 
-.. tab-set-code::
-
-    .. code-block:: java
-
-       UsbCamera camera1;
-       UsbCamera camera2;
-       VideoSink server;
-       Joystick joy1 = new Joystick(0);
-
-       @Override
-       public void robotInit() {
-           camera1 = CameraServer.startAutomaticCapture(0);
-           camera2 = CameraServer.startAutomaticCapture(1);
-           server = CameraServer.getServer();
-
-           camera1.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
-           camera2.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
-       }
-
-       @Override
-       public void teleopPeriodic() {
-           if (joy1.getTriggerPressed()) {
-               System.out.println("Setting camera 2");
-               server.setSource(camera2);
-           } else if (joy1.getTriggerReleased()) {
-               System.out.println("Setting camera 1");
-               server.setSource(camera1);
-           }
-       }
-
-    .. code-block:: c++
-
-       cs::UsbCamera camera1;
-       cs::UsbCamera camera2;
-       cs::VideoSink server;
-       frc::Joystick joy1{0};
-       bool prevTrigger = false;
-       void RobotInit() override {
-         camera1 = frc::CameraServer::StartAutomaticCapture(0);
-         camera2 = frc::CameraServer::StartAutomaticCapture(1);
-         server = frc::CameraServer::GetServer();
-         camera1.SetConnectionStrategy(cs::VideoSource::ConnectionStrategy::kConnectionKeepOpen);
-         camera2.SetConnectionStrategy(cs::VideoSource::ConnectionStrategy::kConnectionKeepOpen);
-       }
-
-       void TeleopPeriodic() override {
-         if (joy1.GetTrigger() && !prevTrigger) {
-           std::cout << "Setting Camera 2" << std::endl;
-           server.SetSource(camera2);
-         } else if (!joy1.GetTrigger() && prevTrigger) {
-           std::cout << "Setting Camera 1" << std::endl;
-           server.SetSource(camera1);
-         }
-         prevTrigger = joy1.GetTrigger();
-       }
+.. tab-set::
+
+  .. tab-item:: Java
+    :sync: tabcode-java
+
+    ```java
+    UsbCamera camera1;
+    UsbCamera camera2;
+    VideoSink server;
+    Joystick joy1 = new Joystick(0);
+    @Override
+    public void robotInit() {
+        camera1 = CameraServer.startAutomaticCapture(0);
+        camera2 = CameraServer.startAutomaticCapture(1);
+        server = CameraServer.getServer();
+        camera1.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
+        camera2.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
+    }
+    @Override
+    public void teleopPeriodic() {
+        if (joy1.getTriggerPressed()) {
+            System.out.println("Setting camera 2");
+            server.setSource(camera2);
+        } else if (joy1.getTriggerReleased()) {
+            System.out.println("Setting camera 1");
+            server.setSource(camera1);
+        }
+    }
+    ```
+
+  .. tab-item:: C++
+    :sync: tabcode-c++
+
+    ```c++
+    cs::UsbCamera camera1;
+    cs::UsbCamera camera2;
+    cs::VideoSink server;
+    frc::Joystick joy1{0};
+    bool prevTrigger = false;
+    void RobotInit() override {
+      camera1 = frc::CameraServer::StartAutomaticCapture(0);
+      camera2 = frc::CameraServer::StartAutomaticCapture(1);
+      server = frc::CameraServer::GetServer();
+      camera1.SetConnectionStrategy(cs::VideoSource::ConnectionStrategy::kConnectionKeepOpen);
+      camera2.SetConnectionStrategy(cs::VideoSource::ConnectionStrategy::kConnectionKeepOpen);
+    }
+    void TeleopPeriodic() override {
+      if (joy1.GetTrigger() && !prevTrigger) {
+        std::cout << "Setting Camera 2" << std::endl;
+        server.SetSource(camera2);
+      } else if (!joy1.GetTrigger() && prevTrigger) {
+        std::cout << "Setting Camera 1" << std::endl;
+        server.SetSource(camera1);
+      }
+      prevTrigger = joy1.GetTrigger();
+    }
+    ```
+
+  .. tab-item:: PYTHON
+    :sync: tabcode-python
+
+    .. note:: Python requires you to place your image processing code in a separate file from your robot code. You can create ``robot.py`` and ``vision.py`` in the same directory.
+
+    ``robot.py`` contents:
+
+    ```python
+    import wpilib
+    from ntcore import NetworkTableInstance
+    class MyRobot(wpilib.TimedRobot):
+        def robotInit(self):
+            self.joy1 = wpilib.Joystick(0)
+            self.cameraSelection = NetworkTableInstance.getDefault().getTable("").getEntry("CameraSelection")
+            wpilib.CameraServer.launch("vision.py:main")
+        def teleopPeriodic(self):
+            if self.joy1.getTriggerPressed():
+                print("Setting camera 2")
+                self.cameraSelection.setString("USB Camera 1")
+            elif self.joy1.getTriggerReleased():
+                print("Setting camera 1")
+                self.cameraSelection.setString("USB Camera 0")
+    ```
+
+    ``vision.py`` contents:
+
+    ```python
+    from cscore import CameraServer, VideoSource
+        def main():
+        CameraServer.enableLogging()
+        camera1 = CameraServer.startAutomaticCapture(0)
+        camera2 = CameraServer.startAutomaticCapture(1)
+        camera1.setConnectionStrategy(VideoSource.ConnectionStrategy.kConnectionKeepOpen)
+        camera2.setConnectionStrategy(VideoSource.ConnectionStrategy.kConnectionKeepOpen)
+            CameraServer.waitForever()
+    ```
+
+    ``pyproject.toml`` contents (this only shows the portions you need to update):
+
+    ```toml
+    [tool.robotpy]
+    ...
+    # Add cscore to the robotpy-extras list
+    robotpy_extras = ["cscore"]
+    ```
 
 .. note::
     If both cameras are USB, you may run into USB bandwidth limitations with higher resolutions, as in all of these cases the roboRIO is going to be streaming data from both cameras to the roboRIO simultaneously (for a short period in options 1 and 2, and continuously in option 3). It is theoretically possible for the library to avoid this simultaneity in the option 2 case (only), but this is not currently implemented.
 
     Different cameras report bandwidth usage differently. The library will tell you if you're hitting the limit; you'll get this error message:
 
-    .. code-block:: text
-
-        could not start streaming due to USB bandwidth limitations;
-        try a lower resolution or a different pixel format
-        (VIDIOC_STREAMON: No space left on device)
+    ```text
+    could not start streaming due to USB bandwidth limitations;
+    try a lower resolution or a different pixel format
+    (VIDIOC_STREAMON: No space left on device)
+    ```
 
     If you're using Option 3 it will give you this error during ``RobotInit()``. Thus you should just try your desired resolution and adjusting as necessary until you both don't get that error and don't exceed the radio bandwidth limitations.
diff --git a/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst b/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst
index 80cf3a08e0..bc114a2e65 100644
--- a/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst
+++ b/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst
@@ -1,8 +1,6 @@
-Using the CameraServer on the roboRIO
-=====================================
+# Using the CameraServer on the roboRIO
 
-Simple CameraServer Program
----------------------------
+## Simple CameraServer Program
 
 The following program starts automatic capture of a USB camera like the Microsoft LifeCam that is connected to the roboRIO. In this mode, the camera will capture frames and send them to the dashboard. To view the images, create a CameraServer Stream Viewer widget using the "View", then "Add" menu in the dashboard. The images are unprocessed and just forwarded from the camera to the dashboard.
 
@@ -11,32 +9,87 @@ The following program starts automatic capture of a USB camera like the Microsof
 
 .. tab-set-code::
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
       :language: java
       :lines: 7-20
       :linenos:
       :lineno-start: 7
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
+      :language: c++
       :lines: 7-8, 16-18, 20, 25-31
 
+   .. rli:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/QuickVision/robot.py
+      :language: python
+      :lines: 8-17
+      :linenos:
+
 
-Advanced Camera Server Program
-------------------------------
+## Advanced Camera Server Program
 
 In the following example a thread created in robotInit() gets the Camera Server instance. Each frame of the video is individually processed, in this case drawing a rectangle on the image using the OpenCV ``rectangle()`` method. The resultant images are then passed to the output stream and sent to the dashboard. You can replace the ``rectangle`` operation with any image processing code that is necessary for your application. You can even annotate the image using OpenCV methods to write targeting information onto the image being sent to the dashboard.
 
-.. tab-set-code::
+.. tab-set::
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
-      :language: java
-      :lines: 7-65
-      :linenos:
-      :lineno-start: 7
+   .. tab-item:: Java
+      :sync: tabcode-java
+
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
+         :language: java
+         :lines: 7-65
+         :linenos:
+         :lineno-start: 7
+
+   .. tab-item:: c++
+      :sync: tabcode-c++
+
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
+         :language: c++
+         :lines: 5-20, 23-56, 58-61, 63-64, 69-76
+
+   .. tab-item:: PYTHON
+      :sync: tabcode-python
+
+      Image processing on the roboRIO when using Python is slightly different from C++/Java. Instead of using a separate thread, we need to launch the image processing code in a completely separate process.
+
+      .. warning:: Image processing is a CPU intensive task, and because of the Python Global Interpreter Lock (GIL) **we do NOT recommend using cscore directly in your robot process**. Don't do it. Really.
+
+                   For more information on the GIL and its effects, you may wish to read the following resources:
+
+                   * [Python Wiki: Global Interpreter Lock](https://wiki.python.org/moin/GlobalInterpreterLock)
+                   * [Efficiently Exploiting Multiple Cores with Python](http://python-notes.curiousefficiency.org/en/latest/python3/multicore_python.html)
+
+      This introduces a number of rules that your image processing code must follow to efficiently and safely run on the RoboRIO:
+
+      * Your image processing code must be in its own file. It's easiest to just place it next to your ``robot.py``
+      * Never import the ``cscore`` package from your robot code, it will just waste memory
+      * Never import the ``wpilib`` or ``hal`` packages from your image processing file
+      * The camera code will be killed when the ``robot.py`` program exits. If you wish to perform cleanup, you should register an atexit handler.
+      * ``robotpy-cscore`` is not installed on the roboRIO by default, you need to update your ``pyproject.toml`` file to install it
+
+      .. warning:: ``wpilib`` may not be imported from two programs on the RoboRIO. If this happens, the second program will attempt to kill the first program.
+
+      Here's what your ``robot.py`` needs to contain to launch the image processing process:
+
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/IntermediateVision/robot.py
+         :language: python
+         :lines: 8-17
+         :linenos:
+
+      The ``launch("vision.py")`` function says to launch ``vision.py`` and call the ``run`` function in that file. Here's what is in ``vision.py``:
+
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/IntermediateVision/vision.py
+         :language: python
+         :lines: 12-55
+         :linenos:
+
+      You need to update ``pyproject.toml`` contents to include cscore in the robotpy-extras key (this only shows the portions you need to update):
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
-      :language: cpp
-      :lines: 5-20, 23-56, 58-61, 63-64, 69-76
+      ```toml
+      [tool.robotpy]
+      ...
+      # Add cscore to the robotpy-extras list
+      robotpy_extras = ["cscore"]
+      ```
 
 Notice that in these examples, the ``PutVideo()`` method writes the video to a named stream. To view that stream on SmartDashboard or Shuffleboard, select that named stream. In this case that is "Rectangle".
diff --git a/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst b/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst
index e67a8a15a4..ed38bbb957 100644
--- a/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst
+++ b/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst
@@ -1,92 +1,65 @@
-Basic Vision Example
-====================
+# Basic Vision Example
 
 This is an example of a basic vision setup that posts the target's location in the aiming coordinate system described :ref:`here <docs/software/vision-processing/introduction/identifying-and-processing-the-targets:Measurements>` to NetworkTables, and uses CameraServer to display a bounding rectangle of the contour detected. This example will display the framerate of the processing code on the images sent to CameraServer.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      from cscore import CameraServer
-      import ntcore
-
-      import cv2
-      import json
-      import numpy as np
-      import time
-
-
-      def main():
-         with open('/boot/frc.json') as f:
-            config = json.load(f)
-         camera = config['cameras'][0]
-
+   ```py
+   from cscore import CameraServer
+   import ntcore
+   import cv2
+   import json
+   import numpy as np
+   import time
+   def main():
+      with open('/boot/frc.json') as f:
+         config = json.load(f)
+      camera = config['cameras'][0]
          width = camera['width']
-         height = camera['height']
-
-         nt = ntcore.NetworkTableInstance.getDefault()
-
-         CameraServer.startAutomaticCapture()
-
-         input_stream = CameraServer.getVideo()
-         output_stream = CameraServer.putVideo('Processed', width, height)
-
-         # Table for vision output information
-         vision_nt = nt.getTable('Vision')
-
-         # Allocating new images is very expensive, always try to preallocate
-         img = np.zeros(shape=(240, 320, 3), dtype=np.uint8)
-
-         # Wait for NetworkTables to start
-         time.sleep(0.5)
-
-         while True:
-            start_time = time.time()
-
-            frame_time, input_img = input_stream.grabFrame(img)
-            output_img = np.copy(input_img)
-
-            # Notify output of error and skip iteration
-            if frame_time == 0:
-                  output_stream.notifyError(input_stream.getError())
-                  continue
-
-            # Convert to HSV and threshold image
-            hsv_img = cv2.cvtColor(input_img, cv2.COLOR_BGR2HSV)
-            binary_img = cv2.inRange(hsv_img, (0, 0, 100), (85, 255, 255))
-
-            _, contour_list = cv2.findContours(binary_img, mode=cv2.RETR_EXTERNAL, method=cv2.CHAIN_APPROX_SIMPLE)
-
-            x_list = []
-            y_list = []
-
+      height = camera['height']
+      nt = ntcore.NetworkTableInstance.getDefault()
+      CameraServer.startAutomaticCapture()
+      input_stream = CameraServer.getVideo()
+      output_stream = CameraServer.putVideo('Processed', width, height)
+      # Table for vision output information
+      vision_nt = nt.getTable('Vision')
+      # Allocating new images is very expensive, always try to preallocate
+      img = np.zeros(shape=(240, 320, 3), dtype=np.uint8)
+      # Wait for NetworkTables to start
+      time.sleep(0.5)
+      while True:
+         start_time = time.time()
+         frame_time, input_img = input_stream.grabFrame(img)
+         output_img = np.copy(input_img)
+         # Notify output of error and skip iteration
+         if frame_time == 0:
+            output_stream.notifyError(input_stream.getError())
+            continue
+         # Convert to HSV and threshold image
+         hsv_img = cv2.cvtColor(input_img, cv2.COLOR_BGR2HSV)
+         binary_img = cv2.inRange(hsv_img, (0, 0, 100), (85, 255, 255))
+         _, contour_list = cv2.findContours(binary_img, mode=cv2.RETR_EXTERNAL, method=cv2.CHAIN_APPROX_SIMPLE)
+         x_list = []
+         y_list = []
             for contour in contour_list:
-
-                  # Ignore small contours that could be because of noise/bad thresholding
-                  if cv2.contourArea(contour) < 15:
-                     continue
-
-                  cv2.drawContours(output_img, contour, -1, color=(255, 255, 255), thickness=-1)
-
-                  rect = cv2.minAreaRect(contour)
-                  center, size, angle = rect
-                  center = tuple([int(dim) for dim in center])  # Convert to int so we can draw
-
-                  # Draw rectangle and circle
-                  cv2.drawContours(output_img, [cv2.boxPoints(rect).astype(int)], -1, color=(0, 0, 255), thickness=2)
-                  cv2.circle(output_img, center=center, radius=3, color=(0, 0, 255), thickness=-1)
-
-                  x_list.append((center[0] - width / 2) / (width / 2))
-                  x_list.append((center[1] - width / 2) / (width / 2))
-
-            vision_nt.putNumberArray('target_x', x_list)
-            vision_nt.putNumberArray('target_y', y_list)
-
-            processing_time = time.time() - start_time
-            fps = 1 / processing_time
-            cv2.putText(output_img, str(round(fps, 1)), (0, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255))
-            output_stream.putFrame(output_img)
-
-
-      main()
+               # Ignore small contours that could be because of noise/bad thresholding
+               if cv2.contourArea(contour) < 15:
+                  continue
+               cv2.drawContours(output_img, contour, -1, color=(255, 255, 255), thickness=-1)
+               rect = cv2.minAreaRect(contour)
+               center, size, angle = rect
+               center = tuple([int(dim) for dim in center])  # Convert to int so we can draw
+               # Draw rectangle and circle
+               cv2.drawContours(output_img, [cv2.boxPoints(rect).astype(int)], -1, color=(0, 0, 255), thickness=2)
+               cv2.circle(output_img, center=center, radius=3, color=(0, 0, 255), thickness=-1)
+               x_list.append((center[0] - width / 2) / (width / 2))
+               x_list.append((center[1] - width / 2) / (width / 2))
+         vision_nt.putNumberArray('target_x', x_list)
+         vision_nt.putNumberArray('target_y', y_list)
+         processing_time = time.time() - start_time
+         fps = 1 / processing_time
+         cv2.putText(output_img, str(round(fps, 1)), (0, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255))
+         output_stream.putFrame(output_img)
+   main()
+   ```
 
diff --git a/source/docs/software/vision-processing/wpilibpi/image-thresholding.rst b/source/docs/software/vision-processing/wpilibpi/image-thresholding.rst
index 0c0fa970f7..0bca8c67f0 100644
--- a/source/docs/software/vision-processing/wpilibpi/image-thresholding.rst
+++ b/source/docs/software/vision-processing/wpilibpi/image-thresholding.rst
@@ -1,10 +1,8 @@
-Thresholding an Image
-=====================
+# Thresholding an Image
 
 In order to turn a colored image, such as the one captured by your camera, into a binary image, with the target as the "foreground", we need to threshold the image using the hue, saturation, and value of each pixel.
 
-The HSV Model
--------------
+## The HSV Model
 
 Unlike RGB, HSV allows you to not only filter based on the colors of the pixels, but also by the intensity of color and the brightness.
 
@@ -19,14 +17,13 @@ You can use OpenCV to convert a BGR image matrix to HSV.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      hsv_img = cv2.cvtColor(input_img, cv2.COLOR_BGR2HSV)
+   ```py
+   hsv_img = cv2.cvtColor(input_img, cv2.COLOR_BGR2HSV)
+   ```
 
 .. note:: OpenCV's hue range is from 1° to 180° instead of the common 1° to 360°. In order to convert a common hue value to OpenCV, divide by 2.
 
-Thresholding
-------------
+## Thresholding
 
 We will use this field image as an example for the whole process of image processing.
 
@@ -37,9 +34,9 @@ By thresholding the image using HSV, you can separate the image into the vision
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      binary_img = cv2.inRange(hsv_img, (min_hue, min_sat, min_val), (max_hue, max_sat, max_val))
+   ```py
+   binary_img = cv2.inRange(hsv_img, (min_hue, min_sat, min_val), (max_hue, max_sat, max_val))
+   ```
 
 .. note:: These values may have to be tuned on an per-venue basis, as ambient lighting may differ across venues. It is recommended to allow editing of these values through NetworkTables in order to facilitate on-the-fly editing.
 
diff --git a/source/docs/software/vision-processing/wpilibpi/images/image-thresholding/hsv-color-wheel.png b/source/docs/software/vision-processing/wpilibpi/images/image-thresholding/hsv-color-wheel.png
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diff --git a/source/docs/software/vision-processing/wpilibpi/images/what-you-need-to-get-the-pi-image-running/usb-dongle.png b/source/docs/software/vision-processing/wpilibpi/images/what-you-need-to-get-the-pi-image-running/usb-dongle.png
index 299420c506..a2f3eb540a 100644
Binary files a/source/docs/software/vision-processing/wpilibpi/images/what-you-need-to-get-the-pi-image-running/usb-dongle.png and b/source/docs/software/vision-processing/wpilibpi/images/what-you-need-to-get-the-pi-image-running/usb-dongle.png differ
diff --git a/source/docs/software/vision-processing/wpilibpi/index.rst b/source/docs/software/vision-processing/wpilibpi/index.rst
index 7f03de3d60..3c71284776 100644
--- a/source/docs/software/vision-processing/wpilibpi/index.rst
+++ b/source/docs/software/vision-processing/wpilibpi/index.rst
@@ -1,5 +1,4 @@
-Vision with WPILibPi
-====================
+# Vision with WPILibPi
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/vision-processing/wpilibpi/installing-the-image-to-your-microsd-card.rst b/source/docs/software/vision-processing/wpilibpi/installing-the-image-to-your-microsd-card.rst
index 80552d4ae1..aaa2de8445 100644
--- a/source/docs/software/vision-processing/wpilibpi/installing-the-image-to-your-microsd-card.rst
+++ b/source/docs/software/vision-processing/wpilibpi/installing-the-image-to-your-microsd-card.rst
@@ -1,13 +1,10 @@
 .. include:: <isonum.txt>
 
-Installing the image to your MicroSD card
-=========================================
+# Installing the image to your MicroSD card
 
-Getting the FRC Raspberry PI image
-----------------------------------
+## Getting the FRC Raspberry PI image
 
-The image is stored on the GitHub release page for the WPILibPi `repository
-<https://github.com/wpilibsuite/WPILibPi/releases>`__.
+The image is stored on the GitHub release page for the WPILibPi [repository](https://github.com/wpilibsuite/WPILibPi/releases).
 
 In addition to the instructions on this page, see the documentation on the GitHub web page (below).
 
@@ -16,11 +13,10 @@ of the list of releases.
 
 .. figure:: images/installing-the-image-to-your-microsd-card/getting-the-frc-raspberry-pi-image.png
 
-Copy the image to your MicroSD card
------------------------------------
+## Copy the image to your MicroSD card
 
-Download and install `Etcher <https://www.balena.io/etcher/>`__ to image the micro SD card. The micro SD card needs to be at least
-8 GB. A `micro SD to USB dongle <https://www.amazon.com/gp/product/B0779V61XB>`__ works well for writing to micro SD cards.
+Download and install [Etcher](https://www.balena.io/etcher/) to image the micro SD card. The micro SD card needs to be at least
+8 GB. A [micro SD to USB dongle](https://www.amazon.com/gp/product/B0779V61XB) works well for writing to micro SD cards.
 
 .. figure:: images/installing-the-image-to-your-microsd-card/copy-the-image-to-your-microsd-card.png
 
@@ -29,16 +25,14 @@ click "Flash". Expect the process to take about 3 minutes on a fairly fast lapto
 
 .. figure:: images/installing-the-image-to-your-microsd-card/flash-etcher.png
 
-Testing the Raspberry PI
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Testing the Raspberry PI
 
 1.  Put the micro SD card in a rPi 3 and apply power.
 2.  Connect the rPi 3 ethernet to a LAN or PC. Open a web browser and connect to ``http://wpilibpi.local/`` to open the web dashboard.
     On the first bootup the filesystem will be writable, but later bootups will default to read only, so it's necessary to click
     the "writable" button to make changes.
 
-Logging into the Raspberry PI
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Logging into the Raspberry PI
 
 Most tasks with the rPi can be done from the web console interface. Sometimes for advanced use such as program development on the
 rPi it is necessary to log in. To log in, use the default Raspberry PI password:
diff --git a/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst b/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst
index 4681e51383..49a1604d9d 100644
--- a/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst
+++ b/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst
@@ -1,10 +1,8 @@
-Morphological Operations
-========================
+# Morphological Operations
 
 Sometimes, after thresholding your image, you have unwanted noise in your binary image. Morphological operations can help remove that noise from the image.
 
-Kernel
-------
+## Kernel
 
 The kernel is a simple shape where the origin is superimposed on each pixel of value 1 of the binary image. OpenCV limits the kernel to a NxN matrix where N is an odd number. The origin of the kernel is the center. A common kernel is
 
@@ -22,68 +20,64 @@ For reference, this is our binary image we created:
 .. image:: images/image-thresholding/after-thresholding.jpg
    :alt: Original binary image.
 
-Erosion
--------
+## Erosion
 
 Erosion in computer vision is similar to erosion on soil. It takes away from the borders of foreground objects. This process can remove noise from the background.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      kernel = np.ones((3, 3), np.uint8)
-      binary_img = cv2.erode(binary_img, kernel, iterations = 1)
+   ```py
+   kernel = np.ones((3, 3), np.uint8)
+   binary_img = cv2.erode(binary_img, kernel, iterations = 1)
+   ```
 
 .. image:: images/morphological-operations/erosion.jpg
    :alt: Image after erosion.  Little spots have gone away and large spots reduced in size.
 
 During erosion, if the superimposed kernel's pixels are not contained completely by the binary image's pixels, the pixel that it was superimposed on is deleted.
 
-Dilation
---------
+## Dilation
 
 Dilation is opposite of erosion. Instead of taking away from the borders, it adds to them. This process can remove small holes inside a larger region.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      kernel = np.ones((3, 3), np.uint8)
-      binary_img = cv2.dilate(binary_img, kernel, iterations = 1)
+   ```py
+   kernel = np.ones((3, 3), np.uint8)
+   binary_img = cv2.dilate(binary_img, kernel, iterations = 1)
+   ```
 
 .. image:: images/morphological-operations/dilation.jpg
    :alt: Image after Dilation.  All of the spots have grown larger.
 
 During dilation, every pixel of every superimposed kernel is included in the dilation.
 
-Opening
--------
+## Opening
 
 Opening is erosion followed by dilation. This process removes noise without affecting the shape of larger features.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      kernel = np.ones((3, 3), np.uint8)
-      binary_img = cv2.morphologyEx(binary_img, cv2.MORPH_OPEN, kernel)
+   ```py
+   kernel = np.ones((3, 3), np.uint8)
+   binary_img = cv2.morphologyEx(binary_img, cv2.MORPH_OPEN, kernel)
+   ```
 
 .. image:: images/morphological-operations/opening.jpg
    :alt: Image after Opening.  It has removed most of the small artifacts but still keeps the large size of the larger elements.
 
 .. note:: In this specific case, it is appropriate to do more iterations of opening in order to get rid of the pixels in the top right.
 
-Closing
--------
+## Closing
 
 Closing is dilation followed by erosion. This process removes small holes or breaks without affecting the shape of larger features.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      kernel = np.ones((3, 3), np.uint8)
-      binary_img = cv2.morphologyEx(binary_img, cv2.MORPH_CLOSE, kernel)
+   ```py
+   kernel = np.ones((3, 3), np.uint8)
+   binary_img = cv2.morphologyEx(binary_img, cv2.MORPH_CLOSE, kernel)
+   ```
 
 .. image:: images/image-thresholding/after-thresholding.jpg
    :alt: Little holes around the image have been removed but overall size of each object stayed roughly the same.
diff --git a/source/docs/software/vision-processing/wpilibpi/the-raspberry-pi-frc-console.rst b/source/docs/software/vision-processing/wpilibpi/the-raspberry-pi-frc-console.rst
index 7ccbed8559..ea7f58e1b5 100644
--- a/source/docs/software/vision-processing/wpilibpi/the-raspberry-pi-frc-console.rst
+++ b/source/docs/software/vision-processing/wpilibpi/the-raspberry-pi-frc-console.rst
@@ -1,10 +1,8 @@
 .. include:: <isonum.txt>
 
-The Raspberry PI
-================
+# The Raspberry PI
 
-FRC Console
------------
+## FRC Console
 
 The FRC\ |reg| image for the Raspberry PI includes a console that can be viewed in any web browser that makes it easy to:
 
@@ -14,8 +12,7 @@ The FRC\ |reg| image for the Raspberry PI includes a console that can be viewed
 -   Look at each camera plugged into the rPI and add additional cameras
 -   Load a new vision program onto the rPI
 
-Setting the rPI to be Read-Only vs. Writable
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Setting the rPI to be Read-Only vs. Writable
 
 The rPI is normally set to Read-Only which means that the file system cannot be changed. This ensures that if power is removed
 without first shutting down the rPi the file system isn't corrupted. When settings are changed (following sections), the new
@@ -23,16 +20,14 @@ settings cannot be saved while the rPI file system is  set as Read-Only. Buttons
 changed from Read-Only to Writable and back whenever changes are made. If the other buttons that change information stored on the
 rPI cannot be press, check the Read-Only status of the system.
 
-Status of the network connection to the rPI
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Status of the network connection to the rPI
 
 There is a label in the top right corner of the console that indicates if the rPi is currently connected. It will change from
 Connected to Disconnected if there is no longer a network connection to the rPi.
 
 .. figure:: images/the-raspberry-pi-frc-console/the-raspberry-pi-frc-console.png
 
-System status
--------------
+## System status
 
 .. figure:: images/the-raspberry-pi-frc-console/system-status.png
 
@@ -44,8 +39,7 @@ average and the other a 5 second average. Shown is:
 -   Network bandwidth - which allows one to determine if the used camera bandwidth is exceeding the maximum bandwidth allowed
     in the robot rules for any year
 
-Vision Status
--------------
+## Vision Status
 
 .. figure:: images/the-raspberry-pi-frc-console/vision-status.png
 
@@ -54,12 +48,11 @@ program in Java, C++, or Python. You can also enable and view the console output
 camera service. In this case there are number of messages about being unable to connect to :term:`NetworkTables` (NT: connect())
 because in this example the rPI is simply connected to a laptop with no NetworkTables server running (usually the roboRIO.)
 
-Network Settings
-----------------
+## Network Settings
 
 The rPI network settings have options to connect to the PI:
 
--   DHCP - the default name resolution usually used by the roboRIO. The default name is wpilibpi.local.
+-   :term:`DHCP` - the default name resolution usually used by the roboRIO. The default name is wpilibpi.local.
 -   Static - where a fixed IP address, network mask, and router settings are filled in explicitly
 -   DHCP with Static Fallback - DHCP with Static Fallback - the PI will try to get an IP address via DHCP, but if it can't find a
     DHCP server, it will use the provided static IP address and parameters
@@ -69,8 +62,7 @@ The rPI network settings have options to connect to the PI:
 The picture above is showing the settings for both DHCP and Static IP Addressing. The mDNS name for the rPi should always work
 regardless of the options selected above.
 
-Vision Settings
----------------
+## Vision Settings
 
 .. figure:: images/the-raspberry-pi-frc-console/vision-settings-1.png
 
@@ -89,8 +81,7 @@ modes (combinations of Width, Height, and frame rates) that are supported by thi
 
 .. note:: If the camera image is not visible on the :guilabel:`Open Stream` screen then check the supported video modes at the bottom of the page.  Then go back to 'Vision Settings' and click on the camera in question and verify that the pixel format, width, height, and FPS are listed in the supported video modes.
 
-Getting the current settings to persist over reboots
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Getting the current settings to persist over reboots
 
 The rPi will load all the camera settings on startup. Editing the camera configuration in the above screen is temporary. To make
 the values persist click on the "Load Source Config From Camera" button and the current settings will be filled in on the camera
@@ -103,13 +94,11 @@ There are some commonly used camera settings values shown in the camera settings
 and Exposure are loaded into the camera before the user JSON file is applied. So if a user JSON file contains those settings they
 will overwrite the ones from the text field.
 
-Application
-------------
+## Application
 
 The Application tab shows the application that is currently running on the rPi.
 
-Vision workflows
-^^^^^^^^^^^^^^^^
+### Vision workflows
 
 There is a sample vision program using OpenCV in each of the supported languages, C++, Java, or Python. Each sample program can
 capture and stream video from the rPi. In addition, the samples have some minimal OpenCV. They are all set up to be extended to
diff --git a/source/docs/software/vision-processing/wpilibpi/using-a-coprocessor-for-vision-processing.rst b/source/docs/software/vision-processing/wpilibpi/using-a-coprocessor-for-vision-processing.rst
index 39467bd669..f238a7214f 100644
--- a/source/docs/software/vision-processing/wpilibpi/using-a-coprocessor-for-vision-processing.rst
+++ b/source/docs/software/vision-processing/wpilibpi/using-a-coprocessor-for-vision-processing.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Using a Coprocessor for vision processing
-=========================================
+# Using a Coprocessor for vision processing
 Vision processing using libraries like OpenCV for recognizing field targets or game pieces can often be a CPU intensive process.
 Often the load isn't too significant and the processing can easily be handled by the roboRIO. In cases where there are more camera
 streams or the image processing is complex, it is desirable to off-load the roboRIO by putting the code and the camera connection
@@ -9,8 +8,7 @@ on a different processor. There are a number of choices of processors that are p
 intel-based Kangaroo, the LimeLight for the ultimate in simplicity, or for more complex vision code a graphics accelerator such as
 one of the nVidia Jetson models.
 
-Strategy
---------
+## Strategy
 Generally the idea is to set up the coprocessor with the required software that generally includes:
 
 -   OpenCV - the open source computer vision library
@@ -27,8 +25,7 @@ by the robot program for steering and aiming.
 .. image:: diagrams/vision-code-on-a-coprocessor.drawio.svg
    :alt: Network diagram with the coprocessor and roboRIO on the same network.
 
-Streaming camera data to the dashboard
---------------------------------------
+## Streaming camera data to the dashboard
 It is often desirable to simply stream the camera data to the dashboard over the robot network. In this case one or more camera
 connections can be sent to the network and viewed on a dashboard such as Shuffleboard or a web browser. Using Shuffleboard has
 the advantage of having easy controls to set the camera resolution and bit rate as well as integrating the camera streams with
diff --git a/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst b/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
index 702f2e8db6..a63070fa3b 100644
--- a/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
+++ b/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
@@ -1,31 +1,24 @@
-Using CameraServer
-==================
+# Using CameraServer
 
-Grabbing Frames from CameraServer
----------------------------------
+## Grabbing Frames from CameraServer
 
 The WPILibPi image comes with all the necessary libraries to make your own vision processing system. In order to get the current frame from the camera, you can use the CameraServer library. For information about CameraServer, the :ref:`docs/software/vision-processing/introduction/cameraserver-class:Read and Process Video: CameraServer Class`.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      from cscore import CameraServer
-      import cv2
-      import numpy as np
-
-      CameraServer.enableLogging()
-
-      camera = CameraServer.startAutomaticCapture()
-      camera.setResolution(width, height)
-
-      sink = cs.getVideo()
-
-      while True:
-         time, input_img = cvSink.grabFrame(input_img)
-
-         if time == 0: # There is an error
-            continue
+   ```py
+   from cscore import CameraServer
+   import cv2
+   import numpy as np
+   CameraServer.enableLogging()
+   camera = CameraServer.startAutomaticCapture()
+   camera.setResolution(width, height)
+   sink = cs.getVideo()
+   while True:
+      time, input_img = cvSink.grabFrame(input_img)
+      if time == 0: # There is an error
+         continue
+   ```
 
 .. note:: OpenCV reads in the image as **BGR**, not **RGB** for historical reasons. Use ``cv2.cvtColor`` if you want to change it to RGB.
 
@@ -34,33 +27,27 @@ Below is an example of an image that might be grabbed from CameraServer.
 .. image:: images/image-thresholding/target.jpg
    :alt: 2020 game target with the retroreflective tape illuminated green.
 
-Sending frames to CameraServer
-------------------------------
+## Sending frames to CameraServer
 
 Sometimes, you may want to send processed video frames back to the CameraServer instance for debugging purposes, or viewing in a dashboard application like Shuffleboard.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      #
-      # CameraServer initialization code here
-      #
-
-      output = cs.putVideo("Name", width, height)
-
-      while True:
-         time, input_img = cvSink.grabFrame(input_img)
-
+   ```py
+   #
+   # CameraServer initialization code here
+   #
+   output = cs.putVideo("Name", width, height)
+   while True:
+      time, input_img = cvSink.grabFrame(input_img)
          if time == 0: # There is an error
             output.notifyError(sink.getError())
             continue
-
-         #
-         # Insert processing code here
-         #
-
-         output.putFrame(processed_img)
+      #
+      # Insert processing code here
+      #
+      output.putFrame(processed_img)
+   ```
 
 As an example, the processing code could outline the target in red, and show the corners in yellow for debugging purposes.
 
diff --git a/source/docs/software/vision-processing/wpilibpi/using-the-raspberry-pi-for-frc.rst b/source/docs/software/vision-processing/wpilibpi/using-the-raspberry-pi-for-frc.rst
index 2320b403a2..abbb6caf55 100644
--- a/source/docs/software/vision-processing/wpilibpi/using-the-raspberry-pi-for-frc.rst
+++ b/source/docs/software/vision-processing/wpilibpi/using-the-raspberry-pi-for-frc.rst
@@ -1,5 +1,4 @@
-Using the Raspberry Pi for FRC
-==============================
+# Using the Raspberry Pi for FRC
 One of the most popular coprocessor choices is the Raspberry Pi because:
 
 -   Low cost - around $35
@@ -19,8 +18,7 @@ One of the most popular coprocessor choices is the Raspberry Pi because:
 
 .. figure:: images/using-the-raspberry-pi-for-frc/raspberry-pi.png
 
-Pre-built Raspberry Pi image
-----------------------------
+## Pre-built Raspberry Pi image
 To make using the Raspberry Pi as easy as possible for teams, there is a provided Raspberry Pi image. The image can be copied to
 a micro SD card, inserted into the Pi, and booted. By default it supports:
 
diff --git a/source/docs/software/vision-processing/wpilibpi/walkthrough-video.rst b/source/docs/software/vision-processing/wpilibpi/walkthrough-video.rst
index 3412410ded..ba4ebf77b4 100644
--- a/source/docs/software/vision-processing/wpilibpi/walkthrough-video.rst
+++ b/source/docs/software/vision-processing/wpilibpi/walkthrough-video.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-A Video Walkthrough of using WPILibPi with the Raspberry Pi
-===========================================================
+# A Video Walkthrough of using WPILibPi with the Raspberry Pi
 
 .. note:: The video mentions FRCVision which is the old name of WPILibPi.
 
@@ -12,4 +11,4 @@ At the "RSN Spring Conference, Presented by WPI" in 2020, Peter Johnson from the
   <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;"> <iframe src="https://www.youtube-nocookie.com/embed/oa_Z5BYKfMI" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe> </div>
 
 
-The link to the presentation is available `here <https://docs.google.com/presentation/d/1yViG-k5PS4jWVrxY3o7eD8h5YXnK9Deqm6RsUXfCnRA/edit?usp=sharing>`_.
+The link to the presentation is available [here](https://docs.google.com/presentation/d/1yViG-k5PS4jWVrxY3o7eD8h5YXnK9Deqm6RsUXfCnRA/edit?usp=sharing).
diff --git a/source/docs/software/vision-processing/wpilibpi/what-you-need-to-get-the-pi-image-running.rst b/source/docs/software/vision-processing/wpilibpi/what-you-need-to-get-the-pi-image-running.rst
index 983305ae3c..baca5195e8 100644
--- a/source/docs/software/vision-processing/wpilibpi/what-you-need-to-get-the-pi-image-running.rst
+++ b/source/docs/software/vision-processing/wpilibpi/what-you-need-to-get-the-pi-image-running.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-What you need to get the Pi image running
-=========================================
+# What you need to get the Pi image running
 
 To start using the Raspberry Pi as a video or image coprocessor you need the following:
 
diff --git a/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst b/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst
index f6582efed8..57fee6fc4d 100644
--- a/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst
+++ b/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst
@@ -1,97 +1,85 @@
-Working with Contours
-=====================
+# Working with Contours
 
 After thresholding and removing noise with morphological operations, you are now ready to use OpenCV's ``findContours`` method. This method allows you to generate contours based on your binary image.
 
-Finding and Filtering Contours
-------------------------------
+## Finding and Filtering Contours
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      _, contours, _ = cv2.findContours(binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+   ```py
+   _, contours, _ = cv2.findContours(binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+   ```
 
 In cases where there is only one vision target, you can just take the largest contour and assume that is the target you are looking for. When there is more than one vision target, you can use size, shape, fullness, and other properties to filter unwanted contours out.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      if len(contours) > 0:
-         largest = contours[0]
-         for contour in contours:
-            if cv2.contourArea(contour) > cv2.contourArea(largest):
-               largest = contour
-
-         #
-         # Contour processing code
-         #
+   ```py
+   if len(contours) > 0:
+      largest = contours[0]
+      for contour in contours:
+         if cv2.contourArea(contour) > cv2.contourArea(largest):
+            largest = contour
+      #
+      # Contour processing code
+      #
+   ```
 
 If you draw the contour you just found, it should look something like this:
 
 .. image:: images/using-cameraserver/red-outline.jpg
    :alt: Retroreflective tape outlined in red by the image processing algorithm.
 
-Extracting Information from Contours
-------------------------------------
+## Extracting Information from Contours
 
 Now that you've found the contour(s) that you want, you now want to get information about it, such as the center, corners, and rotation.
 
-Center
-^^^^^^
+### Center
 
 .. tab-set-code::
 
-   .. code-block:: py
+   ```py
+   rect = cv2.minAreaRect(contour)
+   center, _, _ = rect
+   center_x, center_y = center
+   ```
 
-      rect = cv2.minAreaRect(contour)
-      center, _, _ = rect
-      center_x, center_y = center
-
-Corners
-^^^^^^^
+### Corners
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      corners = cv2.convexHull(contour)
-      corners = cv2.approxPolyDP(corners, 0.1 * cv2.arcLength(contour), True)
+   ```py
+   corners = cv2.convexHull(contour)
+   corners = cv2.approxPolyDP(corners, 0.1 * cv2.arcLength(contour), True)
+   ```
 
-Rotation
-^^^^^^^^
+### Rotation
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-      _, _, rotation = cv2.fitEllipse(contour)
+   ```py
+   _, _, rotation = cv2.fitEllipse(contour)
+   ```
 
 For more information on how you can use these values, see :ref:`docs/software/vision-processing/introduction/identifying-and-processing-the-targets:Measurements`
 
-Publishing to NetworkTables
----------------------------
+## Publishing to NetworkTables
 
 You can use NetworkTables to send these properties to the Driver Station and the RoboRIO. Additional processing could be done on the Raspberry Pi, or the RoboRIO itself.
 
 .. tab-set-code::
 
-   .. code-block:: py
-
-         import ntcore
-
-         nt = ntcore.NetworkTableInstance.getDefault().getTable('vision')
-
-         #
-         # Initialization code here
-         #
-
-         while True:
-
-            #
-            # Image processing code here
-            #
+   ```py
+   import ntcore
+   nt = ntcore.NetworkTableInstance.getDefault().getTable('vision')
+   #
+   # Initialization code here
+   #
+   while True:
+      #
+      # Image processing code here
+      #
+      nt.putNumber('center_x', center_x)
+      nt.putNumber('center_y', center_y)
+   ```
 
-            nt.putNumber('center_x', center_x)
-            nt.putNumber('center_y', center_y)
diff --git a/source/docs/software/vscode-overview/3rd-party-libraries.rst b/source/docs/software/vscode-overview/3rd-party-libraries.rst
index e4014ad99f..59462a5c5a 100644
--- a/source/docs/software/vscode-overview/3rd-party-libraries.rst
+++ b/source/docs/software/vscode-overview/3rd-party-libraries.rst
@@ -1,15 +1,12 @@
-3rd Party Libraries
-===================
+# 3rd Party Libraries
 
-Teams that are using non-PWM motor controllers or advanced sensors will most likely need to install external vendor dependencies.
+Teams that are using non-:term:`PWM` motor controllers or advanced sensors will most likely need to install external vendor dependencies.
 
-What Are Vendor Dependencies?
------------------------------
+## What Are Vendor Dependencies?
 
 A vendor dependency is a way for vendors such as CTRE, REV, and others to add their :term:`software library` to robot projects. This library can interface with motor controllers and other devices. This way, teams can interact with their devices via CAN and have access to more complex and in-depth features than traditional PWM control.
 
-Managing Vendor Dependencies
-----------------------------
+## Managing Vendor Dependencies
 
 Vendor dependencies are installed on a per-project basis (so each robot project can have its own set of vendor dependencies). Vendor dependencies can be installed "online" or "offline". The "online" functionality is done by downloading the dependencies over the internet, while offline is typically provided by a vendor-specific installer.
 
@@ -17,126 +14,279 @@ Vendor dependencies are installed on a per-project basis (so each robot project
 
 .. note:: Vendors recommend using their offline installers when available, because the offline installer is typically bundled with additional programs that are extremely useful when working with their devices.
 
-How Does It Work?
-^^^^^^^^^^^^^^^^^
+### How Does It Work?
 
-How Does It Work? - Java/C++
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### How Does It Work? - Java/C++
 
 For Java and C++, a :term:`JSON` file describing the vendor library is installed on your system to ``~/wpilib/YYYY/vendordeps`` (where YYYY is the year and ~ is ``C:\Users\Public`` on Windows). This can either be done by an offline installer or the file can be fetched from an online location using the menu item in Visual Studio Code. This file is then used from VS Code to add to the library to each individual project. Vendor library information is managed on a per-project basis to make sure that a project is always pointing to a consistent version of a given vendor library. The libraries themselves are placed in the Maven cache at ``C:\Users\Public\wpilib\YYYY\maven``. Vendors can place a local copy here with an offline installer (recommended) or require users to be connected to the internet for an initial build to fetch the library from a remote Maven location.
 
 This JSON file allows specification of complex libraries with multiple components (Java, C++, JNI, etc.) and also helps handle some complexities related to simulation. Vendors that choose to provide a remote URL in the JSON also enable users to check for updates from within VS Code.
 
-How Does It Work? - LabVIEW
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### How Does It Work? - LabVIEW
 
-For LabVIEW teams, there might be a few new :guilabel:`Third Party` items on various palettes (specifically, one in :guilabel:`Actuators`, one in :guilabel:`Actuators` -> :guilabel:`Motor Control` labeled :guilabel:`CAN Motor`, and one in :guilabel:`Sensors`). These correspond to folders in ``C:\Program Files\National Instruments\LabVIEW 2020\vi.lib\Rock Robotics\WPI\Third Party``
+For LabVIEW teams, there might be a few new :guilabel:`Third Party` items on various palettes (specifically, one in :guilabel:`Actuators`, one in :guilabel:`Actuators` -> :guilabel:`Motor Control` labeled :guilabel:`CAN Motor`, and one in :guilabel:`Sensors`). These correspond to folders in ``C:\Program Files\National Instruments\LabVIEW 2023\vi.lib\Rock Robotics\WPI\Third Party``
 
 In order to install third party libraries for LabVIEW, download the VIs from the vendor (typically via some sort of installer). Then drag and drop the third party VIs into the respective folder mentioned above just like any other VI.
 
-Installing Libraries
-^^^^^^^^^^^^^^^^^^^^^^^^
+#### How Does It Work? - Python
 
-VS Code
-~~~~~~~
+Third party libraries are packaged into Python wheels and uploaded to PyPI (if pure python) and/or WPILib's artifactory. Users can enable them as dependencies either by adding the component name to ``robotpy_extras`` (recommended) or by adding an explicit dependency for the PyPI package in ``requires``. The dependencies are downloaded when ``robotpy sync`` is executed, and installed on the roboRIO when ``robotpy deploy`` is executed.
 
-.. image:: images/3rd-party-libraries/adding-offline-library.png
-   :alt: Using the Manage Vendor Libraries option of the WPILib Command Palette.
+### Installing Libraries
 
-To add a vendor library that has been installed by an offline installer, press :kbd:`Ctrl+Shift+P` and type WPILib or click on the WPILib icon in the top right to open the WPILib Command Palette and begin typing :guilabel:`Manage Vendor Libraries`, then select it from the menu. Select the option to :guilabel:`Install new libraries (offline)`.
+.. tab-set::
 
-.. image:: images/3rd-party-libraries/library-installer-steptwo.png
-   :alt: Select the libraries to add.
+   .. tab-item:: Java/C++
+      :sync: javacpp
 
-Select the desired libraries to add to the project by checking the box next to each, then click :guilabel:`OK`. The JSON file will be copied to the ``vendordeps`` folder in the project, adding the library as a dependency to the project.
+      **VS Code**
 
-In order to install a vendor library in online mode, press :kbd:`Ctrl+Shift+P` and type WPILib or click on the WPILib icon in the top right to open the WPILib Command Palette and begin typing :guilabel:`Manage Vendor Libraries` and select it in the menu, and then click on :guilabel:`Install new libraries (online)` instead and copy + paste the vendor JSON URL.
+      .. image:: images/3rd-party-libraries/adding-offline-library.png
+         :alt: Using the Manage Vendor Libraries option of the WPILib Command Palette.
 
+      To add a vendor library that has been installed by an offline installer, press :kbd:`Ctrl+Shift+P` and type WPILib or click on the WPILib icon in the top right to open the WPILib Command Palette and begin typing :guilabel:`Manage Vendor Libraries`, then select it from the menu. Select the option to :guilabel:`Install new libraries (offline)`.
 
-Checking for Updates (Offline)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+      .. image:: images/3rd-party-libraries/library-installer-steptwo.png
+         :alt: Select the libraries to add.
 
-Since dependencies are version managed on a per-project basis, even when installed offline, you will need to :guilabel:`Manage Vendor Libraries` and select :guilabel:`Check for updates (offline)` for each project you wish to update.
+      Select the desired libraries to add to the project by checking the box next to each, then click :guilabel:`OK`. The JSON file will be copied to the ``vendordeps`` folder in the project, adding the library as a dependency to the project.
 
-Checking for Updates (Online)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+      In order to install a vendor library in online mode, press :kbd:`Ctrl+Shift+P` and type WPILib or click on the WPILib icon in the top right to open the WPILib Command Palette and begin typing :guilabel:`Manage Vendor Libraries` and select it in the menu, and then click on :guilabel:`Install new libraries (online)` instead and copy + paste the vendor JSON URL.
 
-Part of the JSON file that vendors may optionally populate is an online update location. If a library has an appropriate location specified, running :guilabel:`Check for updates (online)` will check if a newer version of the library is available from the remote location.
 
-Removing a Library Dependency
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+      **Checking for Updates (Offline)**
 
-To remove a library dependency from a project, select :guilabel:`Manage Current Libraries` from the :guilabel:`Manage Vendor Libraries` menu, check the box for any libraries to uninstall and click :guilabel:`OK`. These libraries will be removed as dependencies from the project.
+      Since dependencies are version managed on a per-project basis, even when installed offline, you will need to :guilabel:`Manage Vendor Libraries` and select :guilabel:`Check for updates (offline)` for each project you wish to update.
 
-Command-Line
-~~~~~~~~~~~~
+      **Checking for Updates (Online)**
 
-Adding a vendor library dependency from the vendor URL can also be done through the command-line via a gradle task. Open a command-line instance at the project root, and enter ``gradlew vendordep --url=<url>`` where ``<url>`` is the vendor JSON URL. This will add the vendor library dependency JSON file to the ``vendordeps`` folder of the project. Vendor libraries can be updated the same way.
+      Part of the JSON file that vendors may optionally populate is an online update location. If a library has an appropriate location specified, running :guilabel:`Check for updates (online)` will check if a newer version of the library is available from the remote location.
 
-The ``vendordep`` gradle task can also fetch vendordep JSONs from the user ``wpilib`` folder. To do so, pass ``FRCLOCAL/Filename.json`` as the file URL. For example, ``gradlew vendordep --url=FRCLOCAL/WPILibNewCommands.json`` will fetch the JSON for the command-based framework.
+      **Removing a Library Dependency**
 
-Libraries
----------
+      To remove a library dependency from a project, select :guilabel:`Manage Current Libraries` from the :guilabel:`Manage Vendor Libraries` menu, check the box for any libraries to uninstall and click :guilabel:`OK`. These libraries will be removed as dependencies from the project.
 
-WPILib Libraries
-^^^^^^^^^^^^^^^^
+      **Command-Line**
 
-Command Library
-~~~~~~~~~~~~~~~
+      Adding a vendor library dependency from the vendor URL can also be done through the command-line via a gradle task. Open a command-line instance at the project root, and enter ``gradlew vendordep --url=<url>`` where ``<url>`` is the vendor JSON URL. This will add the vendor library dependency JSON file to the ``vendordeps`` folder of the project. Vendor libraries can be updated the same way.
 
-The WPILib :doc:`command library </docs/software/commandbased/index>` has been split into a vendor library. It is installed by the WPILib installer for offline installation. It may also be installed with the following online link:
+      The ``vendordep`` gradle task can also fetch vendordep JSONs from the user ``wpilib`` folder. To do so, pass ``FRCLOCAL/Filename.json`` as the file URL. For example, ``gradlew vendordep --url=FRCLOCAL/WPILibNewCommands.json`` will fetch the JSON for the command-based framework.
 
-`New Command Library <https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibNewCommands/WPILibNewCommands.json>`__
+   .. tab-item:: Python
+      :sync: python
 
-Romi Library
-~~~~~~~~~~~~
+      All RobotPy project dependencies are specified in ``pyproject.toml``. You can add additional vendor-specific dependencies either by:
+
+      * Adding the component name to ``robotpy_extras``
+      * Adding the PyPI package name to ``requires``
+
+      .. seealso:: :doc:`/docs/software/python/pyproject_toml`
+
+## Libraries
+
+### WPILib Libraries
+
+#### Command Library
+
+The WPILib :doc:`command library </docs/software/commandbased/index>` has been split into a vendor library. It is installed by the WPILib installer for offline installation.
+
+.. tab-set::
+
+   .. tab-item:: Java/C++
+      :sync: javacpp
+
+      [New Command Library](https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibNewCommands/WPILibNewCommands.json)
+
+   .. tab-item:: Python
+      :sync: python
+
+      * PyPI package: ``robotpy[commands2]`` or ``robotpy-commands-v2``
+      * In ``pyproject.toml``: ``robotpy_extras = ["commands2"]``
+
+#### Romi Library
 
 A Romi Library has been created to contain several helper classes that are used in the ``RomiReference`` example.
 
-`Romi Vendordep <https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/romiVendordep/RomiVendordep.json>`__.
+.. tab-set::
+
+   .. tab-item:: Java/C++
+      :sync: javacpp
 
-XRP Library
-~~~~~~~~~~~
+      [Romi Vendordep](https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/romiVendordep/RomiVendordep.json).
+
+   .. tab-item:: Python
+      :sync: python
+
+      * PyPI package: ``robotpy[romi]`` or ``robotpy-romi``
+      * In ``pyproject.toml``: ``robotpy_extras = ["romi"]``
+
+#### XRP Library
 
 An XRP Library has been created to contain several helper classes that are used in the ``XRPReference`` example.
 
-`XRP Vendordep <https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/xrpVendordep/XRPVendordep.json>`__.
+.. tab-set::
+
+   .. tab-item:: Java/C++
+      :sync: javacpp
 
-Vendor Libraries
-^^^^^^^^^^^^^^^^
+      [XRP Vendordep](https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/xrpVendordep/XRPVendordep.json).
+
+   .. tab-item:: Python
+      :sync: python
+
+      * PyPI package: ``robotpy[xrp]`` or ``robotpy-xrp``
+      * In ``pyproject.toml``: ``robotpy_extras = ["xrp"]``
+
+### Vendor Libraries
 
 Click these links to visit the vendor site to see whether they offer online installers, offline installers, or both.  URLs below are to plug in to the :guilabel:`VS Code` -> :guilabel:`Install New Libraries (online)` feature.
 
-`2023 CTRE Phoenix Framework <https://store.ctr-electronics.com/software/>`__ - Contains CANcoder, CANifier, CANdle, Pigeon IMU, Pigeon 2.0, Talon FX, Talon SRX, and Victor SPX Libraries and Phoenix Tuner program for configuring CTRE CAN devices
-   Phoenix (v5):         ``https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json``
+[CTRE Phoenix Framework](https://docs.ctr-electronics.com/) - Contains CANcoder, CANifier, CANdle, Pigeon IMU, Pigeon 2.0, Talon FX, Talon SRX, and Victor SPX Libraries and Phoenix Tuner program for configuring CTRE CAN devices
+
+.. tab-set::
+   .. tab-item:: Java/C++
+      :sync: javacpp
+
+      Phoenix (v6):        ``https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json``
+
+      Phoenix (v5):        ``https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json``
+
+      .. note:: All users should use the Phoenix (v6) library.  If you also need Phoenix v5 support, additionally install the v5 vendor library.
+
+   .. tab-item:: Python
+      :sync: python
+
+      Vendor's package:
+
+      * PyPI package: ``robotpy[phoenix6]`` or ``phoenix6``
+      * In ``pyproject.toml``: ``robotpy_extras = ["phoenix6"]``
+
+      Community packages:
+
+      * PyPI package: ``robotpy[phoenix5]`` or ``robotpy-ctre``
+      * In ``pyproject.toml``: ``robotpy_extras = ["phoenix5"]``
+
+[Redux Robotics ReduxLib](https://docs.reduxrobotics.com/reduxlib.html) - Library for all Redux devices including the Canandcoder and Canandcolor
+
+.. tab-set::
+
+   .. tab-item:: Java/C++
+      :sync: javacpp
+
+      ``https://frcsdk.reduxrobotics.com/ReduxLib_2024.json``
+
+   .. tab-item:: Python
+      :sync: python
+
+      Not yet available
+
+[Playing With Fusion Driver](https://www.playingwithfusion.com/docview.php?docid=1205) - Library for all PWF devices including the Venom motor/controller
+
+.. tab-set::
+
+   .. tab-item:: Java/C++
+      :sync: javacpp
+
+      ``https://www.playingwithfusion.com/frc/playingwithfusion2024.json``
+
+   .. tab-item:: Python
+      :sync: python
+
+      Community-supported packages:
+
+      * PyPI package: ``robotpy[playingwithfusion]`` or ``robotpy-playingwithfusion``
+      * In ``pyproject.toml``: ``robotpy_extras = ["playingwithfusion"]``
+
+[Kauai Labs](https://pdocs.kauailabs.com/navx-mxp/software/roborio-libraries/) - Libraries for NavX-MXP, NavX-Micro, and Sensor Fusion
+
+.. tab-set::
+
+   .. tab-item:: Java/C++
+      :sync: javacpp
+
+      ``https://dev.studica.com/releases/2024/NavX.json``
+
+   .. tab-item:: Python
+      :sync: python
+
+      Community-supported packages:
+
+      * PyPI package: ``robotpy[navx]`` or ``robotpy-navx``
+      * In ``pyproject.toml``: ``robotpy_extras = ["navx"]``
+
+[REV Robotics REVLib](https://docs.revrobotics.com/brushless/spark-flex/revlib) - Library for all REV devices including SPARK Flex, SPARK MAX, and Color Sensor V3
+
+.. tab-set::
+
+   .. tab-item:: Java/C++
+      :sync: javacpp
+
+      ``https://software-metadata.revrobotics.com/REVLib-2024.json``
+
+   .. tab-item:: Python
+      :sync: python
+
+      Community-supported packages:
+
+      * PyPI package: ``robotpy[rev]`` or ``robotpy-rev``
+      * In ``pyproject.toml``: ``robotpy_extras = ["rev"]``
+
+### Community Libraries
+
+[PhotonVision](https://docs.photonvision.org/en/latest/docs/programming/photonlib/adding-vendordep.html) - Library for PhotonVision CV software
+
+.. tab-set::
+
+   .. tab-item:: Java/C++
+      :sync: javacpp
+
+      ``https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json``
+
+   .. tab-item:: Python
+      :sync: python
+
+      * PyPI package: ``photonlibpy``
+      * In ``pyproject.toml``: ``requires = ["photonlibpy"]``
+
+[PathPlanner](https://pathplanner.dev/home.html) - Library for PathPlanner
+
+.. tab-set::
+
+   .. tab-item:: Java/C++
+      :sync: javacpp
+
+      ``https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json``
+
+   .. tab-item:: Python
+      :sync: python
 
-   Phoenix (Pro):        ``https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/PhoenixPro-frc2023-latest.json``
+      * PyPI package: ``pathplannerlib``
+      * In ``pyproject.toml``: ``requires = ["pathplannerlib"]``
 
-   Phoenix (Pro and v5): ``https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/PhoenixProAnd5-frc2023-latest.json``
+[ChoreoLib](https://sleipnirgroup.github.io/Choreo/choreolib/installation/) - Library for reading and following trajectories generated by [Choreo](https://sleipnirgroup.github.io/Choreo/)
 
-   .. note:: To get the 2023 version of the same Phoenix library as previous years, use the first link above (Phoenix v5).  Use one of the other json links if you're using Phoenix Pro.
+.. tab-set::
 
-   .. warning:: Only use **ONE** of the above Phoenix vendordep links within a project.  If you need both Phoenix v5 and Phoenix Pro in the same project, use the third option.
+   .. tab-item:: Java/C++
+      :sync: javacpp
 
-`Redux Robotics ReduxLib <https://docs.reduxrobotics.com/reduxlib.html>`__ - Library for all Redux devices including the Canandcoder
-   ``https://frcsdk.reduxrobotics.com/ReduxLib_2023.json``
+      ``https://sleipnirgroup.github.io/ChoreoLib/dep/ChoreoLib.json``
 
-`Playing With Fusion Driver <https://www.playingwithfusion.com/docview.php?docid=1205>`__ - Library for all PWF devices including the Venom motor/controller
-   ``https://www.playingwithfusion.com/frc/playingwithfusion2023.json``
+   .. tab-item:: Python
+      :sync: python
 
-`Kauai Labs <https://pdocs.kauailabs.com/navx-mxp/software/roborio-libraries/>`__ - Libraries for NavX-MXP, NavX-Micro, and Sensor Fusion
-   ``https://dev.studica.com/releases/2023/NavX.json``
+      Not available
 
-`REV Robotics REVLib <https://docs.revrobotics.com/sparkmax/software-resources/spark-max-api-information>`__ - Library for all REV devices including SPARK MAX and Color Sensor V3
-   ``https://software-metadata.revrobotics.com/REVLib-2023.json``
+[YAGSL](https://yagsl.gitbook.io/yagsl) - Library for Swerve Drives of any configuration
 
-Community Libraries
-^^^^^^^^^^^^^^^^^^^
+.. tab-set::
 
-`PhotonVision <https://docs.photonvision.org/en/latest/docs/programming/photonlib/adding-vendordep.html>`_ - Library for PhotonVision CV software
-   ``https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json``
+   .. tab-item:: Java
+      :sync: javacpp
 
-`PathPlanner <https://github.com/mjansen4857/pathplanner/wiki>`_ - Library for PathPlanner
-   ``https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json``
+      ``https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json``
 
+   .. tab-item:: Python
+      :sync: python
 
+      Not available
diff --git a/source/docs/software/vscode-overview/creating-robot-program.rst b/source/docs/software/vscode-overview/creating-robot-program.rst
index 307a4af2ab..83a2787246 100644
--- a/source/docs/software/vscode-overview/creating-robot-program.rst
+++ b/source/docs/software/vscode-overview/creating-robot-program.rst
@@ -1,108 +1,113 @@
-Creating a Robot Program
-========================
+# Creating a Robot Program
 
 Once everything is installed, we're ready to create a robot program.  WPILib comes with several templates for robot programs.  Use of these templates is highly recommended for new users; however, advanced users are free to write their own robot code from scratch.
 
-Choosing a Base Class
----------------------
+## Choosing a Base Class
 
-To start a project using one of the WPILib robot program templates, users must first choose a base class for their robot.  Users subclass these base classes to create their primary :code:`Robot` class, which controls the main flow of the robot program.  There are three choices available for the base class:
+To start a project using one of the WPILib robot program templates, users must first choose a base class for their robot.  Users subclass these base classes to create their primary :code:`Robot` class, which controls the main flow of the robot program.  There are various choices available for the base class:
 
-TimedRobot
-^^^^^^^^^^
+### TimedRobot
 
 Documentation:
-`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/TimedRobot.html>`__
-- `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_timed_robot.html>`__
+[Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/TimedRobot.html)
+- [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_timed_robot.html)
 
 Source:
-`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java>`__
-- `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibc/src/main/native/cpp/TimedRobot.cpp>`__
+[Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java)
+- [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibc/src/main/native/cpp/TimedRobot.cpp)
 
-The :code:`TimedRobot` class is the base class recommended for most users.  It provides control of the robot program through a collection of :code:`init()`, :code:`periodic()`, and :code:`exit()` methods, which are called by WPILib during specific robot states (e.g. autonomous or teleoperated). During these calls, your code typically polls each input device and acts according to the data it receives.  For instance, you would typically determine the position of the joystick and state of the joystick buttons on each call and act accordingly.  The ``TimedRobot`` class also provides an example of retrieving autonomous routines through SendableChooser (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.html>`__/ `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_sendable_chooser.html>`__
+The :code:`TimedRobot` class is the base class recommended for most users.  It provides control of the robot program through a collection of :code:`init()`, :code:`periodic()`, and :code:`exit()` methods, which are called by WPILib during specific robot states (e.g. autonomous or teleoperated). During these calls, your code typically polls each input device and acts according to the data it receives.  For instance, you would typically determine the position of the joystick and state of the joystick buttons on each call and act accordingly.  The ``TimedRobot`` class also provides an example of retrieving autonomous routines through SendableChooser ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.html)/ [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_sendable_chooser.html))
 
 .. note:: A `TimedRobot Skeleton` template is available that removes some informative comments and the autonomous example. You can use this if you're already familiar with `TimedRobot`. The example shown below is of `TimedRobot Skeleton`.
 
 .. tab-set-code::
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
       :language: java
       :lines: 7-55
       :linenos:
       :lineno-start: 7
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
-      :language: cpp
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
+      :language: c++
       :lines: 5-29
       :linenos:
       :lineno-start: 5
 
 Periodic methods are called every 20 ms by default. This can be changed by calling the superclass constructor with the new desired update rate.
 
-.. danger:: Changing your robot rate can cause some unintended behavior (loop overruns). Teams can also use `Notifiers <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Notifier.html>`__ to schedule methods at a custom rate.
+.. danger:: Changing your robot rate can cause some unintended behavior (loop overruns). Teams can also use [Notifiers](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/Notifier.html) to schedule methods at a custom rate.
 
 .. tab-set-code::
 
-   .. code-block:: java
+   ```java
+   public Robot() {
+     super(0.03); // Periodic methods will now be called every 30 ms.
+   }
+   ```
 
-      public Robot() {
-        super(0.03); // Periodic methods will now be called every 30 ms.
-      }
+   ```c++
+   Robot() : frc::TimedRobot(30_ms) {}
+   ```
 
-   .. code-block:: c++
+### Timeslice Robot
+
+Documentation:
+[Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/TimesliceRobot.html)
+- [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_timeslice_robot.html#details)
+
+Source:
+[Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimesliceRobot.java)
+- [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibc/src/main/native/cpp/TimesliceRobot.cpp)
+
+The :code:`TimesliceRobot` class extends the :code:`TimedRobot` framework to provide more control over the scheduling of periodic functions. It allows users to allocate specific time slices to different robot operations, running them sequentially within a defined period (typically shorter than TimedRobot's default 20ms). This class is recommended for users who need more precise timing control and consistent starting times for their robot's periodic functions.
+
+:code:`TimesliceRobot` provides the same :code:`init()`, :code:`periodic()`, and :code:`exit()` methods as :code:`TimedRobot`, but adds the ability to schedule additional periodic functions with custom allocations. This allows for more efficient use of processing time and can lead to improved performance which can make odometry and estimators more accurate and controller outputs change more consistently.
 
-      Robot() : frc::TimedRobot(30_ms) {}
 
-RobotBase
-^^^^^^^^^
+### RobotBase
 
 Documentation:
-`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/RobotBase.html>`__
-- `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_robot_base.html>`__
+[Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/RobotBase.html)
+- [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_robot_base.html)
 
 Source:
-`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java>`__
-- `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibc/src/main/native/cppcs/RobotBase.cpp>`__
+[Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java)
+- [C++](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibc/src/main/native/cppcs/RobotBase.cpp)
 
 The :code:`RobotBase` class is the most minimal base-class offered, and is generally not recommended for direct use.  No robot control flow is handled for the user; everything must be written from scratch inside the :code:`startCompetition()` method. The template by default showcases how to process the different operation modes (teleop, auto, etc).
 
 .. note:: A ``RobotBase Skeleton`` template is available that offers a blank ``startCompetition()`` method.
 
-Command Robot
-^^^^^^^^^^^^^
+### Command Robot
 
 The ``Command Robot`` framework adds to the basic functionality of a ``Timed Robot`` by automatically polling inputs and converting the raw input data into events.  These events are tied to user code, which is executed when the event is triggered.  For instance, when a button is pressed, code tied to the pressing of that button is automatically called and it is not necessary to poll or keep track of the state of that button directly.  The ``Command Robot`` framework makes it easier to write compact easy-to-read code with complex behavior, but requires an additional up-front time investment from a programmer in order to understand how the Command Robot framework works.
 
 Teams using ``Command Robot`` should see the :ref:`Command-Based Programming Tutorial <docs/software/commandbased/index:Command-Based Programming>`.
 
-Romi
-^^^^
+### Romi
 
 Teams using a :ref:`Romi <docs/romi-robot/index:Getting Started with Romi>` should use the ``Romi - Timed`` or ``Romi - Command Bot`` template.
 
-Romi - Timed
-~~~~~~~~~~~~
+#### Romi - Timed
 
 The ``Romi - Timed`` template provides a ``RomiDrivetrain`` class that exposes an ``arcadeDrive(double xaxisSpeed, double zaxisRotate)`` method. It's up to the user to feed this arcadeDrive function.
 
 This class also provides functions for retrieving and resetting the Romi's onboard encoders.
 
-Romi - Command Bot
-~~~~~~~~~~~~~~~~~~
+#### Romi - Command Bot
 
 The ``Romi - Command Bot`` template provides a ``RomiDrivetrain`` subsystem that exposes an ``arcadeDrive(double xaxisSpeed, double zaxisRotate)`` method. It's up to the user to feed this arcadeDrive function.
 
 This subsystem also provides functions for retrieving and resetting the Romi's onboard encoders.
 
-Not Using a Base Class
-^^^^^^^^^^^^^^^^^^^^^^
+### Not Using a Base Class
 
 If desired, users can omit a base class entirely and simply write their program in a :code:`main()` method, as they would for any other program.  This is *highly* discouraged - users should not "reinvent the wheel" when writing their robot code - but it is supported for those who wish to have absolute control over their program flow.
 
 .. warning:: Users should *not* modify the :code:`main()` method of a robot program unless they are absolutely sure of what they are doing.
 
-Creating a New WPILib Project
------------------------------
+## Creating a New WPILib Project
 
 Once we've decided on a base class, we can create our new robot project.  Bring up the Visual Studio Code command palette with :kbd:`Ctrl+Shift+P`. Then, type "WPILib" into the prompt.  Since all WPILib commands start with "WPILib", this will bring up the list of WPILib-specific VS Code commands. Now, select the :guilabel:`Create a new project` command:
 
@@ -136,8 +141,7 @@ An example after all options are selected is shown below.
 .. image:: images/creating-robot-program/new-project-creator-configured.png
    :alt: The new project creator screen filled out.
 
-Opening The New Project
------------------------
+## Opening The New Project
 
 After successfully creating your project, VS Code will give the option of opening the project as shown below. We can choose to do that now or later by typing :kbd:`Ctrl+K` then :kbd:`Ctrl+O` (or just :kbd:`Command+O` on macOS) and select the folder where we saved our project.
 
@@ -149,8 +153,7 @@ Once opened we will see the project hierarchy on the left. Double clicking on th
 .. image:: images/creating-robot-program/opened-robot-project.png
    :alt: Opening a file in the VS Code editor.
 
-C++ Configurations (C++ Only)
------------------------------
+## C++ Configurations (C++ Only)
 
 For C++ projects, there is one more step to set up IntelliSense.  Whenever we open a project, we should get a pop-up in the bottom right corner asking to refresh C++ configurations.  Click "Yes" to set up IntelliSense.
 
diff --git a/source/docs/software/vscode-overview/debugging-robot-program.rst b/source/docs/software/vscode-overview/debugging-robot-program.rst
index f478203eb8..0904a41327 100644
--- a/source/docs/software/vscode-overview/debugging-robot-program.rst
+++ b/source/docs/software/vscode-overview/debugging-robot-program.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Debugging a Robot Program
-=========================
+# Debugging a Robot Program
 
 Inevitably, a program will not behave in the way we expect it to behave.  When this occurs, it becomes necessary to figure out why the program is doing what it is doing, so that we can make it do what we want it to do, instead.  Such an undesired program behavior is called a "bug," and this process is called "debugging."
 
@@ -9,53 +8,47 @@ A debugger is a tool used to control program flow and monitor variables in order
 
 .. note:: For beginning users who need to debug their programs but do not know/have time to learn how to use a debugger, it is often possible to debug a program simply by printing the relevant program state to the console.  However, it is strongly recommended that students eventually learn to use a debugger.
 
-Running the Debugger
---------------------
+## Running the Debugger
 
 .. image:: images/debugging-robot-program/start-debugging.png
     :alt: Running the debugger via the Command Palette.
 
 Press :kbd:`Ctrl+Shift+P` and type ``WPILib`` or click on the :guilabel:`WPILib Menu Item` to open the Command palette with WPILib pre-populated. Type Debug and select the Debug Robot Code menu item to start debugging. The code will download to the roboRIO and begin debugging.
 
-Breakpoints
------------
+## Breakpoints
 
 A "breakpoint" is a line of code at which the debugger will pause the program execution so that the user can examine the program state.  This is extremely useful while debugging, as it allows the user to pause the program at specific points in problematic code to determine where exactly the program is deviating from the expected behavior.
 
 The debugger will automatically pause at the first breakpoint it encounters.
 
-Setting a Breakpoint
-^^^^^^^^^^^^^^^^^^^^
+### Setting a Breakpoint
 
 .. image:: images/debugging-robot-program/setting-a-breakpoint.png
     :alt: Where to place the cursor to create a breakpoint.
 
 Click in the left margin of the source code window (to the left of the line number) to set a breakpoint in your user program: A small red circle indicates the breakpoint has been set on the corresponding line.
 
-Debugging with Print Statements
--------------------------------
+## Debugging with Print Statements
 
 Another way to debug your program is to use print statements in your code and view them using the RioLog in Visual Studio Code or the Driver Station.  Print statements should be added with care as they are not very efficient especially when used in high quantities.  They should be removed for competition as they can cause loop overruns.
 
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    System.out.print("example");
+    ```
 
-        System.out.print("example");
+    ```c++
+    wpi::outs() << "example\n";
+    ```
 
-    .. code-block:: c++
-
-        wpi::outs() << "example\n";
-
-Debugging with NetworkTables
-----------------------------
+## Debugging with NetworkTables
 
 :doc:`NetworkTables </docs/software/networktables/networktables-intro>` can be used to share robot information with your debugging computer.  :term:`NetworkTables` can be viewed with your favorite Dashboard or :ref:`OutlineViewer <docs/software/wpilib-tools/outlineviewer/index:OutlineViewer>`.  One advantage of NetworkTables is that tools like :doc:`Shuffleboard </docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour>` can be used to graphically analyze the data.  These same tools can then be used with same data to later provide an operator interface for your drivers.
 
-Learn More
-----------
+## Learn More
 
-- To learn more about debugging with VS Code see this `link <https://code.visualstudio.com/docs/editor/debugging>`__.
-- Some of the features mentioned in this VS Code `article <https://code.visualstudio.com/docs/editor/editingevolved>`__ will help you understand and diagnose problems with your code.  The Quick Fix (yellow light bulb) feature can be very helpful with a variety of problems including what to import.
+- To learn more about debugging with VS Code see this [link](https://code.visualstudio.com/docs/editor/debugging).
+- Some of the features mentioned in this VS Code [article](https://code.visualstudio.com/docs/editor/editingevolved) will help you understand and diagnose problems with your code.  The Quick Fix (yellow light bulb) feature can be very helpful with a variety of problems including what to import.
 - One of the best ways to prevent having to debug so many issues is to do Unit Testing.
 - Verifying that your robot works in :doc:`Simulation </docs/software/wpilib-tools/robot-simulation/introduction>` is also a great way to prevent having to do complex debugging on the actual robot.
diff --git a/source/docs/software/vscode-overview/deploying-robot-code.rst b/source/docs/software/vscode-overview/deploying-robot-code.rst
index d8164f7e6e..f87774eee1 100644
--- a/source/docs/software/vscode-overview/deploying-robot-code.rst
+++ b/source/docs/software/vscode-overview/deploying-robot-code.rst
@@ -1,5 +1,4 @@
-Building and Deploying Robot Code
-=================================
+# Building and Deploying Robot Code
 
 Robot projects must be compiled ("built") and deployed in order to run on the roboRIO.  Since the code is not compiled natively on the robot controller, this is known as "cross-compilation."
 
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diff --git a/source/docs/software/vscode-overview/images/vscode-basics/wpilib-extension-commands.png b/source/docs/software/vscode-overview/images/vscode-basics/wpilib-extension-commands.png
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diff --git a/source/docs/software/vscode-overview/importing-gradle-project.rst b/source/docs/software/vscode-overview/importing-last-years-robot-code.rst
similarity index 94%
rename from source/docs/software/vscode-overview/importing-gradle-project.rst
rename to source/docs/software/vscode-overview/importing-last-years-robot-code.rst
index c0eee1c9bb..39d229630e 100644
--- a/source/docs/software/vscode-overview/importing-gradle-project.rst
+++ b/source/docs/software/vscode-overview/importing-last-years-robot-code.rst
@@ -1,17 +1,14 @@
-Importing a Gradle Project
-==========================
+# Importing Last Year's Robot Code
 
 Due to changes in the project, it is necessary to update the build files for a previous years Gradle project. It is also necessary to import vendor libraries again, since last year's vendor libraries must be updated to be compatible with this year's projects.
 
-Automatic Import
-----------------
+## Automatic Import
 
 To make it easy for teams to import previous years gradle projects into the current year's framework, WPILib includes a wizard for importing previous years projects into VS Code. This will generate the necessary gradle components and load the project into VS Code. In place upgrades are not supported.
 
 .. important:: The import process copies your project source files from the current directory to a new directory and completely regenerates the gradle files. Additionally, it updates the code for the package changes made in 2023. If you made non-standard updates to the ``build.gradle``, you will need to make those changes again. For this reason, in place upgrades are not supported. It is also necessary to import vendor libraries again, since last year's vendor libraries must be updated to be compatible with this year's projects.
 
-Launching the Import Wizard
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Launching the Import Wizard
 
 .. image:: images/importing-previous-project/ImportPopup.png
 
@@ -47,14 +44,12 @@ The gradle project will be upgraded and copied into the new project directory. Y
 
 Click :guilabel:`Yes I trust the authors`.
 
-C++ Configurations (C++ Only)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### C++ Configurations (C++ Only)
 
 For C++ projects, there is one more step to set up IntelliSense. Whenever you open a project, you should get a pop-up in the bottom right corner asking to refresh C++ configurations.  Click :guilabel:`Yes` to set up IntelliSense.
 
 .. image:: images/importing-previous-project/cpp-configurations.png
 
-3rd Party Libraries
-^^^^^^^^^^^^^^^^^^^
+### 3rd Party Libraries
 
 It is necessary to update and re-import 3rd party libraries. See :doc:`3rd Party Libraries <3rd-party-libraries>` for details.
diff --git a/source/docs/software/vscode-overview/index.rst b/source/docs/software/vscode-overview/index.rst
index 18e22169ad..6919678b33 100644
--- a/source/docs/software/vscode-overview/index.rst
+++ b/source/docs/software/vscode-overview/index.rst
@@ -1,5 +1,4 @@
-VS Code Overview
-================
+# VS Code Overview
 
 .. toctree::
    :maxdepth: 1
@@ -11,4 +10,4 @@ VS Code Overview
    deploying-robot-code
    viewing-console-output
    debugging-robot-program
-   importing-gradle-project
+   importing-last-years-robot-code
diff --git a/source/docs/software/vscode-overview/viewing-console-output.rst b/source/docs/software/vscode-overview/viewing-console-output.rst
index 4da1ac98c2..7c5db72bcd 100644
--- a/source/docs/software/vscode-overview/viewing-console-output.rst
+++ b/source/docs/software/vscode-overview/viewing-console-output.rst
@@ -1,43 +1,36 @@
 .. include:: <isonum.txt>
 
-Viewing Console Output
-======================
+# Viewing Console Output
 
 For viewing the console output of text based programs the roboRIO implements a NetConsole. There are two main ways to view the NetConsole output from the roboRIO: The Console Viewer in the FRC Driver Station and the Riolog plugin in VS Code.
 
 .. note:: On the roboRIO, the NetConsole is only for program output.  If you want to interact with the system console you will need to use SSH or the Serial console.
 
-Console Viewer
---------------
+## Console Viewer
 
-Opening the Console Viewer
-~~~~~~~~~~~~~~~~~~~~~~~~~~
+#### Opening the Console Viewer
 
 |Opening Console Viewer|
 
 To open Console Viewer, first open the FRC\ |reg| Driver Station. Then, click on the gear at the top of the message viewer window (1) and select "View Console".
 
-Console Viewer Window
-~~~~~~~~~~~~~~~~~~~~~
+#### Console Viewer Window
 
 |Console Viewer Window|
 
 The Console Viewer window displays the output from our robot program in green.  The gear in the top right can clear the window and set the level of messages displayed.
 
-Riolog VS Code Plugin
----------------------
+## Riolog VS Code Plugin
 
 The Riolog plugin is a VS Code view that can be used to view the NetConsole output in VS Code (credit for the original Eclipse version: Manuel Stoeckl, FRC1511).
 
-Opening the RioLog View
-~~~~~~~~~~~~~~~~~~~~~~~
+#### Opening the RioLog View
 
 |Opening Riolog View|
 
 By default, the RioLog view will open automatically at the end of each roboRIO deploy. To launch the RioLog view manually, press :kbd:`Ctrl+Shift+P` to open the command palette and start typing "RioLog", then select the WPILib: Start RioLog option.
 
-Riolog Window
-~~~~~~~~~~~~~
+#### Riolog Window
 
 |Riolog Window|
 
diff --git a/source/docs/software/vscode-overview/vscode-basics.rst b/source/docs/software/vscode-overview/vscode-basics.rst
index 5a063a73c1..54e30b5a73 100644
--- a/source/docs/software/vscode-overview/vscode-basics.rst
+++ b/source/docs/software/vscode-overview/vscode-basics.rst
@@ -1,12 +1,10 @@
 .. include:: <isonum.txt>
 
-Visual Studio Code Basics and the WPILib Extension
-==================================================
+# Visual Studio Code Basics and the WPILib Extension
 
 Microsoft's Visual Studio Code is the supported IDE for C++ and Java development in FRC. This article introduces some of the basics of using Visual Studio Code and the WPILib extension.
 
-Welcome Page
-------------
+## Welcome Page
 
 |Welcome Screen|
 
@@ -14,20 +12,17 @@ When Visual Studio Code first opens, you are presented with a Welcome page. On t
 
 You may also notice a small WPILib logo way up in the top right corner. This is one way to access the features provided by the WPILib extension (discussed further below).
 
-User Interface
---------------
+## User Interface
 
 The most important link to take a look at is probably the basic User Interface document. This document describes a lot of the basics of using the UI and provides the majority of the information you should need to get started using Visual Studio Code for FRC.
 
-Command Palette
----------------
+## Command Palette
 
 The Command Palette can be used to access or run almost any function or feature in Visual Studio Code (including those from the WPILib extension). The Command Palette can be accessed from the View menu or by pressing :kbd:`Ctrl+Shift+P` (:kbd:`Cmd+Shift+P` on macOS). Typing text into the window will dynamically narrow the search to relevant commands and show them in the dropdown.
 
 In the following example "wpilib" is typed into the search box after activating the Command Palette, and it narrows the list to functions containing WPILib.
 
-WPILib Extension
-----------------
+## WPILib Extension
 
 |WPILib Commands|
 
@@ -36,7 +31,7 @@ The WPILib extension provides the FRC\ |reg| specific functionality related to c
 - By typing "WPILib" into the Command Palette
 - By clicking on the WPILib icon in the top right of most windows. This will open the Command Palette with "WPILib" pre-entered
 
-.. note:: It is **not** recommended to install the `Visual Studio IntelliCode <https://marketplace.visualstudio.com/items?itemName=VisualStudioExptTeam.vscodeintellicode>`_ plugin with the FRC installation of VS Code as it is known to break IntelliSense in odd ways.
+.. note:: It is **not** recommended to install the [Visual Studio IntelliCode](https://marketplace.visualstudio.com/items?itemName=VisualStudioExptTeam.vscodeintellicode) plugin with the FRC installation of VS Code as it is known to break IntelliSense in odd ways.
 
 For more information about specific WPILib extension commands, see the other articles in this chapter.
 
diff --git a/source/docs/software/vscode-overview/wpilib-commands-vscode.rst b/source/docs/software/vscode-overview/wpilib-commands-vscode.rst
index f3993b0377..0dcadb29fd 100644
--- a/source/docs/software/vscode-overview/wpilib-commands-vscode.rst
+++ b/source/docs/software/vscode-overview/wpilib-commands-vscode.rst
@@ -1,5 +1,4 @@
-WPILib Commands in Visual Studio Code
-=====================================
+# WPILib Commands in Visual Studio Code
 This document contains a complete list of the commands provided by the WPILib VS Code Extension and what they do.
 
 To access these commands, press Ctrl+Shift+P to open the Command Palette, then begin typing the command name as shown here to filter the list of commands. Click on the command name to execute it.
@@ -24,7 +23,7 @@ To access these commands, press Ctrl+Shift+P to open the Command Palette, then b
 - **WPILib: Debug Robot Code** - Build and deploy robot code to roboRIO in debug mode and start debugging
 - **WPILib: Deploy Robot Code** - Build and deploy robot code to roboRIO
 - **WPILib: Hardware Sim Robot Code** - This builds the current robot code project on your PC and starts it running in simulation using hardware attached to the comupter rather then pure software simulation. Requires vendor support.
-- **WPILib: Import a WPILib 2020-2023 Gradle Project** - Open a wizard to help you create a new project from a existing VS Code Gradle project from 2020-2022. Further documentation is at :doc:`importing gradle project </docs/software/vscode-overview/importing-gradle-project>`
+- **WPILib: Import a WPILib 2020-2023 Gradle Project** - Open a wizard to help you create a new project from a existing VS Code Gradle project from 2020-2022. Further documentation is at :doc:`importing gradle project </docs/software/vscode-overview/importing-last-years-robot-code>`
 - **WPILib: Install tools from GradleRIO** - Install the WPILib Java tools (e.g. SmartDashboard, Shuffleboard, etc.). Note that this is done by default by the offline installer
 - **WPILib: Manage Vendor Libraries** - Install/update 3rd party libraries
 - **WPILib: Open API Documentation** - Opens either the WPILib Javadocs or C++ Doxygen documentation
diff --git a/source/docs/software/what-is-wpilib.rst b/source/docs/software/what-is-wpilib.rst
index 36d30c3a41..3ceef5e389 100644
--- a/source/docs/software/what-is-wpilib.rst
+++ b/source/docs/software/what-is-wpilib.rst
@@ -1,32 +1,31 @@
 .. include:: <isonum.txt>
 
-What is WPILib?
-===============
+# What is WPILib?
 
 The WPI Robotics Library (WPILib) is the standard :term:`software library` provided for teams to write code for their FRC\ |reg| robots. WPILib contains a set of useful classes and subroutines for interfacing with various parts of the FRC control system (such as sensors, motor controllers, and the driver station), as well as an assortment of other utility functions.
 
-Supported languages
--------------------
+## Supported languages
 
-There are two versions of WPILib, one for each of the two officially-supported text-based languages: WPILibJ for Java, and WPILibC for C++.  A considerable effort is made to maintain feature-parity between these two languages - library features are not added unless they can be reasonably supported for both Java and C++, and when possible the class and method names are kept identical or highly-similar.  While unofficial community-built support is available for some other languages, notably `python <https://robotpy.readthedocs.io/en/stable/>`__, this documentation will only cover Java and C++.  Java and C++ were chosen for the officially-supported languages due to their appropriate level-of-abstraction and ubiquity in both industry and high-school computer science classes.
+There are three versions of WPILib, one for each of the three officially-supported text-based languages: WPILibJ for Java, and WPILibC for C++, and RobotPy for Python. A considerable effort is made to maintain feature-parity between these languages - library features are not added unless they can be reasonably supported for both Java and C++ (with the C++ able to be wrapped by pybind for Python), and when possible the class and method names are kept identical or highly-similar. Java, C++, and Python were chosen for the officially-supported languages due to their appropriate level-of-abstraction and ubiquity in both industry and high-school computer science classes.
 
-In general, C++ offers better high-end performance, at the cost of increased user effort (memory must be handled manually, and the C++ compiler does not do much to ensure user code will not crash at runtime).  Java offers lesser performance, but much greater convenience.  New/inexperienced users are strongly encouraged to use Java.
+In general, C++ offers better high-end performance, at the cost of increased user effort (memory must be handled manually, and the C++ compiler does not do much to ensure user code will not crash at runtime). Java and Python offer lesser performance, but much greater convenience. Python users should take care to test their program to ensure that typos and other issues don't cause robot crashes, as Python is interpreted. New/inexperienced users are encouraged to use Java.
 
-Source code and documentation
------------------------------
+## Source code and documentation
 
-WPILib is an open-source library - the entirety of its source code is available online on the WPILib GitHub Page:
-
- - `Official WPILib GitHub <https://github.com/wpilibsuite/allwpilib>`__
+WPILib is an open-source library - the C++ and Java source code is in the [allwpilib](https://github.com/wpilibsuite/allwpilib) mono-repo and python source code is in the [mostrobotpy](https://github.com/robotpy/mostrobotpy) mono-repo.  The Java and C++ source code can be found in the WPILibJ and WPILibC source directories:
 
 The Java and C++ source code can be found in the WPILibJ and WPILibC source directories:
 
- - `Java source code <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibj/src/main/java/edu/wpi/first/wpilibj>`__
+ - [Java source code](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibj/src/main/java/edu/wpi/first/wpilibj)
+
+ - [C++ source code](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibc/src/main/native/cpp)
+
+ - [Python source code](https://github.com/robotpy/mostrobotpy)
 
- - `C++ source code <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibc/src/main/native/cpp>`__
+While users are strongly encouraged to read the source code to resolve detailed questions about library functionality, more-concise documentation can be found on the official documentation pages for WPILibJ and WPILibC and RobotPy:
 
-While users are strongly encouraged to read the source code to resolve detailed questions about library functionality, more-concise documentation can be found on the official documentation pages for WPILibJ and WPILibC:
+ - [Java documentation](https://github.wpilib.org/allwpilib/docs/development/java/)
 
- - `Java documentation <https://github.wpilib.org/allwpilib/docs/beta/java/>`__
+ - [C++ documentation](https://github.wpilib.org/allwpilib/docs/development/cpp/)
 
- - `C++ documentation <https://github.wpilib.org/allwpilib/docs/beta/cpp/>`__
+ - [Python documentation](https://robotpy.readthedocs.io/projects/robotpy/en/stable/)
diff --git a/source/docs/software/wpilib-tools/axon/create-a-dataset-with-open-images.rst b/source/docs/software/wpilib-tools/axon/create-a-dataset-with-open-images.rst
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-Creating a Dataset with Open Images
-===================================
-
-For the detection of more generic objects, Axon's dataset creator can be used to make a dataset from `Google's Open Images dataset <https://storage.googleapis.com/openimages/web/index.html>`__ .
-
-Creating a Dataset
-------------------
-
-Click the :guilabel:`Create Dataset` button to begin.
-
-.. image:: images/open-images/create-button.png
-  :alt: Create Dataset Button.
-
-Choosing the Class Names
-^^^^^^^^^^^^^^^^^^^^^^^^
-
-Next, you need to pick the classes that you would like to detect. They must be selected from the classes available at the `Open Images dataset website <https://storage.googleapis.com/openimages/web/index.html>`__ . Change the :guilabel:`category` in the top bar to see available classes. In the below picture, :guilabel:`Cat` is selected, but other class names like :guilabel:`Caterpillar` are shown to be valid.
-
-.. image:: images/open-images/website.png
-  :alt: The Open Images website
-
-When you have determined the valid class names of the objects that you wish to detect, you can type them into dialog as shown below.
-
-.. image:: images/open-images/class-name.png
-  :alt: Choose the Class Name you want to get images of.
-
-Furthermore, using the :guilabel:`add` button, you can choose to make a dataset containing more than one class. Subsequently, you can also remove classes using the :guilabel:`remove` button.
-
-.. image:: images/open-images/add-remove.png
-  :alt: Add or remove classes.
-
-Choosing the Number of Images
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Finally, you can select the amount of images that you want for each class category in your dataset and click :guilabel:`CREATE`.
-
-.. image:: images/open-images/number.png
-  :alt: Set the number of images you want.
-
-Waiting
--------
-
-The creation process will take from a couple seconds to several minutes, depending on the size of your dataset. The newly-created dataset will be automatically imported into the dataset pane on the left side of the screen, but there is a :guilabel:`Download` button for sending the dataset to a teammate.
-
-.. image:: images/open-images/completed.png
-  :alt: What a completed creation job should look like.
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+++ /dev/null
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-Axon
-====
-
-.. toctree::
-   :maxdepth: 1
-
-   introduction
-   machine-learning
-   labeling-a-dataset-with-supervisely
-   create-a-dataset-with-open-images
-   viewing-datasets
-   retraining-mobilenet
-   inferencing-on-a-raspberry-pi
-   using-on-a-robot
-
diff --git a/source/docs/software/wpilib-tools/axon/inferencing-on-a-raspberry-pi.rst b/source/docs/software/wpilib-tools/axon/inferencing-on-a-raspberry-pi.rst
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-Inferencing on a Raspberry Pi
-=============================
-
-Hardware Requirements
----------------------
-
-This section requires a Romi or a Raspberry Pi that is running the WPILibPi Image.
-
-Instructions to setup WPILibPi can be found :ref:`here <docs/software/vision-processing/wpilibpi/walkthrough-video:A Video Walkthrough of using WPILibPi with the Raspberry Pi>`.
-
-Other hardware that is required is:
-
--   A USB Camera
--   A Coral TPU (Highly Recommended)
-
-.. note:: A Coral Edge TPU is a USB Accelerator that the Raspberry Pi uses as a co-processor to improve its performance while inferencing. In our experience it has shown to improve performance by around 9 times.
-
-
-Uploading the Model to the Pi
------------------------------
-
-To upload your tflite model to the Raspberry Pi, you must connect to it and open the Web-interface. Select the :guilabel:`Application` tab, go to the :guilabel:`File Upload` section and turn the :guilabel:`Extract` slider on.
-
-.. image:: images/inferencing/extract.png
-  :alt: Click the Extract Slider
-
-Once this is checked, you can upload the zip that you downloaded from Axon onto the Pi.
-
-Inferencing
------------
-
-Once the model has been uploaded, now the Pi needs python code to utilize it. Here is a link to the provided inference script through the release page: `Github <https://github.com/wpilibsuite/Axon/releases/>`__
-
-Once this is downloaded, utilize the :guilabel:`Vision Application Configuration` section to upload the python file.
-
-.. image:: images/inferencing/upload.png
-  :alt: Upload file
-
-Once uploaded, utilize the :guilabel:`Vision Status` tab to check on the state of the script. You should be able to see an update with a framerate indicating that everything is working.
-
-.. image:: images/inferencing/console.png
-  :alt: Status Console
-
-Head to the :guilabel:`Vision Settings` tab. First click on the camera stream and change the resolution to be greater than 300 pixels by 300 pixels (e.g. 640 by 480).
-
-.. image:: images/inferencing/settings.png
-  :alt: Resolution settings
-
-Then click on :guilabel:`Open Stream` to view the camera stream. Increase the port number at the top by one each time to move through the various camera streams until you arrive at the desired one. The default port is always at 1181, and the additional streams will start at 1182.
-
-.. image:: images/inferencing/port.png
-  :alt: Changing Ports
-
-Then you can see the output stream from the Machine Learning Model. You should be able to see the Raspberry Pi identifying objects!
-
-.. image:: images/inferencing/inference.png
-  :alt: Coffee Inference
-
-Network Tables
---------------
-
-.. note:: When using a Romi, robot code must be running on the simulator to receive network tables data.
-
-The python script from the releases page that is responsible for inferencing, also pushes that data to network tables. To see the results, one can use the :ref:`OutlineViewer <docs/software/wpilib-tools/outlineviewer/index:OutlineViewer>` tool.
-
-.. image:: images/inferencing/outline.png
-  :alt: Outline Viewer
-.. note:: Use Server Location ``localhost`` when running on a Romi
diff --git a/source/docs/software/wpilib-tools/axon/introduction.rst b/source/docs/software/wpilib-tools/axon/introduction.rst
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+++ /dev/null
@@ -1,65 +0,0 @@
-
-Introduction to Axon
-====================
-
-Axon is a tool that brings machine learning to the FIRST robotics competition. Axon provides an interface for training, testing, and exporting a machine learning model.
-
-.. image:: images/inferencing/hatchcover.png
-  :alt: hatch panels being inferenced.
-
-What is Machine Learning?
--------------------------
-
-Machine learning is a new, exciting field of computer science. Machine learning is a powerful tool that can accomplish computational tasks that traditional algorithms cannot. In the FIRST Robotics Competition, machine learning can be used to detect game pieces, scoring locations, or even other robots.
-
-A machine learning solution is better than traditional computer vision algorithms in many scenarios. The patterns that a machine learning algorithm (in this case, a neural network) can recognize can be much more complex than what an HSV-filtering algorithm can recognize. For example, a neural network could detect the location of a FRC robot within an image, which is an unreasonable challenge for a HSV-filtering algorithm.
-
-Object detection is a field of machine learning that is particularly relevant for the FRC use-case. A neural network can be taught to determine the box that surrounds an object within an image. This box is known as a bounding box. An object detection neural network is given an image, and it provides a set of predictions. Each prediction contains a bounding box, a label of what the object is, and a number representing how confident the neural network is that there is the chosen object within that bounding box.
-
-Features of Axon
-----------------
-
-Dataset Viewing
-^^^^^^^^^^^^^^^
-Machine learning requires giant datasets for the machines to recognize patterns in real-world data. The Axon tool supports custom datasets made with Supervisely. It also supports datasets made from a slice of the Open Images dataset, a Google dataset made of over 6 million images of generic objects.
-Please go to the :ref:`dataset page <docs/software/wpilib-tools/axon/labeling-a-dataset-with-supervisely:Labeling a Dataset with Supervisely>` to see how to upload a supported dataset format.
-
-Training
-^^^^^^^^
-
-Axon provides an excellent UI for doing transfer learning with a quantised COCO-trained MobileNet V2. Transfer learning is a technique that reuses parts of a previously trained model, a MobileNet v2 in this case, to improve the learning of a new task like locating hatch panels. Real-time metrics are provided, showing the precision of your model.
-
-Testing
-^^^^^^^
-Axon provides a way to test a trained model before using it on a robot. Simply upload a video to the testing page, and watch the neural network work in real-time. A ``.mp4`` is provided when testing is complete, if so desired.
-
-Exporting
-^^^^^^^^^
-Axon provides a way to export your model in both a normal TFLite format, as well as a Edge-TPU optimized model. The outputted ``.zip`` can be directly uploaded to the WPILib Raspberry Pi image, but the format works on many other platforms.
-
-Inferencing
-^^^^^^^^^^^
-Axon provides a Python script for running models on a coprocessor. This script will utilize the hardware of a Google Coral Edge TPU if there is one plugged in. The is officially supported on the WPILibPi image. All inference data is outputted over NetworkTables, and an output MJPEG stream is also provided.
-
-Installation
-------------
-
-Docker
-^^^^^^
-
-Docker is a system that allows for virtual machines to be run in containers. Machine Learning utilizes many difficult to install dependencies, so we have provided docker containers to make this installation painless.
-
-To install docker visit the link and installation instructions provided here: `Docker Desktop <https://www.docker.com/products/docker-desktop>`__
-
-For Windows users an installation of Windows Subsystem for Linux (WSL) is required and can be found `here <https://docs.microsoft.com/en-us/windows/wsl/install-win10>`__
-
-For Mac users, follow these instructions to increase Memory allowance to at least 6GBs of RAM. Instructions can be found `here <https://docs.docker.com/docker-for-mac/#resources>`__
-
-For Linux users, follow `these <https://docs.docker.com/engine/install/ubuntu/>`__ instructions to complete the installation.
-
-Axon Launcher
-^^^^^^^^^^^^^
-
-You can download the latest release of the installer from `Github <https://github.com/wpilibsuite/Axon/releases/>`__. Ensure that you download the correct binary for your OS and architecture.
-
-Extract the installer and click the setup executable file to get started.
diff --git a/source/docs/software/wpilib-tools/axon/labeling-a-dataset-with-supervisely.rst b/source/docs/software/wpilib-tools/axon/labeling-a-dataset-with-supervisely.rst
deleted file mode 100644
index 23ce773a99..0000000000
--- a/source/docs/software/wpilib-tools/axon/labeling-a-dataset-with-supervisely.rst
+++ /dev/null
@@ -1,63 +0,0 @@
-Labeling a Dataset with Supervisely
-===================================
-
-The quality of a neural network is fully dependent on the quality of the dataset used to train it. To create a custom dataset, perhaps to train a neural network to recognize the new game piece, Axon supports datasets created using `Supervisely <https://supervise.ly>`__. This page describes how to create label, and export a dataset made with Supervisely.
-
-Record a Video
---------------
-
-The first step to creating a dataset is getting images. A dataset should have several thousand images. To get this many images, the easiest way is to record a short video, roughly 1 to 5 minutes long. The video should clearly display the object(s) you wish to detect in several angles. Below is an example clip of a video used to teach a neural network to recognize a video game controller.
-
-
-.. raw:: html
-
-    <video width="640" height="480" controls autoplay muted>
-      <source src="https://first.wpi.edu/wpilib/frc-docs/videos/ml/dataset_video_example.mp4" type="video/mp4">
-    </video>
-
-Import Video to Supervisely
----------------------------
-
-Now that the images for the dataset are gathered, they can be labeled. To do this, Axon supports the use of `https://supervise.ly <https://supervise.ly>`__ . An account is required to use the site.
-
-The workflow is organized in Workspaces, and Projects. A Workspace can have multiple users, so one FRC team can share a workspace. A Workspace also can contain multiple projects.
-
-.. image:: images/dataset/workspaces.png
-  :alt: An view of what a user's workspaces may look like inside of Supervisely.
-
-Inside of a Workspace, the video recorded in the previous step can be imported.
-
-.. image:: images/dataset/import.png
-  :alt: The import button needed to import your video.
-
-In the import page, the most important step is choosing the correct :guilabel:`Import plugin`. The correct plugin is "Videos (split into frames)." The setting configurations do not need to be changed.
-
-.. image:: images/dataset/video_split.png
-  :alt: The correct plugin selected.
-
-With the correct plugin selected, the video can be dragged in to the upload box. This will upload the video to Supervisely, and move to a different screen (shown below). Here, the project should be given a name, and the import should be started, which will convert the video into several thousand individual images.
-
-.. image:: images/dataset/name_import.png
-  :alt: Naming the Project.
-
-Labeling the Images
--------------------
-
-With the project now set up, the data can be labeled. Labeling data means drawing boxes around the objects a neural network would want to detect, so the neural network knows when it is right and when it is wrong when it tries to detect where an object is. The boxes drawn should tightly wrap the entire visible object within each image.
-
-Within the Project, select the :guilabel:`Rectangle` tool. Supervisely will prompt you to create a class, i.e. define what kind of object you are about to label. More classes can be made later. Then, click twice in opposite corners around the object you wish to label. An example of a good label is below.
-
-.. image:: images/dataset/labeled_controller.png
-  :alt: A properly labeled image.
-
-Click the :guilabel:`Rectangle` tool to label another object within the same image, if there is one. If there is a misclick, the corners of the rectangle can be dragged to better label the object. Otherwise, move on to the next image. It is important to label every single visible object that one wishes to detect, else the neural network will pick up bad habits. The job of labeling data can be tedious, but it can also be shared between members of an FRC team through the Workspace.
-
-Downloading the Dataset
------------------------
-
-With all the images labeled, the dataset can be downloaded off of Supervisely for use in Axon. Within the Workspace, click on the triple-dot icon of the project you wish to download. Select the :guilabel:`.json and images` download option.
-
-.. image:: images/dataset/download.png
-  :alt: The proper selection for downloading a dataset.
-
-You are now ready to begin training a neural network.
diff --git a/source/docs/software/wpilib-tools/axon/machine-learning.rst b/source/docs/software/wpilib-tools/axon/machine-learning.rst
deleted file mode 100644
index 181be8d669..0000000000
--- a/source/docs/software/wpilib-tools/axon/machine-learning.rst
+++ /dev/null
@@ -1,40 +0,0 @@
-Introduction to Machine Learning
-================================
-
-Machine learning is a giant optimization problem. A neural network is a series of matrices, where the number contained within the matrices need to be tuned as precisely as possible to make the best predictions possible. To understand what this means better, let's look at a classic machine learning problem: MNIST.
-
-MNIST
------
-
-.. image:: images/machine-learning/mnist.png
-  :alt: Example MNIST images
-
-MNIST ("Modified National Institute of Standards and Technology") is a commonly used datatset in Computer Vision that deals with classification. The dataset itself is a collection of images showing hand-drawn numbers. The challenge is to create an algorithm that can recognize what number is represented by a given image, which is solvable by developing a neural network.
-
-.. image:: images/machine-learning/neural.png
-  :alt: A very simple neural network
-
-Here we have an over-simplified neural network. It has three layers, arranged vertically. The furthest left layer is called the input layer. When feeding an image into the neural network, the input layer is set to have the same values as our image. The middle layer is called a hidden layer. This layer focuses on computation, and does not directly interact with by the programmer. The final layer in this neural network is called the output layer and contains the end result.
-
-Having discussed the nodes (the circles) that make up the layers, it is important to discuss the connections (the arrows) between the layers. Each arrow represents a set of operations between two nodes. This type of neural network is a fully-connected neural network, so the operations that the arrows represent are shown below.
-
-.. math:: Y = WX + b
-
-Where :math:`Y` is a non-input matrix layer, and :math:`X` is the matrix directly before (to the left) of :math:`Y`. :math:`W` is a matrix of weights that act as coefficients on :math:`X`. :math:`b` is a matrix of biases that add to the result of the product of :math:`W` and :math:`X`. During the training/learning process, the values within :math:`W` and :math:`b` are adjusted so :math:`Y` is the best possible value from any :math:`X`. In a large neural network, there are millions of weights and biases, resulting in billions of linear algebra operations. This absurd amount math often requires a powerful computer, and/or a lot of time.
-
-With this understanding of a basic neural network, let's look at a simple neural network that can be used for the MNIST problem.
-
-.. image:: images/machine-learning/mnist-neural.png
-  :alt: A simple neural network for the MNIST use-case
-
-This neural network has an input layer, one hidden layer, and an output layer. The input layer is made of 784 nodes, as the MNIST dataset is made out of pictures that are 28x28 pixels. Each pixel is either 0 or 1. This input layer is multiplied by a weights matrix and a bias matrix is added, resulting in the hidden layer. The hidden layer is multiplied by another weight matrix and another bias matrix is added, resulting in the output layer. The output layer is made of exactly 10 nodes, representing 0 through 9. The actual value of each node represents the confidence of that node being correct. For example, if node 0 has a value of .91, and node 1 has a value of .23, then the input image is more likely a 0 than a 1.
-
-MobileNet V2
-------------
-
-The neural network that Axon uses is much more complex than the one described for the MNIST problem. It is a convolutional neural network (CNN), distinctly different than the fully-connected neural network used for MNIST.
-
-.. image:: images/machine-learning/mobilenet.png
-  :alt: the mobilenet v1 architecture
-
-If you would like to learn more about the MobileNet architecture, you can read `here. <https://arxiv.org/abs/1704.04861>`__ This knowledge is not necessary to use Axon to successfully deploy a neural network on your robot.
diff --git a/source/docs/software/wpilib-tools/axon/retraining-mobilenet.rst b/source/docs/software/wpilib-tools/axon/retraining-mobilenet.rst
deleted file mode 100644
index 6ee90a56a7..0000000000
--- a/source/docs/software/wpilib-tools/axon/retraining-mobilenet.rst
+++ /dev/null
@@ -1,126 +0,0 @@
-Retraining Mobilenet V2
-=======================
-
-Upload a Dataset
-----------------
-
-To retrain the mobilenet object detection model using Axon, first upload the dataset you would like to retrain with.
-
-.. image:: images/training/add-dataset.png
-  :alt: Create or Upload a Dataset
-
-Once you have uploaded a dataset, you should see it in the tree above this button.
-
-Create a Project
-----------------
-
-Next, you must create a project. A project will hold the data from the retraining, and any TFLite exports or tests you create with the retrained model.
-
-To create a project, click the :guilabel:`Add Project` button.
-
-.. image:: images/training/new-project.png
-  :alt: Add a Project
-
-A dialog will appear, asking you to name the project. Pick a name and click :guilabel:`Create`. When you create your project, you will see it above the button to the left.
-
-Click on the project, and you will be taken to its page.
-
-Start Retraining
-----------------
-
-At the top of the project window, there are several parameters to specify how you want the model to be retrained.
-
-**Epochs**: The number of times the dataset will be passed through the model during training. Generally more epochs are better, and a model should continue to be trained until the performance increase becomes very small or it stops improving.
-
-**Batch Size**: The amount of images to use in each training iteration. A larger batch size will make epochs train faster as there will be less batches, but it will require more memory to load all of the images. Generally we recommend leaving this value at default.
-
-**Evaluation Frequency**: The amount of epochs to run before each evaluation of the models precision. Each evaluation will be viewable so you can check the progress of your model.
-
-**Percent Evaluation**: The percent of the dataset to be reserved exclusively for evaluation of the models precision during training. A higher percent evaluation means that more images are used to test the model. Those images will not be used to train the model so there will be less training data. Generally we recommend leaving this value at default.
-
-**Datasets**: The datasets you would wish to retrain with.
-Edit these input parameters to fit your needs, and tick the checkboxes of the desired datasets from the dropdown.
-
-.. image:: images/training/hyperparameters.png
-  :alt: Hyperparameters
-
-When you are ready to start the retraining, click the play button to the right of the dataset dropdown.
-
-When an evaluation happens, a checkpoint is produced. This is a copy of the model at a particular point in the training. While the model trains, you will see checkpoints appear as points on the graph.
-
-Exporting a Checkpoint in TFLite Format
----------------------------------------
-
-To export a checkpoint as a TFLite model for use, select the desired checkpoint by clicking the point on the graph.
-
-.. image:: images/training/select-checkpoint.png
-  :alt: Select a Checkpoint
-
-This will select the checkpoint. Export this checkpoint by clicking the export button below the graph.
-
-.. image:: images/training/export-button.png
-  :alt: Click the Export Button
-
-You will soon see an export appear below the button.
-
-.. image:: images/training/exporting.png
-  :alt: Exporting
-
-When the export has completed, you will see the checkpoint appear in the checkpoint menu where you can select and work with any of the exported checkpoints.
-
-.. image:: images/training/export-menu.png
-  :alt: Export Menu
-
-You may click the menu to the right of an exported model, providing options to rename, and delete.
-
-.. image:: images/training/rename-checkpoint.png
-  :alt: Menu Options
-
-Click the download button, and your browser will download a tarfile containing two TFLite models of the selected checkpoint, one of which is optimized for the Coral TPU. There is also a label map file, for use when converting the model's output to a human-readable format.
-
-.. image:: images/training/download-checkpoint.png
-  :alt: Select and Download Checkpoints
-
-Testing an Exported Model
--------------------------
-
-To test an exported model, open the testing dialog by clicking the :guilabel:`Test` button in the menu of the export you would like to test.
-
-.. image:: images/training/test-checkpoint-button.png
-  :alt: Test Checkpoint
-
-.. image:: images/training/axon-mobilenet-10.png
-  :alt: Test Menu
-
-First, click the :guilabel:`Select Video` box, and click the :guilabel:`+` that will appear to upload a video.
-
-.. image:: images/training/axon-mobilenet-11.png
-  :alt: Upload
-
-This will open a window that allows you to upload a ``.mp4`` file.
-
-.. image:: images/training/axon-mobilenet-12.png
-  :alt: Save
-
-Drop a ``.mp4`` in the dropzone, or click to select the file. Once the file is in the dropzone, click :guilabel:`Save`.
-
-When uploaded, you will see the video in the dropdown menu, allowing you to select it for the test.
-
-You have the option to change the name of the annotated output video produced by the test.
-
-.. image:: images/training/axon-mobilenet-13.png
-  :alt: Press Test
-
-Click the :guilabel:`Test` button, and you will see the test begin.
-
-.. image:: images/training/axon-mobilenet-14.png
-  :alt: View the Test
-
-The test uses your model to annotate the video, creating a stream for you to watch as it happens. Click the :guilabel:`View` button, and the stream will open in a separate tab.
-
-When the test completes, you will see it at the bottom of the test dialog.
-
-.. image:: images/training/axon-mobilenet-15.png
-  :alt: Test Dialog
-
-You can download the annotated video. Click the download icon next to the test’s name, and your browser will begin the download. The video is currently a ``.mp4`` within a ``.zip``.
diff --git a/source/docs/software/wpilib-tools/axon/using-on-a-robot.rst b/source/docs/software/wpilib-tools/axon/using-on-a-robot.rst
deleted file mode 100644
index 0f5d6394d2..0000000000
--- a/source/docs/software/wpilib-tools/axon/using-on-a-robot.rst
+++ /dev/null
@@ -1,50 +0,0 @@
-Using Inference Output on a Robot
-=================================
-
-The provided script for running inference on a coprocessor outputs all inference data over NetworkTables for ease of access.
-
-Output Format
--------------
-
-Because there can be any number of detected objects in a given image, the inference data is sent in a JSON string to the ``ML/detections`` NetworkTables entry. By compiling all data into a single entry, it is certain that the labels match with the bounding boxes, which may not be true if these items were separate entries.
-
-The JSON string has the following format:
-
-.. code-block:: JSON
-
-  [
-    {
-      "label": "blue robot",
-      "box": {
-        "ymin": 25,
-        "xmin": 10,
-        "ymax": 100,
-        "xmax": 150
-      },
-      "confidence": 0.75
-    },
-    {
-      "label": "red robot",
-      "box": {
-        "ymin": 111,
-        "xmin": 163,
-        "ymax": 240,
-        "xmax": 320
-      },
-      "confidence": 0.99
-    }
-  ]
-
-The example above shows the value of the ``ML/detections`` entry if two objects are detected. It is a list of objects, where the ``label`` attribute means the kind of object that was detected. The ``box`` attribute describes the bottom left and top right corners of the bounding box, i.e. the box that completely surrounds the detected object within the image. There will be an empty list if no objects are detected. The ``confidence`` attribute is how confident the model is that the given object is correctly detected.
-
-There are three more NetworkTables entries that the provided script uses to help the programmer. The first is ``ML/fps``, which tells the programmer how many frames their model is processing per second. Another is ``ML/coral``, which tells the programmer is a Google Coral USB accelerator is currently being used. This is included in case someone removes the Coral from the robot and forgets to put it back, or a similar scenario. The final NetworkTables entry is ``ML/resolution``, which is the string ``WIDTH, HEIGHT``, telling the programmer the size of the processed image, for use with calculations.
-
-Applications of Inference
--------------------------
-
-Machine learning is applicable to the FIRST Robotics Competition when non-uniform objects need to be detected, i.e. a hatch panel from the 2019 game.
-
-.. image:: images/inferencing/hatchcover.png
-  :alt: hatch panels being inferenced.
-
-A model could also be trained to recognize other robots, if a collision-avoidance system were wanted to be implemented. The WPILib team has found that uniform objects, such as the 2020 Power Cells, are also easily detected by neural networks, but other algorithms may be more appropriate.
diff --git a/source/docs/software/wpilib-tools/axon/viewing-datasets.rst b/source/docs/software/wpilib-tools/axon/viewing-datasets.rst
deleted file mode 100644
index 8e885b49b1..0000000000
--- a/source/docs/software/wpilib-tools/axon/viewing-datasets.rst
+++ /dev/null
@@ -1,20 +0,0 @@
-Viewing Datasets in Axon
-========================
-
-Axon allows for the viewing of supervisely and open-images datasets.
-
-Stats
------
-
-Clicking on a dataset in the pane on the left will allow you to view all the images in the dataset. The size of the set and the classnames/labels in the dataset are displayed.
-
-.. image:: images/dataset-viewer/stats.png
-  :alt: Dataset Stats
-
-Navigation
-----------
-
-All the images will be displayed 48 to a page. You can use the pagination navigator at the bottom to move through large datasets and find specific images if desired.
-
-.. image:: images/dataset-viewer/navigate-dataset.png
-  :alt: Navigate Pagination
diff --git a/source/docs/software/wpilib-tools/outlineviewer/images/outlineviewer.png b/source/docs/software/wpilib-tools/outlineviewer/images/outlineviewer.png
index 6827c637ee..649fdeb85f 100644
Binary files a/source/docs/software/wpilib-tools/outlineviewer/images/outlineviewer.png and b/source/docs/software/wpilib-tools/outlineviewer/images/outlineviewer.png differ
diff --git a/source/docs/software/wpilib-tools/outlineviewer/index.rst b/source/docs/software/wpilib-tools/outlineviewer/index.rst
index f665e8d698..0a2767c894 100644
--- a/source/docs/software/wpilib-tools/outlineviewer/index.rst
+++ b/source/docs/software/wpilib-tools/outlineviewer/index.rst
@@ -1,5 +1,4 @@
-OutlineViewer
-=============
+# OutlineViewer
 
 .. image:: /docs/controls-overviews/images/control-system-software/outline-viewer.png
 
@@ -7,9 +6,9 @@ OutlineViewer is a utility used to view, modify and add to the contents of the N
 
 In Visual Studio Code, press :kbd:`Ctrl+Shift+P` and type ``WPILib`` or click the WPILib logo in the top right to launch the WPILib Command Palette. Select :guilabel:`Start Tool`, then select :guilabel:`OutlineViewer`.
 
-To connect to your robot, open OutlineViewer and set the ``Server Location`` to be your team number. After you click start, OutlineViewer will connect.  If you have trouble connecting to OutlineViewer please see the :ref:`Dashboard Troubleshooting Steps <docs/software/dashboards/labview-dashboard/troubleshooting-dashboard-connectivity:Troubleshooting Dashboard Connectivity>`.
+To connect to your robot, open OutlineViewer and select :guilabel:`options` then :guilabel:`settings` and set the ``Team/IP`` to be your team number. After you click :guilabel:`Apply`, OutlineViewer will connect.  If you have trouble connecting to OutlineViewer please see the :doc:`Dashboard Troubleshooting Steps </docs/software/dashboards/troubleshooting-dashboard-connectivity>`.
 
-.. note:: You can use ``localhost`` instead of a team number to point OutlineViewer at a simulated robot or a Romi.
+.. note:: You can use ``localhost`` instead of a team number to point OutlineViewer at a simulated robot, Romi or XRP.
 
 .. image:: images/outlineviewer.png
 
diff --git a/source/docs/software/wpilib-tools/roborio-team-number-setter/images/roborioteamnumbersetter.png b/source/docs/software/wpilib-tools/roborio-team-number-setter/images/roborioteamnumbersetter.png
new file mode 100644
index 0000000000..a032347201
Binary files /dev/null and b/source/docs/software/wpilib-tools/roborio-team-number-setter/images/roborioteamnumbersetter.png differ
diff --git a/source/docs/software/wpilib-tools/roborio-team-number-setter/index.rst b/source/docs/software/wpilib-tools/roborio-team-number-setter/index.rst
new file mode 100644
index 0000000000..e62355a85d
--- /dev/null
+++ b/source/docs/software/wpilib-tools/roborio-team-number-setter/index.rst
@@ -0,0 +1,22 @@
+# roboRIO Team Number Setter
+
+.. image:: images/roborioteamnumbersetter.png
+   :alt: roboRIO Team Number Setter tool.
+
+The roboRIO Team Number Setter is a cross-platform utility that can be used to set the team number on the roboRIO. It is an alternative to the roboRIO imaging tool for setting the team number.
+
+In Visual Studio Code, press :kbd:`Ctrl+Shift+P` and type ``WPILib`` or click the WPILib logo in the top right to launch the WPILib Command Palette. Select :guilabel:`Start Tool`, then select :guilabel:`roboRIOTeamNumberSetter`.
+
+Connect to the roboRIO over USB to use the tool, as this is the simplest method when the team number hasn't been set.
+
+## Setting Team Number
+
+Enter your team number in the :guilabel:`Team Number` field and select :guilabel:`Set team to xxxxx`. This will take about a second, then press the :guilabel:`Reboot` button to reboot the roboRIO so the new team number takes effect.
+
+## Enabling/Disabling Webserver
+
+The :doc:`roboRIO's webserver </docs/software/roborio-info/roborio-web-dashboard>` provides some debugging and enables some configuration. However, it also takes memory away from the robot program. You can disable it by clicking on the :guilabel:`Disable Web Server` button. If you'd like to enable it again, you can click :guilabel:`Enable Web Server`.
+
+## roboRIO Identification
+
+Clicking the :guilabel:`Blink` button will cause the roboRIO's Radio LED to blink a few times to help identify the roboRIO.
diff --git a/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst b/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst
index b37c4d66f5..300c609d61 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst
@@ -1,17 +1,14 @@
-Device Simulation
-=================
+# Device Simulation
 
 WPILib provides a way to manage simulation device data in the form of the SimDevice API.
 
-Simulating Core WPILib Device Classes
--------------------------------------
+## Simulating Core WPILib Device Classes
 
 Core WPILib device classes (i.e ``Encoder``, ``Ultrasonic``, etc.) have simulation classes named ``EncoderSim``, ``UltrasonicSim``, and so on. These classes allow interactions with the device data that wouldn't be possible or valid outside of simulation. Constructing them outside of simulation likely won't interfere with your code, but calling their functions and the like is undefined behavior - in the best case they will do nothing, worse cases might crash your code! Place functional simulation code in simulation-only functions (such as ``simulationPeriodic()``) or wrap them with ``RobotBase.isReal()``/ ``RobotBase::IsReal()`` checks (which are ``constexpr`` in C++).
 
 .. note:: This example will use the ``EncoderSim`` class as an example. Use of other simulation classes will be almost identical.
 
-Creating Simulation Device objects
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Creating Simulation Device objects
 
 Simulation device object can be constructed in two ways:
 
@@ -19,40 +16,38 @@ Simulation device object can be constructed in two ways:
 - a constructor or factory method that accepts the port/index/channel number that the device is connected to. These would be the same number that was used to construct the regular hardware object. This is especially useful for :doc:`unit testing <unit-testing>`.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      // create a real encoder object on DIO 2,3
-      Encoder encoder = new Encoder(2, 3);
-      // create a sim controller for the encoder
-      EncoderSim simEncoder = new EncoderSim(encoder);
-
-   .. code-block:: cpp
-
-       // create a real encoder object on DIO 2,3
-       frc::Encoder encoder{2, 3};
-       // create a sim controller for the encoder
-       frc::sim::EncoderSim simEncoder{encoder};
-
-Reading and Writing Device Data
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+   ```java
+   // create a real encoder object on DIO 2,3
+   Encoder encoder = new Encoder(2, 3);
+   // create a sim controller for the encoder
+   EncoderSim simEncoder = new EncoderSim(encoder);
+   ```
+
+   ```c++
+   // create a real encoder object on DIO 2,3
+   frc::Encoder encoder{2, 3};
+   // create a sim controller for the encoder
+   frc::sim::EncoderSim simEncoder{encoder};
+   ```
+
+### Reading and Writing Device Data
 
 Each simulation class has getter (``getXxx()``/``GetXxx()``) and setter (``setXxx(value)``/``SetXxx(value)``) functions for each field ``Xxx``. The getter functions will return the same as the getter of the regular device class.
 
 .. tab-set-code::
-   .. code-block:: java
+   ```java
+   simEncoder.setCount(100);
+   encoder.getCount(); // 100
+   simEncoder.getCount(); // 100
+   ```
 
-      simEncoder.setCount(100);
-      encoder.getCount(); // 100
-      simEncoder.getCount(); // 100
+   ```c++
+   simEncoder.SetCount(100);
+   encoder.GetCount(); // 100
+   simEncoder.GetCount(); // 100
+   ```
 
-   .. code-block:: cpp
-
-      simEncoder.SetCount(100);
-      encoder.GetCount(); // 100
-      simEncoder.GetCount(); // 100
-
-Registering Callbacks
-^^^^^^^^^^^^^^^^^^^^^
+### Registering Callbacks
 
 In addition to the getters and setters, each field also has a ``registerXxxCallback()`` function that registers a callback to be run whenever the field value changes and returns a ``CallbackStore`` object. The callbacks accept a string parameter of the name of the field and a ``HALValue`` object containing the new value. Before retrieving values from a ``HALValue``, check the type of value contained. Possible types are ``HALValue.kBoolean``/``HAL_BOOL``, ``HALValue.kDouble``/``HAL_DOUBLE``, ``HALValue.kEnum``/``HAL_ENUM``, ``HALValue.kInt``/``HAL_INT``, ``HALValue.kLong``/``HAL_LONG``.
 
@@ -63,29 +58,27 @@ In C++, save the ``CallbackStore`` object in the right scope - the callback will
 .. warning:: Attempting to retrieve a value of a type from a ``HALValue`` containing a different type is undefined behavior.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      NotifyCallback callback = (String name, HALValue value) -> {
-        if (value.getType() == HALValue.kInt) {
-          System.out.println("Value of " + name + " is " + value.getInt());
-        }
-      }
-      CallbackStore store = simEncoder.registerCountCallback(callback);
-
-      store.close(); // cancel the callback
-
-   .. code-block:: cpp
-
-      HAL_NotifyCallback callback = [](const char* name, void* param, const HALValue* value) {
-        if (value->type == HAL_INT) {
-          wpi::outs() << "Value of " << name << " is " << value->data.v_int << '\n';
-        }
-      };
-      frc::sim::CallbackStore store = simEncoder.RegisterCountCallback(callback);
-      // the callback will be canceled when ``store`` goes out of scope
-
-Simulating Other Devices - The SimDeviceSim Class
--------------------------------------------------
+   ```java
+   NotifyCallback callback = (String name, HALValue value) -> {
+     if (value.getType() == HALValue.kInt) {
+       System.out.println("Value of " + name + " is " + value.getInt());
+     }
+   }
+   CallbackStore store = simEncoder.registerCountCallback(callback);
+   store.close(); // cancel the callback
+   ```
+
+   ```c++
+   HAL_NotifyCallback callback = [](const char* name, void* param, const HALValue* value) {
+     if (value->type == HAL_INT) {
+       wpi::outs() << "Value of " << name << " is " << value->data.v_int << '\n';
+     }
+   };
+   frc::sim::CallbackStore store = simEncoder.RegisterCountCallback(callback);
+   // the callback will be canceled when ``store`` goes out of scope
+   ```
+
+## Simulating Other Devices - The SimDeviceSim Class
 
 .. note:: Vendors might implement their connection to the SimDevice API slightly different than described here. They might also provide a simulation class specific for their device class. See your vendor's documentation for more information as to what they support and how.
 
@@ -94,25 +87,26 @@ The ``SimDeviceSim`` (**not** ``SimDevice``!) class is a general device simulati
 The ``SimDeviceSim`` object is created using a string key identical to the key the vendor used to construct the underlying ``SimDevice`` in their device class. This key is the one that the device shows up with in the :guilabel:`Other Devices` tab, and is typically of the form ``Prefix:Device Name[index]``. If the key contains ports/index/channel numbers, they can be passed as separate arguments to the ``SimDeviceSim`` constructor. The key contains a prefix that is hidden by default in the SimGUI, it can be shown by selecting the :guilabel:`Show prefix` option. Not including this prefix in the key passed to ``SimDeviceSim`` will not match the device!
 
 .. tab-set-code::
-   .. code-block:: java
-
-      SimDeviceSim device = new SimDeviceSim(deviceKey, index);
+   ```java
+   SimDeviceSim device = new SimDeviceSim(deviceKey, index);
+   ```
 
-   .. code-block:: cpp
-
-      frc::sim::SimDeviceSim device{deviceKey, index};
+   ```c++
+   frc::sim::SimDeviceSim device{deviceKey, index};
+   ```
 
 Once we have the ``SimDeviceSim``, we can get ``SimValue`` objects representing the device's fields. Type-specific ``SimDouble``, ``SimInt``, ``SimLong``, ``SimBoolean``, and ``SimEnum`` subclasses also exist, and should be used instead of the type-unsafe ``SimValue`` class. These are constructed from the ``SimDeviceSim`` using a string key identical to the one the vendor used to define the field. This key is the one the field appears as in the SimGUI. Attempting to retrieve a ``SimValue`` object outside of simulation or when either the device or field keys are unmatched will return ``null`` - this can cause ``NullPointerException`` in Java or undefined behavior in C++.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      SimDouble field = device.getDouble(fieldKey);
-      field.get();
-      field.set(value);
-
-   .. code-block:: cpp
+   ```java
+   SimDouble field = device.getDouble(fieldKey);
+   field.get();
+   field.set(value);
+   ```
+
+   ```c++
+   hal::SimDouble field = device.GetDouble(fieldKey);
+   field.Get();
+   field.Set(value);
+   ```
 
-      hal::SimDouble field = device.GetDouble(fieldKey);
-      field.Get();
-      field.Set(value);
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/diffdrive-sim-overview.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/diffdrive-sim-overview.rst
index 8363d0d68d..6dd8880e82 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/diffdrive-sim-overview.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/diffdrive-sim-overview.rst
@@ -1,5 +1,4 @@
-Drivetrain Simulation Overview
-==============================
+# Drivetrain Simulation Overview
 
 .. note:: The code in this tutorial does not use any specific framework (i.e. command-based vs. simple data flow); however, guidance will be provided in certain areas for how to best implement certain pieces of code in specific framework types.
 
@@ -13,6 +12,5 @@ The goal of this tutorial is to provide guidance on implementing simulation capa
 
 .. image:: images/simgui.png
 
-Why Simulate a Drivetrain?
---------------------------
+## Why Simulate a Drivetrain?
 The drivetrain of a robot is one of the most important mechanisms on the robot -- therefore, it is important to ensure that the software powering your drivetrain is as robust as possible. By being able to simulate how a physical drivetrain responds, you can get a head start on writing quality software before you have access to the physical hardware. With the simulation framework, you can verify not only basic functionality, like making sure that the inversions on motors and encoders are correct, but also advanced capabilities such as verifying accuracy of path following.
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/drivetrain-model.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/drivetrain-model.rst
index f40812f1e3..6e38199b5c 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/drivetrain-model.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/drivetrain-model.rst
@@ -1,16 +1,14 @@
-Step 2: Creating a Drivetrain Model
-===================================
+# Step 2: Creating a Drivetrain Model
 
 In order to accurately determine how your physical drivetrain will respond to given motor voltage inputs, an accurate model of your drivetrain must be created. This model is usually created by measuring various physical parameters of your real robot. In WPILib, this drivetrain simulation model is represented by the ``DifferentialDrivetrainSim`` class.
 
-Creating a ``DifferentialDrivetrainSim`` from Physical Measurements
--------------------------------------------------------------------
+## Creating a ``DifferentialDrivetrainSim`` from Physical Measurements
 
-One way to creating a ``DifferentialDrivetrainSim`` instance is by using physical measurements of the drivetrain and robot -- either obtained through CAD software or real-world measurements (the latter will usually yield better results as it will more closely match reality). This constructor takes the following parameters:
+One way to creating a ``DifferentialDrivetrainSim`` instance is by using physical measurements of the drivetrain and robot -- either obtained through :term:`CAD` software or real-world measurements (the latter will usually yield better results as it will more closely match reality). This constructor takes the following parameters:
 
  - The type and number of motors on one side of the drivetrain.
  - The gear ratio between the motors and the wheels as output  :term:`torque` over input  :term:`torque` (this number is usually greater than 1 for drivetrains).
- - The moment of inertia of the drivetrain (this can be obtained from a CAD model of your drivetrain. Usually, this is between 3 and 8 :math:`kg m^2`).
+ - The moment of inertia of the drivetrain (this can be obtained from a :term:`CAD` model of your drivetrain. Usually, this is between 3 and 8 :math:`kg m^2`).
  - The mass of the drivetrain (it is recommended to use the mass of the entire robot itself, as it will more accurately model the acceleration characteristics of your robot for trajectory tracking).
  - The radius of the drive wheels.
  - The track width (distance between left and right wheels).
@@ -23,50 +21,45 @@ You can calculate the measurement noise of your sensors by taking multiple data
 .. note:: It is very important to use SI units (i.e. meters and radians) when passing parameters in Java. In C++, the :ref:`units library <docs/software/basic-programming/cpp-units:The C++ Units Library>` can be used to specify any unit type.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      // Create the simulation model of our drivetrain.
-      DifferentialDrivetrainSim m_driveSim = new DifferentialDrivetrainSim(
-        DCMotor.getNEO(2),       // 2 NEO motors on each side of the drivetrain.
-        7.29,                    // 7.29:1 gearing reduction.
-        7.5,                     // MOI of 7.5 kg m^2 (from CAD model).
-        60.0,                    // The mass of the robot is 60 kg.
-        Units.inchesToMeters(3), // The robot uses 3" radius wheels.
-        0.7112,                  // The track width is 0.7112 meters.
-
-        // The standard deviations for measurement noise:
-        // x and y:          0.001 m
-        // heading:          0.001 rad
-        // l and r velocity: 0.1   m/s
-        // l and r position: 0.005 m
-        VecBuilder.fill(0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005));
-
-   .. code-block:: c++
-
-      #include <frc/simulation/DifferentialDrivetrainSim.h>
-
-      ...
-
-      // Create the simulation model of our drivetrain.
-      frc::sim::DifferentialDrivetrainSim m_driveSim{
-        frc::DCMotor::GetNEO(2), // 2 NEO motors on each side of the drivetrain.
-        7.29,               // 7.29:1 gearing reduction.
-        7.5_kg_sq_m,        // MOI of 7.5 kg m^2 (from CAD model).
-        60_kg,              // The mass of the robot is 60 kg.
-        3_in,               // The robot uses 3" radius wheels.
-        0.7112_m,           // The track width is 0.7112 meters.
-
-        // The standard deviations for measurement noise:
-        // x and y:          0.001 m
-        // heading:          0.001 rad
-        // l and r velocity: 0.1   m/s
-        // l and r position: 0.005 m
-        {0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005}};
-
-Creating a ``DifferentialDrivetrainSim`` from SysId Gains
---------------------------------------------------------------------
-
-You can also use the gains produced by :ref:`System Identification <docs/software/pathplanning/system-identification/introduction:Introduction to System Identification>`, which you may have performed as part of setting up the trajectory tracking workflow outlined :ref:`here <docs/software/pathplanning/trajectory-tutorial/index:Trajectory Tutorial>` to create a simulation model of your drivetrain and often yield results closer to real-world behavior than the method above.
+   ```java
+   // Create the simulation model of our drivetrain.
+   DifferentialDrivetrainSim m_driveSim = new DifferentialDrivetrainSim(
+     DCMotor.getNEO(2),       // 2 NEO motors on each side of the drivetrain.
+     7.29,                    // 7.29:1 gearing reduction.
+     7.5,                     // MOI of 7.5 kg m^2 (from CAD model).
+     60.0,                    // The mass of the robot is 60 kg.
+     Units.inchesToMeters(3), // The robot uses 3" radius wheels.
+     0.7112,                  // The track width is 0.7112 meters.
+     // The standard deviations for measurement noise:
+     // x and y:          0.001 m
+     // heading:          0.001 rad
+     // l and r velocity: 0.1   m/s
+     // l and r position: 0.005 m
+     VecBuilder.fill(0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005));
+   ```
+
+   ```c++
+   #include <frc/simulation/DifferentialDrivetrainSim.h>
+   ...
+   // Create the simulation model of our drivetrain.
+   frc::sim::DifferentialDrivetrainSim m_driveSim{
+     frc::DCMotor::GetNEO(2), // 2 NEO motors on each side of the drivetrain.
+     7.29,               // 7.29:1 gearing reduction.
+     7.5_kg_sq_m,        // MOI of 7.5 kg m^2 (from CAD model).
+     60_kg,              // The mass of the robot is 60 kg.
+     3_in,               // The robot uses 3" radius wheels.
+     0.7112_m,           // The track width is 0.7112 meters.
+     // The standard deviations for measurement noise:
+     // x and y:          0.001 m
+     // heading:          0.001 rad
+     // l and r velocity: 0.1   m/s
+     // l and r position: 0.005 m
+     {0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005}};
+   ```
+
+## Creating a ``DifferentialDrivetrainSim`` from SysId Gains
+
+You can also use the gains produced by :ref:`System Identification <docs/software/advanced-controls/system-identification/introduction:Introduction to System Identification>`, which you may have performed as part of setting up the trajectory tracking workflow outlined :ref:`here <docs/software/pathplanning/trajectory-tutorial/index:Trajectory Tutorial>` to create a simulation model of your drivetrain and often yield results closer to real-world behavior than the method above.
 
 .. important:: You must need two sets of ``Kv`` and ``Ka`` gains from the identification tool -- one from straight-line motion and the other from rotating in place. We will refer to these two sets of gains as linear and angular gains respectively.
 
@@ -86,71 +79,64 @@ You can calculate the measurement noise of your sensors by taking multiple data
 .. note:: It is very important to use SI units (i.e. meters and radians) when passing parameters in Java. In C++, the :ref:`units library <docs/software/basic-programming/cpp-units:The C++ Units Library>` can be used to specify any unit type.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      // Create our feedforward gain constants (from the identification
-      // tool)
-      static final double KvLinear = 1.98;
-      static final double KaLinear = 0.2;
-      static final double KvAngular = 1.5;
-      static final double KaAngular = 0.3;
-
-      // Create the simulation model of our drivetrain.
-      private DifferentialDrivetrainSim m_driveSim = new DifferentialDrivetrainSim(
-        // Create a linear system from our identification gains.
-        LinearSystemId.identifyDrivetrainSystem(KvLinear, KaLinear, KvAngular, KaAngular),
-        DCMotor.getNEO(2),       // 2 NEO motors on each side of the drivetrain.
-        7.29,                    // 7.29:1 gearing reduction.
-        0.7112,                  // The track width is 0.7112 meters.
-        Units.inchesToMeters(3), // The robot uses 3" radius wheels.
-
-        // The standard deviations for measurement noise:
-        // x and y:          0.001 m
-        // heading:          0.001 rad
-        // l and r velocity: 0.1   m/s
-        // l and r position: 0.005 m
-        VecBuilder.fill(0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005));
-
-   .. code-block:: c++
-
-      #include <frc/simulation/DifferentialDrivetrainSim.h>
-      #include <frc/system/plant/LinearSystemId.h>
-      #include <units/acceleration.h>
-      #include <units/angular_acceleration.h>
-      #include <units/angular_velocity.h>
-      #include <units/voltage.h>
-      #include <units/velocity.h>
-
-      ...
-
-      // Create our feedforward gain constants (from the identification
-      // tool). Note that these need to have correct units.
-      static constexpr auto KvLinear = 1.98_V / 1_mps;
-      static constexpr auto KaLinear = 0.2_V / 1_mps_sq;
-      static constexpr auto KvAngular = 1.5_V / 1_rad_per_s;
-      static constexpr auto KaAngular = 0.3_V / 1_rad_per_s_sq;
-      // The track width is 0.7112 meters.
-      static constexpr auto kTrackwidth = 0.7112_m;
-
-      // Create the simulation model of our drivetrain.
-      frc::sim::DifferentialDrivetrainSim m_driveSim{
-        // Create a linear system from our identification gains.
-        frc::LinearSystemId::IdentifyDrivetrainSystem(
-          KvLinear, KaLinear, KvAngular, KaAngular, kTrackWidth),
-        kTrackWidth,
-        frc::DCMotor::GetNEO(2), // 2 NEO motors on each side of the drivetrain.
-        7.29,               // 7.29:1 gearing reduction.
-        3_in,               // The robot uses 3" radius wheels.
-
-        // The standard deviations for measurement noise:
-        // x and y:          0.001 m
-        // heading:          0.001 rad
-        // l and r velocity: 0.1   m/s
-        // l and r position: 0.005 m
-        {0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005}};
-
-Creating a ``DifferentialDrivetrainSim`` of the KoP Chassis
------------------------------------------------------------
+   ```java
+   // Create our feedforward gain constants (from the identification
+   // tool)
+   static final double KvLinear = 1.98;
+   static final double KaLinear = 0.2;
+   static final double KvAngular = 1.5;
+   static final double KaAngular = 0.3;
+   // Create the simulation model of our drivetrain.
+   private DifferentialDrivetrainSim m_driveSim = new DifferentialDrivetrainSim(
+   // Create a linear system from our identification gains.
+     LinearSystemId.identifyDrivetrainSystem(KvLinear, KaLinear, KvAngular, KaAngular),
+     DCMotor.getNEO(2),       // 2 NEO motors on each side of the drivetrain.
+     7.29,                    // 7.29:1 gearing reduction.
+     0.7112,                  // The track width is 0.7112 meters.
+     Units.inchesToMeters(3), // The robot uses 3" radius wheels.
+     // The standard deviations for measurement noise:
+     // x and y:          0.001 m
+     // heading:          0.001 rad
+     // l and r velocity: 0.1   m/s
+     // l and r position: 0.005 m
+     VecBuilder.fill(0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005));
+   ```
+
+   ```c++
+   #include <frc/simulation/DifferentialDrivetrainSim.h>
+   #include <frc/system/plant/LinearSystemId.h>
+   #include <units/acceleration.h>
+   #include <units/angular_acceleration.h>
+   #include <units/angular_velocity.h>
+   #include <units/voltage.h>
+   #include <units/velocity.h>
+   ...
+   // Create our feedforward gain constants (from the identification
+   // tool). Note that these need to have correct units.
+   static constexpr auto KvLinear = 1.98_V / 1_mps;
+   static constexpr auto KaLinear = 0.2_V / 1_mps_sq;
+   static constexpr auto KvAngular = 1.5_V / 1_rad_per_s;
+   static constexpr auto KaAngular = 0.3_V / 1_rad_per_s_sq;
+   // The track width is 0.7112 meters.
+   static constexpr auto kTrackwidth = 0.7112_m;
+   // Create the simulation model of our drivetrain.
+   frc::sim::DifferentialDrivetrainSim m_driveSim{
+     // Create a linear system from our identification gains.
+     frc::LinearSystemId::IdentifyDrivetrainSystem(
+       KvLinear, KaLinear, KvAngular, KaAngular, kTrackWidth),
+     kTrackWidth,
+     frc::DCMotor::GetNEO(2), // 2 NEO motors on each side of the drivetrain.
+     7.29,               // 7.29:1 gearing reduction.
+     3_in,               // The robot uses 3" radius wheels.
+     // The standard deviations for measurement noise:
+     // x and y:          0.001 m
+     // heading:          0.001 rad
+     // l and r velocity: 0.1   m/s
+     // l and r position: 0.005 m
+     {0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005}};
+   ```
+
+## Creating a ``DifferentialDrivetrainSim`` of the KoP Chassis
 
 The ``DifferentialDrivetrainSim`` class also has a static ``createKitbotSim()`` (Java) / ``CreateKitbotSim()`` (C++) method that can create an instance of the ``DifferentialDrivetrainSim`` using the standard Kit of Parts Chassis parameters. This method takes 5 arguments, two of which are optional:
 
@@ -167,27 +153,25 @@ You can calculate the measurement noise of your sensors by taking multiple data
 .. note:: It is very important to use SI units (i.e. meters and radians) when passing parameters in Java. In C++, the :ref:`units library <docs/software/basic-programming/cpp-units:The C++ Units Library>` can be used to specify any unit type.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      private DifferentialDrivetrainSim m_driveSim = DifferentialDrivetrainSim.createKitbotSim(
-        KitbotMotor.kDualCIMPerSide, // 2 CIMs per side.
-        KitbotGearing.k10p71,        // 10.71:1
-        KitbotWheelSize.kSixInch,    // 6" diameter wheels.
-        null                         // No measurement noise.
-      );
-
-   .. code-block:: c++
-
-      #include <frc/simulation/DifferentialDrivetrainSim.h>
-
-      ...
-
-      frc::sim::DifferentialDrivetrainSim m_driveSim =
-        frc::sim::DifferentialDrivetrainSim::CreateKitbotSim(
-          frc::sim::DifferentialDrivetrainSim::KitbotMotor::DualCIMPerSide, // 2 CIMs per side.
-          frc::sim::DifferentialDrivetrainSim::KitbotGearing::k10p71,       // 10.71:1
-          frc::sim::DifferentialDrivetrainSim::KitbotWheelSize::kSixInch    // 6" diameter wheels.
-      );
+   ```java
+   private DifferentialDrivetrainSim m_driveSim = DifferentialDrivetrainSim.createKitbotSim(
+     KitbotMotor.kDualCIMPerSide, // 2 CIMs per side.
+     KitbotGearing.k10p71,        // 10.71:1
+     KitbotWheelSize.kSixInch,    // 6" diameter wheels.
+     null                         // No measurement noise.
+   );
+   ```
+
+   ```c++
+   #include <frc/simulation/DifferentialDrivetrainSim.h>
+   ...
+   frc::sim::DifferentialDrivetrainSim m_driveSim =
+     frc::sim::DifferentialDrivetrainSim::CreateKitbotSim(
+       frc::sim::DifferentialDrivetrainSim::KitbotMotor::DualCIMPerSide, // 2 CIMs per side.
+       frc::sim::DifferentialDrivetrainSim::KitbotGearing::k10p71,       // 10.71:1
+       frc::sim::DifferentialDrivetrainSim::KitbotWheelSize::kSixInch    // 6" diameter wheels.
+   );
+   ```
 
 .. note:: You can use the ``KitbotMotor``, ``KitbotGearing``, and ``KitbotWheelSize`` enum (Java) / struct (C++) to get commonly used configurations of the Kit of Parts Chassis.
 
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/images/simgui.png b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/images/simgui.png
index 8d14ff3cd3..7153c15363 100644
Binary files a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/images/simgui.png and b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/images/simgui.png differ
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/index.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/index.rst
index a0c20a0238..6fad34b314 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/index.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/index.rst
@@ -1,9 +1,8 @@
-Drivetrain Simulation Tutorial
-==============================
+# Drivetrain Simulation Tutorial
 This is a tutorial for implementing a simulation model of your differential drivetrain using the simulation classes. Although the code that we will cover in this tutorial is framework-agnostic, there are two full examples available -- one for each framework.
 
- * ``StateSpaceDifferentialDriveSimulation`` (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation>`__) uses the command-based framework.
- * ``SimpleDifferentialDriveSimulation`` (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation>`__) uses a more traditional approach to data flow.
+ * ``StateSpaceDifferentialDriveSimulation`` ([Java](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation), [C++](https://github.com/wpilibsuite/allwpilib/tree/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation)) uses the command-based framework.
+ * ``SimpleDifferentialDriveSimulation`` ([Java](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation), [C++](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation)) uses a more traditional approach to data flow.
 
 Both of these examples are also available in the VS Code :guilabel:`New Project` window.
 
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/odometry-simgui.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/odometry-simgui.rst
index b514b9f38f..35fe5ad15a 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/odometry-simgui.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/odometry-simgui.rst
@@ -1,75 +1,70 @@
-Step 4: Updating Odometry and Visualizing Robot Position
-========================================================
+# Step 4: Updating Odometry and Visualizing Robot Position
 Now that the simulated encoder positions, velocities, and gyro angles are being updated with accurate information periodically, this data can be used to update the pose of the robot in a periodic loop (such as the ``periodic()`` method in a ``Subsystem``). In simulation, the periodic loop will use simulated encoder and gyro readings to update odometry whereas on the real robot, the same code will use real readings from physical hardware.
 
 .. note:: For more information on using odometry, see :ref:`this document <docs/software/kinematics-and-odometry/differential-drive-odometry:Differential Drive Odometry>`.
 
-Robot Pose Visualization
-------------------------
+## Robot Pose Visualization
 The robot pose can be visualized on the Simulator GUI (during simulation) or on a dashboard such as Glass (on a real robot) by sending the odometry pose over a ``Field2d`` object. A ``Field2d`` can be trivially constructed without any constructor arguments:
 
 .. tab-set-code::
-   .. code-block:: java
+   ```java
+   private Field2d m_field = new Field2d();
+   ```
 
-      private Field2d m_field = new Field2d();
-
-   .. code-block:: c++
-
-      #include <frc/smartdashboard/Field2d.h>
-
-      ..
-
-      frc::Field2d m_field;
+   ```c++
+   #include <frc/smartdashboard/Field2d.h>
+   ...
+   frc::Field2d m_field;
+   ```
 
 This ``Field2d`` instance must then be sent over NetworkTables. The best place to do this is in the constructor of your subsystem.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      public Drivetrain() {
-        ...
-        SmartDashboard.putData("Field", m_field);
-      }
-
-   .. code-block:: c++
-
-      #include <frc/smartdashboard/SmartDashboard.h>
-
-      Drivetrain() {
-        ...
-        frc::SmartDashboard::PutData("Field", &m_field);
-      }
+   ```java
+   public Drivetrain() {
+     ...
+     SmartDashboard.putData("Field", m_field);
+   }
+   ```
+
+   ```c++
+   #include <frc/smartdashboard/SmartDashboard.h>
+   Drivetrain() {
+     ...
+     frc::SmartDashboard::PutData("Field", &m_field);
+   }
+   ```
 
 .. note:: The ``Field2d`` instance can also be sent using a lower-level NetworkTables API or using the :ref:`Shuffleboard API <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data:Displaying data from your robot>`.
 
 Finally, the pose from your odometry must be updated periodically into the ``Field2d`` object. Remember that this should be in a general ``periodic()`` method i.e. one that runs both during simulation and during real robot operation.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      public void periodic() {
-        ...
-        // This will get the simulated sensor readings that we set
-        // in the previous article while in simulation, but will use
-        // real values on the robot itself.
-        m_odometry.update(m_gyro.getRotation2d(),
-                          m_leftEncoder.getDistance(),
-                          m_rightEncoder.getDistance());
-        m_field.setRobotPose(m_odometry.getPoseMeters());
-      }
-
-   .. code-block:: c++
-
-      void Periodic() {
-        ...
-        // This will get the simulated sensor readings that we set
-        // in the previous article while in simulation, but will use
-        // real values on the robot itself.
-        m_odometry.Update(m_gyro.GetRotation2d(),
-                          units::meter_t(m_leftEncoder.GetDistance()),
-                          units::meter_t(m_rightEncoder.GetDistance()));
-        m_field.SetRobotPose(m_odometry.GetPose());
-      }
+   ```java
+   public void periodic() {
+     ...
+     // This will get the simulated sensor readings that we set
+     // in the previous article while in simulation, but will use
+     // real values on the robot itself.
+     m_odometry.update(m_gyro.getRotation2d(),
+                       m_leftEncoder.getDistance(),
+                       m_rightEncoder.getDistance());
+     m_field.setRobotPose(m_odometry.getPoseMeters());
+   }
+   ```
+
+   ```c++
+   void Periodic() {
+     ...
+     // This will get the simulated sensor readings that we set
+     // in the previous article while in simulation, but will use
+     // real values on the robot itself.
+     m_odometry.Update(m_gyro.GetRotation2d(),
+                       units::meter_t(m_leftEncoder.GetDistance()),
+                       units::meter_t(m_rightEncoder.GetDistance()));
+     m_field.SetRobotPose(m_odometry.GetPose());
+   }
+   ```
 
 .. important:: It is important that this code is placed in a regular ``periodic()`` method -- one that is called periodically regardless of mode of operation. If you are using the command-based library, this method already exists. If not, you are responsible for calling this method periodically from the main ``Robot`` class.
 
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/simulation-instance.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/simulation-instance.rst
index 70f5f89c62..d73f5e88b3 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/simulation-instance.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/simulation-instance.rst
@@ -1,75 +1,65 @@
-Step 1: Creating Simulated Instances of Hardware
-================================================
+# Step 1: Creating Simulated Instances of Hardware
 The WPILib simulation framework contains several ``XXXSim`` classes, where ``XXX`` represents physical hardware such as encoders or gyroscopes. These simulation classes can be used to set positions and velocities (for encoders) and angles (for gyroscopes) from a model of your drivetrain. See :ref:`the Device Simulation article<docs/software/wpilib-tools/robot-simulation/device-sim:Device Simulation>` for more info about these simulation hardware classes and simulation of vendor devices.
 
-.. note:: Simulation objects associated with a particular subsystem should live in that subsystem. An example of this is in the ``StateSpaceDriveSimulation`` (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp>`__) example.
+.. note:: Simulation objects associated with a particular subsystem should live in that subsystem. An example of this is in the ``StateSpaceDriveSimulation`` ([Java](https://github.com/wpilibsuite/allwpilib/blob/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java), [C++](https://github.com/wpilibsuite/allwpilib/blob/v2024.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp)) example.
 
-Simulating Encoders
--------------------
+## Simulating Encoders
 The ``EncoderSim`` class allows users to set encoder positions and velocities on a given ``Encoder`` object. When running on real hardware, the ``Encoder`` class interacts with real sensors to count revolutions (and convert them to distance units automatically if configured to do so); however, in simulation there are no such measurements to make. The ``EncoderSim`` class can accept these simulated readings from a model of your drivetrain.
 
 .. note:: It is not possible to simulate encoders that are directly connected to CAN motor controllers using WPILib classes. For more information about your specific motor controller, please read your vendor's documentation.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      // These represent our regular encoder objects, which we would
-      // create to use on a real robot.
-      private Encoder m_leftEncoder = new Encoder(0, 1);
-      private Encoder m_rightEncoder = new Encoder(2, 3);
-
-      // These are our EncoderSim objects, which we will only use in
-      // simulation. However, you do not need to comment out these
-      // declarations when you are deploying code to the roboRIO.
-      private EncoderSim m_leftEncoderSim = new EncoderSim(m_leftEncoder);
-      private EncoderSim m_rightEncoderSim = new EncoderSim(m_rightEncoder);
-
-   .. code-block:: c++
-
-      #include <frc/Encoder.h>
-      #include <frc/simulation/EncoderSim.h>
-
-      ...
-
-      // These represent our regular encoder objects, which we would
-      // create to use on a real robot.
-      frc::Encoder m_leftEncoder{0, 1};
-      frc::Encoder m_rightEncoder{2, 3};
-
-      // These are our EncoderSim objects, which we will only use in
-      // simulation. However, you do not need to comment out these
-      // declarations when you are deploying code to the roboRIO.
-      frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
-      frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
-
-Simulating Gyroscopes
----------------------
+   ```java
+   // These represent our regular encoder objects, which we would
+   // create to use on a real robot.
+   private Encoder m_leftEncoder = new Encoder(0, 1);
+   private Encoder m_rightEncoder = new Encoder(2, 3);
+   // These are our EncoderSim objects, which we will only use in
+   // simulation. However, you do not need to comment out these
+   // declarations when you are deploying code to the roboRIO.
+   private EncoderSim m_leftEncoderSim = new EncoderSim(m_leftEncoder);
+   private EncoderSim m_rightEncoderSim = new EncoderSim(m_rightEncoder);
+   ```
+
+   ```c++
+   #include <frc/Encoder.h>
+   #include <frc/simulation/EncoderSim.h>
+   ...
+   // These represent our regular encoder objects, which we would
+   // create to use on a real robot.
+   frc::Encoder m_leftEncoder{0, 1};
+   frc::Encoder m_rightEncoder{2, 3};
+   // These are our EncoderSim objects, which we will only use in
+   // simulation. However, you do not need to comment out these
+   // declarations when you are deploying code to the roboRIO.
+   frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
+   frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
+   ```
+
+## Simulating Gyroscopes
 Similar to the ``EncoderSim`` class, simulated gyroscope classes also exist for commonly used WPILib gyros -- ``AnalogGyroSim`` and ``ADXRS450_GyroSim``. These are also constructed in the same manner.
 
-.. note:: It is not possible to simulate certain vendor gyros (i.e. Pigeon IMU and NavX) using WPILib classes. Please read the respective vendors' documentation for information on their simulation support.
+.. note:: It is not possible to simulate certain vendor gyros (i.e. Pigeon :term:`IMU` and NavX) using WPILib classes. Please read the respective vendors' documentation for information on their simulation support.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      // Create our gyro object like we would on a real robot.
-      private AnalogGyro m_gyro = new AnalogGyro(1);
-
-      // Create the simulated gyro object, used for setting the gyro
-      // angle. Like EncoderSim, this does not need to be commented out
-      // when deploying code to the roboRIO.
-      private AnalogGyroSim m_gyroSim = new AnalogGyroSim(m_gyro);
-
-   .. code-block:: c++
-
-      #include <frc/AnalogGyro.h>
-      #include <frc/simulation/AnalogGyroSim.h>
-
-      ...
-
-      // Create our gyro objectl ike we would on a real robot.
-      frc::AnalogGyro m_gyro{1};
+   ```java
+   // Create our gyro object like we would on a real robot.
+   private AnalogGyro m_gyro = new AnalogGyro(1);
+   // Create the simulated gyro object, used for setting the gyro
+   // angle. Like EncoderSim, this does not need to be commented out
+   // when deploying code to the roboRIO.
+   private AnalogGyroSim m_gyroSim = new AnalogGyroSim(m_gyro);
+   ```
+
+   ```c++
+   #include <frc/AnalogGyro.h>
+   #include <frc/simulation/AnalogGyroSim.h>
+   ...
+   // Create our gyro objectl ike we would on a real robot.
+   frc::AnalogGyro m_gyro{1};
+   // Create the simulated gyro object, used for setting the gyro
+   // angle. Like EncoderSim, this does not need to be commented out
+   // when deploying code to the roboRIO.
+   frc::sim::AnalogGyroSim m_gyroSim{m_gyro};
+   ```
 
-      // Create the simulated gyro object, used for setting the gyro
-      // angle. Like EncoderSim, this does not need to be commented out
-      // when deploying code to the roboRIO.
-      frc::sim::AnalogGyroSim m_gyroSim{m_gyro};
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst
index 4d6e218c48..0a3cda94b2 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst
@@ -1,5 +1,4 @@
-Step 3: Updating the Drivetrain Model
-=====================================
+# Step 3: Updating the Drivetrain Model
 Now that the drivetrain model has been made, it needs to be updated periodically with the latest motor voltage commands. It is recommended to do this step in a separate ``simulationPeriodic()`` / ``SimulationPeriodic()`` method inside your subsystem and only call this method in simulation.
 
 .. note:: If you are using the command-based framework, every subsystem that extends ``SubsystemBase`` has a ``simulationPeriodic()`` / ``SimulationPeriodic()`` which can be overridden. This method is automatically run only during simulation. If you are not using the command-based library, make sure you call your simulation method inside the overridden ``simulationPeriodic()`` / ``SimulationPeriodic()`` of the main ``Robot`` class. These periodic methods are also automatically called only during simulation.
@@ -11,68 +10,60 @@ There are three main steps to updating the model:
  3. Update simulated sensors with new positions, velocities, and angles to use in other places.
 
 .. tab-set-code::
-   .. code-block:: java
-
-      private PWMSparkMax m_leftMotor = new PWMSparkMax(0);
-      private PWMSparkMax m_rightMotor = new PWMSparkMax(1);
-
-      public Drivetrain() {
-        ...
-        m_leftEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
-        m_rightEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
-      }
-
-      public void simulationPeriodic() {
-        // Set the inputs to the system. Note that we need to convert
-        // the [-1, 1] PWM signal to voltage by multiplying it by the
-        // robot controller voltage.
-        m_driveSim.setInputs(m_leftMotor.get() * RobotController.getInputVoltage(),
-                             m_rightMotor.get() * RobotController.getInputVoltage());
-
-        // Advance the model by 20 ms. Note that if you are running this
-        // subsystem in a separate thread or have changed the nominal timestep
-        // of TimedRobot, this value needs to match it.
-        m_driveSim.update(0.02);
-
-        // Update all of our sensors.
-        m_leftEncoderSim.setDistance(m_driveSim.getLeftPositionMeters());
-        m_leftEncoderSim.setRate(m_driveSim.getLeftVelocityMetersPerSecond());
-        m_rightEncoderSim.setDistance(m_driveSim.getRightPositionMeters());
-        m_rightEncoderSim.setRate(m_driveSim.getRightVelocityMetersPerSecond());
-        m_gyroSim.setAngle(-m_driveSim.getHeading().getDegrees());
-      }
-
-   .. code-block:: c++
-
-      frc::PWMSparkMax m_leftMotor{0};
-      frc::PWMSparkMax m_rightMotor{1};
-
-      Drivetrain() {
-        ...
-        m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius / kEncoderResolution);
-        m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius / kEncoderResolution);
-      }
-
-      void SimulationPeriodic() {
-        // Set the inputs to the system. Note that we need to convert
-        // the [-1, 1] PWM signal to voltage by multiplying it by the
-        // robot controller voltage.
-        m_driveSim.SetInputs(
-          m_leftMotor.get() * units::volt_t(frc::RobotController::GetInputVoltage()),
-          m_rightMotor.get() * units::volt_t(frc::RobotController::GetInputVoltage()));
-
-        // Advance the model by 20 ms. Note that if you are running this
-        // subsystem in a separate thread or have changed the nominal timestep
-        // of TimedRobot, this value needs to match it.
-        m_driveSim.Update(20_ms);
-
-        // Update all of our sensors.
-        m_leftEncoderSim.SetDistance(m_driveSim.GetLeftPosition().value());
-        m_leftEncoderSim.SetRate(m_driveSim.GetLeftVelocity().value());
-        m_rightEncoderSim.SetDistance(m_driveSim.GetRightPosition().value());
-        m_rightEncoderSim.SetRate(m_driveSim.GetRightVelocity().value());
-        m_gyroSim.SetAngle(-m_driveSim.GetHeading().Degrees());
-      }
+   ```java
+   private PWMSparkMax m_leftMotor = new PWMSparkMax(0);
+   private PWMSparkMax m_rightMotor = new PWMSparkMax(1);
+   public Drivetrain() {
+     ...
+     m_leftEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
+     m_rightEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
+   }
+   public void simulationPeriodic() {
+     // Set the inputs to the system. Note that we need to convert
+     // the [-1, 1] PWM signal to voltage by multiplying it by the
+     // robot controller voltage.
+     m_driveSim.setInputs(m_leftMotor.get() * RobotController.getInputVoltage(),
+                          m_rightMotor.get() * RobotController.getInputVoltage());
+     // Advance the model by 20 ms. Note that if you are running this
+     // subsystem in a separate thread or have changed the nominal timestep
+     // of TimedRobot, this value needs to match it.
+     m_driveSim.update(0.02);
+     // Update all of our sensors.
+     m_leftEncoderSim.setDistance(m_driveSim.getLeftPositionMeters());
+     m_leftEncoderSim.setRate(m_driveSim.getLeftVelocityMetersPerSecond());
+     m_rightEncoderSim.setDistance(m_driveSim.getRightPositionMeters());
+     m_rightEncoderSim.setRate(m_driveSim.getRightVelocityMetersPerSecond());
+     m_gyroSim.setAngle(-m_driveSim.getHeading().getDegrees());
+   }
+   ```
+
+   ```c++
+   frc::PWMSparkMax m_leftMotor{0};
+   frc::PWMSparkMax m_rightMotor{1};
+   Drivetrain() {
+     ...
+     m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius / kEncoderResolution);
+     m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius / kEncoderResolution);
+   }
+   void SimulationPeriodic() {
+     // Set the inputs to the system. Note that we need to convert
+     // the [-1, 1] PWM signal to voltage by multiplying it by the
+     // robot controller voltage.
+     m_driveSim.SetInputs(
+       m_leftMotor.get() * units::volt_t(frc::RobotController::GetInputVoltage()),
+       m_rightMotor.get() * units::volt_t(frc::RobotController::GetInputVoltage()));
+     // Advance the model by 20 ms. Note that if you are running this
+     // subsystem in a separate thread or have changed the nominal timestep
+     // of TimedRobot, this value needs to match it.
+     m_driveSim.Update(20_ms);
+     // Update all of our sensors.
+     m_leftEncoderSim.SetDistance(m_driveSim.GetLeftPosition().value());
+     m_leftEncoderSim.SetRate(m_driveSim.GetLeftVelocity().value());
+     m_rightEncoderSim.SetDistance(m_driveSim.GetRightPosition().value());
+     m_rightEncoderSim.SetRate(m_driveSim.GetRightVelocity().value());
+     m_gyroSim.SetAngle(-m_driveSim.GetHeading().Degrees());
+   }
+   ```
 
 .. important:: If the right side of your drivetrain is inverted, you MUST negate the right voltage in the ``SetInputs()`` call to ensure that positive voltages correspond to forward movement.
 
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diff --git a/source/docs/software/wpilib-tools/robot-simulation/images/xboxkeyboard.png b/source/docs/software/wpilib-tools/robot-simulation/images/xboxkeyboard.png
index 8223d6fd44..93fc9e21e8 100644
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diff --git a/source/docs/software/wpilib-tools/robot-simulation/index.rst b/source/docs/software/wpilib-tools/robot-simulation/index.rst
index 447fedc2a7..7cecfb5b1f 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/index.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/index.rst
@@ -1,5 +1,4 @@
-Robot Simulation
-================
+# Robot Simulation
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/wpilib-tools/robot-simulation/introduction.rst b/source/docs/software/wpilib-tools/robot-simulation/introduction.rst
index 437c9bea15..ebfeb83e40 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/introduction.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/introduction.rst
@@ -1,82 +1,115 @@
-Introduction to Robot Simulation
-================================
+# Introduction to Robot Simulation
 
 Often a team may want to test their code without having an actual robot available. WPILib provides teams with the ability to simulate various robot features using simple gradle commands.
 
-Enabling Desktop Support
-------------------------
+.. tab-set::
 
-Use of the Desktop Simulator requires Desktop Support to be enabled. This can be done by checking the "Enable Desktop Support Checkbox" when creating your robot project or by running "WPILib: Change Desktop Support Enabled Setting" from the Visual Studio Code command palette.
+   .. tab-item:: Java/C++
 
-.. image:: images/vscode-desktop-support.png
-   :alt: Enabling desktop support through VS Code
+      Use of the Desktop Simulator requires Desktop Support to be enabled. This can be done by checking the "Enable Desktop Support Checkbox" when creating your robot project or by running "WPILib: Change Desktop Support Enabled Setting" from the Visual Studio Code command palette.
 
+      .. image:: images/vscode-desktop-support.png
+         :alt: Enabling desktop support through VS Code
 
-.. image:: images/vscode-desktop-support-manual.png
-   :alt: Manually enabling desktop support through VS Code command-palette
 
-Desktop support can also be enabled by manually editing your ``build.gradle`` file located at the root of your robot project. Simply change ``includeDesktopSupport = false`` to ``includeDesktopSupport = true``
+      .. image:: images/vscode-desktop-support-manual.png
+         :alt: Manually enabling desktop support through VS Code command-palette
 
-.. important:: It is important to note that enabling desktop/simulation support can have unintended consequences. Not all vendors will support this option, and code that uses their libraries may even crash when attempting to run simulation!
+      Desktop support can also be enabled by manually editing your ``build.gradle`` file located at the root of your robot project. Simply change ``includeDesktopSupport = false`` to ``includeDesktopSupport = true``
 
-If at any point in time you want to disable Desktop Support, simply re-run the "WPILib: Change Desktop Support Enabled Setting" from the command palette or change ``includeDesktopSupport`` to false in build.gradle.
+      .. important:: It is important to note that enabling desktop/simulation support can have unintended consequences. Not all vendors will support this option, and code that uses their libraries may even crash when attempting to run simulation!
 
-Additional C++ Dependency
-^^^^^^^^^^^^^^^^^^^^^^^^^
+      If at any point in time you want to disable Desktop Support, simply re-run the "WPILib: Change Desktop Support Enabled Setting" from the command palette or change ``includeDesktopSupport`` to false in build.gradle.
 
-C++ robot simulation requires that a native compiler to be installed. For Windows, this would be `Visual Studio 2022 <https://visualstudio.microsoft.com/vs/>`__ (**not** VS Code), macOS requires `Xcode 14 or later <https://apps.apple.com/us/app/xcode/id497799835>`__, and Linux (Ubuntu) requires the ``build-essential`` package.
+      .. _cpp_sim_additional_dependency:
 
-Ensure the :guilabel:`Desktop Development with C++` option is checked in the Visual Studio installer for simulation support.
+      .. note:: C++ robot simulation requires that a native compiler to be installed. For Windows, this would be [Visual Studio 2022 version 17.9 or later](https://visualstudio.microsoft.com/vs/) (**not** VS Code), macOS requires [Xcode 14 or later](https://apps.apple.com/us/app/xcode/id497799835), and Linux (Ubuntu) requires the ``build-essential`` package.
 
-.. image:: images/vs-build-tools.png
-   :alt: Screenshot of the Visual Studio build tools option
+                Ensure the :guilabel:`Desktop Development with C++` option is checked in the Visual Studio installer for simulation support.
 
-Running Robot Simulation
-------------------------
+                .. image:: images/vs-build-tools.png
+                  :alt: Screenshot of the Visual Studio build tools option
 
-Basic robot simulation can be run using VS Code. This can be done without using any commands by using VS Code's command palette.
 
-.. image:: images/vscode-run-simulation.png
-   :alt: Running robot simulation through VS Code
+      **Running Robot Simulation**
 
-Your console output in Visual Studio Code should look like the below. However, teams probably will want to actually *test* their code versus just running the simulation. This can be done using :doc:`WPILib's Simulation GUI <simulation-gui>`.
+      Basic robot simulation can be run using VS Code. This can be done without using any commands by using VS Code's command palette.
 
-.. code-block:: console
+      .. image:: images/vscode-run-simulation.png
+         :alt: Running robot simulation through VS Code
 
-   ********** Robot program starting **********
-   Default disabledInit() method... Override me!
-   Default disabledPeriodic() method... Override me!
-   Default robotPeriodic() method... Override me!
+      Your console output in Visual Studio Code should look like the below. However, teams probably will want to actually *test* their code versus just running the simulation. This can be done using :doc:`WPILib's Simulation GUI <simulation-gui>`.
 
-.. important:: Simulation can also be run outside of VS Code using ``./gradlew simulateJava`` for Java or ``./gradlew simulateNative`` for C++.
+      ```console
+      ********** Robot program starting **********
+      Default disabledInit() method... Override me!
+      Default disabledPeriodic() method... Override me!
+      Default robotPeriodic() method... Override me!
+      ```
 
-.. note:: Some vendors support attaching hardware to your PC and using the hardware in desktop simulation (e.g. CANivore). See :doc:`vendor documentation </docs/software/vscode-overview/wpilib-commands-vscode>` for more information about the command `WPILib: Hardware Sim Robot Code`.
+      .. important:: Simulation can also be run outside of VS Code using ``./gradlew simulateJava`` for Java or ``./gradlew simulateNative`` for C++.
 
-Running Robot Dashboards
-------------------------
+      .. note:: Some vendors support attaching hardware to your PC and using the hardware in desktop simulation (e.g. CANivore). See :doc:`vendor documentation </docs/software/vscode-overview/wpilib-commands-vscode>` for more information about the command `WPILib: Hardware Sim Robot Code`.
 
-Shuffleboard, SmartDashboard, and Glass can be used with WPILib simulation when they are configured to connect to the local computer (i.e. ``localhost``).
+   .. tab-item:: Python
 
-Shuffleboard
-^^^^^^^^^^^^
+      GUI simulation support is installed by default when you install RobotPy.
+
+      There is a ``robotpy`` subcommand that you can execute to run your code in simulation:
+
+      .. tab-set::
+
+         .. tab-item:: Windows
+            :sync: windows
+
+            ```sh
+            py -3 -m robotpy sim
+            ```
+
+         .. tab-item:: macOS
+            :sync: macos
+
+            ```sh
+            python3 -m robotpy sim
+            ```
+
+         .. tab-item:: Linux
+            :sync: linux
+
+            ```sh
+            python3 -m robotpy sim
+            ```
+
+## Running Robot Dashboards
+
+Shuffleboard, SmartDashboard, Glass, and AdvantageScope can be used with WPILib simulation when they are configured to connect to the local computer (i.e. ``localhost``).
+
+### Shuffleboard
 
 Shuffleboard is automatically configured to look for a NetworkTables instance from the robotRIO but **not from other sources**. To connect to a simulation, open Shuffleboard preferences from the :guilabel:`File` menu and select :guilabel:`NetworkTables` under :guilabel:`Plugins` on the left navigation bar. In the :guilabel:`Server` field, type in the IP address or hostname of the NetworkTables host. For a standard simulation configuration, use ``localhost``.
 
 .. image:: images/shuffleboard-networktables.png
    :alt: Shuffleboard connection settings set to localhost.
 
-SmartDashboard
-^^^^^^^^^^^^^^
+### SmartDashboard
 
 SmartDashboard is automatically configured to look for a NetworkTables instance from the roboRIO, but **not from other sources**. To connect to a simulation, open SmartDashboard preferences under the :guilabel:`File` menu and in the :guilabel:`Team Number` field, enter the IP address or hostname of the NetworkTables host. For a standard simulation configuration, use ``localhost``.
 
 .. image:: /docs/software/dashboards/smartdashboard/images/smartdashboard-intro/smartdashboard-networktables.png
    :alt: SmartDashboard team number set to localhost.
 
-Glass
-^^^^^
+### Glass
 
 Glass is automatically configured to look for a NetworkTables instance from the roboRIO, but **not from other sources**. To connect to a simulation, open :guilabel:`NetworkTables Settings` under the :guilabel:`NetworkTables` menu and in the :guilabel:`Team/IP` field, enter the IP address or hostname of the NetworkTables host. For a standard simulation configuration, use ``localhost``.
 
 .. image:: images/glass-networktables.png
    :alt: Glass NetworkTables Preferences showing Team/IP set to localhost.
+
+
+### AdvantageScope
+
+No configuration is required to connect to a NetworkTables instance running on the local computer. To connect to a simulation, click :guilabel:`Connect to Simulator` under the :guilabel:`File` menu or press :kbd:`Ctrl+Shift+K`.
+
+.. image:: images/advantagescope-sim.png
+   :alt: AdvantageScope file menu with the "Connect to Simulator" option highlighted.
+   :height: 300
diff --git a/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst b/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst
index 01d4bfe551..2252ebcaba 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst
@@ -1,5 +1,4 @@
-Physics Simulation with WPILib
-==============================
+# Physics Simulation with WPILib
 
 Because :ref:`state-space notation <docs/software/advanced-controls/state-space/state-space-intro:What is State-Space Notation?>` allows us to compactly represent the :term:`dynamics <dynamics>` of :term:`systems <system>`, we can leverage it to provide a backend for simulating physical systems on robots. The goal of these simulators is to simulate the motion of robot mechanisms without modifying existing non-simulation user code. The basic flow of such simulators is as follows:
 
@@ -12,8 +11,7 @@ Because :ref:`state-space notation <docs/software/advanced-controls/state-space/
    - The simulation's :term:`state` is updated using :term:`inputs <input>`, usually voltages from motors set from a PID loop
    - Simulated encoder (or other sensor) readings are set for user code to use in the next timestep
 
-WPILib's Simulation Classes
----------------------------
+## WPILib's Simulation Classes
 
 The following physics simulation classes are available in WPILib:
 
@@ -26,12 +24,11 @@ The following physics simulation classes are available in WPILib:
 
 All simulation classes (with the exception of the differential drive simulator) inherit from the :code:`LinearSystemSim` class. By default, the dynamics are the linear system dynamics :math:`\mathbf{x}_{k+1} = \mathbf{A}\mathbf{x}_k + \mathbf{B}\mathbf{u}_k`. Subclasses override the :code:`UpdateX(x, u, dt)` method to provide custom, nonlinear dynamics, such as modeling gravity.
 
-.. note:: Swerve support for simulation is in the works, but we cannot provide an ETA. For updates on progress, please follow this `pull request <https://github.com/wpilibsuite/allwpilib/pull/3374>`__.
+.. note:: Swerve support for simulation is in the works, but we cannot provide an ETA. For updates on progress, please follow this [pull request](https://github.com/wpilibsuite/allwpilib/pull/3374).
 
-Usage in User Code
-------------------
+## Usage in User Code
 
-The following is available from the WPILib :code:`elevatorsimulation` `example project <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation>`__.
+The following is available from the WPILib :code:`elevatorsimulation` [example project](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation).
 
 In addition to standard objects such as motors and encoders, we instantiate our elevator simulator using known constants such as carriage mass and gearing reduction. We also instantiate an :code:`EncoderSim`, which sets the distance and rate read by our :code:`Encoder`.
 
@@ -44,17 +41,17 @@ In the following example, we simulate an elevator given the mass of the moving c
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
          :lines: 47-59
          :linenos:
          :lineno-start: 47
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
+         :language: c++
          :lines: 51-61
          :linenos:
          :lineno-start: 51
@@ -66,29 +63,29 @@ Next, :code:`teleopPeriodic`/:code:`TeleopPeriodic` (Java/C++) uses a simple PID
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
          :language: java
          :lines: 31-40
          :linenos:
          :lineno-start: 31
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
          :lines: 99-106
          :linenos:
          :lineno-start: 99
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+         :language: c++
          :lines: 20-28
          :linenos:
          :lineno-start: 20
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
+         :language: c++
          :lines: 42-50
          :linenos:
          :lineno-start: 42
@@ -104,17 +101,17 @@ Finally, the simulated encoder's distance reading is set using the simulated ele
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
          :lines: 79-92
          :linenos:
          :lineno-start: 79
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
-         :language: cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
+         :language: c++
          :lines: 20-35
          :linenos:
          :lineno-start: 20
diff --git a/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst b/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
index 66234ab075..f364fa26f1 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
@@ -1,14 +1,12 @@
 .. include:: <isonum.txt>
 
-Simulation Specific User Interface Elements
-===========================================
+# Simulation Specific User Interface Elements
 
 WPILib has extended robot simulation to introduce a graphical user interface (GUI) component. This allows teams to easily visualize their robot's inputs and outputs.
 
 .. note:: The Simulation GUI is very similar in many ways to :ref:`Glass <docs/software/dashboards/glass/introduction:Introduction to Glass>`.  Some of the following pages will link to Glass sections that describe elements common to both GUIs.
 
-Running the GUI
----------------
+## Running the GUI
 
 .. image:: images/vscode-run-simulation.png
    :alt: Running simulation via VS Code
@@ -23,11 +21,9 @@ And the ``Sim GUI`` option should popup in a new dialog and will be selected by
 .. image:: images/sim-gui.png
    :alt: The simulation graphical user interface
 
-Using the GUI
--------------
+## Using the GUI
 
-Learning the Layout
-^^^^^^^^^^^^^^^^^^^
+### Learning the Layout
 
 .. image:: images/sim-gui-with-labels.png
    :alt: Simulation graphical user interface but with labels
@@ -37,7 +33,7 @@ The following items are shown on the simulation GUI by default:
 1. **Robot State** - This is the robot's current state or "mode". You can click on the labels to change mode as you would on the normal Driver Station.
 2. **Timing** - Shows the values of the Robot's timers and allows the timing to be manipulated.
 3. **System Joysticks** - This is a list of joysticks connected to your system currently.
-4. **FMS** - This is used for simulating many of the common FMS systems.
+4. **FMS** - This is used for simulating many of the common :term:`FMS` systems.
 5. **NetworkTables** - This shows the data that has been published to NetworkTables.
 6. **Joysticks** - This is joysticks that the robot code can directly pull from.
 7. **Other Devices** - This includes devices that do not fall into any of the other categories, such as the ADXRS450 gyro that is included in the Kit of Parts or third party devices that support simulation.
@@ -49,12 +45,11 @@ The following items can be added from the Hardware menu, but are not shown by de
 3. **DIO** - (Digital Input Output) This includes any devices that use the **DIO** connector on the roboRIO.
 4. **Encoders** - This will show any instantiated devices that extend or use the ``Encoder`` class.
 5. **PDPs** - This shows the Power Distribution Panel object.
-6. **PWM Outputs** - This is a list of instantiated PWM devices. This will appear as many devices as you instantiate in robot code, as well as their outputs.
+6. **PWM Outputs** - This is a list of instantiated :term:`PWM` devices. This will appear as many devices as you instantiate in robot code, as well as their outputs.
 7. **Relays** - This includes any relay devices. This includes VEX Spike relays.
 8. **Solenoids** - This is a list of "connected" solenoids. When you create a solenoid object and push outputs, these are shown here.
 
-Adding a System Joystick to Joysticks
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Adding a System Joystick to Joysticks
 
 To add a joystick from the list of system joysticks, simply click and drag a shown joystick under the "System Joysticks" menu to the "Joysticks" menu".
 
@@ -63,44 +58,39 @@ To add a joystick from the list of system joysticks, simply click and drag a sho
 
 .. note:: The FRC\ |reg| Driver Station does special mapping to gamepads connected and the WPILib simulator does not "map" these by default. You can turn on this behavior by pressing the "Map gamepad" toggle underneath the "Joysticks" menu.
 
-Using the Keyboard as a Joystick
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Using the Keyboard as a Joystick
 
 You add a keyboard to the list of system joysticks by clicking and dragging one of the keyboard items (e.g. Keyboard 0) just like a joystick above.  To edit the settings of the keyboard go to the :guilabel:`DS` item in the menu bar then choose :guilabel:`Keyboard 0 Settings`.  This allows you to control which keyboard buttons control which axis.  This is a common example of how to make the keyboard similar to a split sticks arcade drive on an Xbox controller (uses axis 1 & 4):
 
 .. image:: images/xboxkeyboard.png
    :alt: How to configure the keyboard so it acts similar to an Xbox controller.
 
-Modifying ADXRS450 Inputs
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Modifying ADXRS450 Inputs
 
 Using the ADXRS450 object is a fantastic way to test gyro based outputs. This will show up in the "Other Devices" menu. A drop down menu is then exposed that shows various options such as "Connected", "Angle", and "Rate". All of these values are values that you can change, and that your robot code and use on-the-fly.
 
 .. image:: images/sim-gui-using-gyro.png
 
-Determining Simulation from Robot Code
---------------------------------------
+## Determining Simulation from Robot Code
 
 In cases where vendor libraries do not compile when running the robot simulation, you can wrap their content with ``RobotBase.isReal()`` which returns a ``boolean``.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      TalonSRX motorLeft;
-      TalonSRX motorRight;
-
-      public Robot() {
-       if (RobotBase.isReal()) {
-         motorLeft = new TalonSRX(0);
-         motorRight = new TalonSRX(1);
-       }
-      }
+   ```java
+   TalonSRX motorLeft;
+   TalonSRX motorRight;
+   public Robot() {
+    if (RobotBase.isReal()) {
+      motorLeft = new TalonSRX(0);
+      motorRight = new TalonSRX(1);
+    }
+   }
+   ```
 
 .. note:: Reassigning value types in C++ requires move or copy assignment; vendors classes that both do not support the SIM and lack a move or copy assignment operator cannot be worked around with conditional allocation unless a pointer is used, instead of a value type.
 
-Changing View Settings
-----------------------
+## Changing View Settings
 
 The :guilabel:`View` menu item contains :guilabel:`Zoom` and :guilabel:`Style` settings that can be customized. The :guilabel:`Zoom` option dictates the size of the text in the application whereas the :guilabel:`Style` option allows you to select between the ``Classic``, ``Light``, and ``Dark`` modes.
 
@@ -108,8 +98,7 @@ An example of the ``Dark`` style setting is below:
 
 .. image:: /docs/software/dashboards/glass/images/glass-dark-mode.png
 
-Clearing Application Data
--------------------------
+## Clearing Application Data
 
 Application data for the Simulation GUI, including widget sizes and positions as well as other custom information for widgets is stored in a ``imgui.ini`` file. This file is stored in the root of the project directory that the simulation is run from.
 
diff --git a/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst b/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst
index 1588aa9765..a3c18ea73f 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst
@@ -1,10 +1,8 @@
-Unit Testing
-============
+# Unit Testing
 
-Unit testing is a method of testing code by dividing the code into the smallest "units" possible and testing each unit. In robot code, this can mean testing the code for each subsystem individually. There are many unit testing frameworks for most languages. Java robot projects have `JUnit 5 <https://junit.org/junit5/>`__ available by default, and C++ robot projects have `Google Test <https://github.com/google/googletest/blob/main/docs/primer.md>`__.
+Unit testing is a method of testing code by dividing the code into the smallest "units" possible and testing each unit. In robot code, this can mean testing the code for each subsystem individually. There are many unit testing frameworks for most languages. Java robot projects have [JUnit 5](https://junit.org/junit5/) available by default, and C++ robot projects have [Google Test](https://github.com/google/googletest/blob/main/docs/primer.md).
 
-Writing Testable Code
-^^^^^^^^^^^^^^^^^^^^^
+### Writing Testable Code
 
 .. note:: This example can be easily adapted to the command-based paradigm by having ``Intake`` inherit from ``SubsystemBase``.
 
@@ -18,7 +16,7 @@ To provide a "clean slate" for each test, we need to have a function to destroy
    .. tab-item:: Java
       :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/Intake.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/Intake.java
          :language: java
          :lines: 7-
 
@@ -26,19 +24,18 @@ To provide a "clean slate" for each test, we need to have a function to destroy
       :sync: C++
 
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.h
-         :language: cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.h
+         :language: c++
          :lines: 7-
 
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
-         :language: cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
+         :language: c++
          :lines: 5-
 
-Writing Tests
-^^^^^^^^^^^^^
+### Writing Tests
 
 .. important:: Tests are placed inside the ``test`` source set: ``/src/test/java/`` and ``/src/test/cpp/`` for Java and C++ tests, respectively. Files outside that source root do not have access to the test framework - this will fail compilation due to unresolved references.
 
@@ -54,31 +51,30 @@ Both JUnit and GoogleTest have multiple assertion types; the most common is equa
    .. tab-item:: Java
       :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java
          :language: java
          :lines: 7-
 
    .. tab-item:: C++
       :sync: C++
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.1.1-beta-3/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
-         :language: cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2024.3.2/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
+         :language: c++
          :lines: 5-
 
 For more advanced usage of JUnit and Google Test, see the framework docs.
 
-Running Tests
-^^^^^^^^^^^^^
+### Running Tests
 
 .. note:: Tests will always be run in simulation on your desktop. For prerequisites and more info, see :doc:`the simulation introduction <introduction>`.
 
 For Java tests to run, make sure that your ``build.gradle`` file contains the following block:
 
-.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2024.1.1-beta-2/vscode-wpilib/resources/gradle/java/build.gradle
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2024.3.2/vscode-wpilib/resources/gradle/java/build.gradle
    :language: groovy
-   :lines: 75-78
+   :lines: 74-77
    :linenos:
-   :lineno-start: 75
+   :lineno-start: 74
 
 Use :guilabel:`Test Robot Code` from the Command Palette to run the tests. Results will be reported in the terminal output, each test will have a ``FAILED`` or ``PASSED``/``OK`` label next to the test name in the output. JUnit (Java only) will generate a HTML document in ``build/reports/tests/test/index.html`` with a more detailed overview of the results; if there are any failed tests a link to render the document in your browser will be printed in the terminal output.
 
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index 15a8433664..99f13a20cf 100644
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diff --git a/source/docs/software/wpilib-tools/robotbuilder/advanced/index.rst b/source/docs/software/wpilib-tools/robotbuilder/advanced/index.rst
index 5290f6d72d..3cafaf3051 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/advanced/index.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/advanced/index.rst
@@ -1,5 +1,4 @@
-RobotBuilder - Advanced
-=======================
+# RobotBuilder - Advanced
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-custom-components.rst b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-custom-components.rst
index fb68bca386..2750a2c865 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-custom-components.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-custom-components.rst
@@ -1,12 +1,10 @@
 .. include:: <isonum.txt>
 
-Adding Custom Components
-========================
+# Adding Custom Components
 
 RobotBuilder works very well for creating robot programs that just use WPILib for motors, controllers, and sensors. But for teams that use custom classes, RobotBuilder doesn't have any support for those classes, so a few steps need to be taken to use them in RobotBuilder
 
-Custom Component Structure
---------------------------
+## Custom Component Structure
 
 .. image:: images/custom-components-1.png
 
@@ -14,8 +12,7 @@ Custom components all go in ``~/wpilib/YYYY/Robotbuilder/extensions`` where ~ is
 
 There are seven files and one folder that are needed for a custom component. The folder contains the files describing the component and how to export it. It should have the same name as the component (e.g."Kiwi Drive" for a kiwi drive controller, "Robot Drive 6" for a six-motor drive controller, etc.). The files should have the same names and extensions as the ones shown here. Other files can be in the folder along with these seven, but the seven must be present for RobotBuilder to recognize the custom component.
 
-PaletteDescription.yaml
------------------------
+## PaletteDescription.yaml
 
 .. image:: images/custom-components-2.png
 
@@ -40,8 +37,7 @@ The types of component RobotBuilder supports (these are case-sensitive):
 - Joystick
 - Joystick Button
 
-Properties
-^^^^^^^^^^
+### Properties
 
 The properties relevant for a custom component:
 
@@ -55,15 +51,13 @@ The fields for each property are described below:
 
 .. image:: images/custom-components-3.png
 
-Validators.yaml
----------------
+## Validators.yaml
 
 .. image:: images/custom-components-4.png
 
 You may have noticed "KiwiDriveValidator" in the validators entry of each of the motor properties in PaletteDescription.yaml. It's not a built-in validator, so it had to be defined in Validators.yaml. This example validator is very simple - it just makes sure that each of the named fields has a different value than the others.
 
-Built-in Validators and Validator Types
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Built-in Validators and Validator Types
 
 .. image:: images/custom-components-5.png
 
@@ -74,8 +68,7 @@ The built-in validators are very useful (especially the UniqueValidators for por
 - UniqueValidator: Makes sure that the value for the property is unique globally for the given fields
 - ListValidator: Makes sure that all the values in a list property are valid
 
-C++ Export.yaml
----------------
+## C++ Export.yaml
 
 .. image:: images/custom-components-6.png
 
@@ -88,27 +81,25 @@ A line-by-line breakdown of the file:
 
 This example expects a KiwiDrive class with the constructor
 
-.. code-block:: cpp
-
-   KiwiDrive(SpeedController, SpeedController, SpeedController)
+```c++
+KiwiDrive(SpeedController, SpeedController, SpeedController)
+```
 
 If your team uses Java, this file can be empty.
 
-Java Export.yaml
-----------------
+## Java Export.yaml
 
 .. image:: images/custom-components-7.png
 
 Very similar to the C++ export file; the only difference should be the Construction line. This example expects a KiwiDrive class with the constructor
 
-.. code-block:: java
-
-   KiwiDrive(SpeedController, SpeedController, SpeedController)
+```java
+KiwiDrive(SpeedController, SpeedController, SpeedController)
+```
 
 If your team uses C++, this file can be empty.
 
-Using Macros and Variables
---------------------------
+## Using Macros and Variables
 
 Macros are simple functions that RobotBuilder uses to turn variables into text that will be inserted into generated code. They always start with the "#" symbol, and have a syntax similar to functions: ``<macro_name>( arg0, arg1, arg2, ...)``. The only macro you'll probably need to use is ``#variable( component_name )``
 
@@ -133,15 +124,13 @@ Variables are either component properties (e.g. "Motor 1", "Motor 2", "Motor 3"
 
 If you have variables with spaces in the name (such as "Motor 1", "Right Front Motor", etc.), the spaces need to be replaced with underscores when using them in the export files.
 
-help.html
----------
+## help.html
 
 .. image:: images/custom-components-8.png
 
 A HTML file giving information on the component. It is better to have this be as detailed as possible, though it certainly isn't necessary if the programmer(s) are familiar enough with the component, or if it's so simple that there's little point in a detailed description.
 
-config.txt
-----------
+## config.txt
 
 .. image:: images/custom-components-9.png
 
@@ -157,9 +146,8 @@ The sections of the palette (these are case sensitive):
 - OI
 - Commands
 
-icon.png
---------
+## icon.png
 
 The icon that shows up in the palette and the help page. This should be a 64x64 ``.png`` file.
 
-It should use the color scheme and general style of the section it's in to avoid visual clutter, but this is entirely optional. Photoshop ``.psd`` files of the icons and backgrounds are in `src/main/icons/icons <https://github.com/wpilibsuite/RobotBuilder/tree/main/src/main/icons/icons>`_ and png files of the icons and backgrounds are in `src/main/resources/icons <https://github.com/wpilibsuite/RobotBuilder/tree/main/src/main/resources/icons>`_.
+It should use the color scheme and general style of the section it's in to avoid visual clutter, but this is entirely optional. Photoshop ``.psd`` files of the icons and backgrounds are in [src/main/icons/icons](https://github.com/wpilibsuite/RobotBuilder/tree/main/src/main/icons/icons) and png files of the icons and backgrounds are in [src/main/resources/icons](https://github.com/wpilibsuite/RobotBuilder/tree/main/src/main/resources/icons).
diff --git a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-pidsubsystem-actuators.rst b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-pidsubsystem-actuators.rst
index ea10b80afa..c21dd07aa3 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-pidsubsystem-actuators.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-pidsubsystem-actuators.rst
@@ -1,10 +1,8 @@
-Using PIDSubsystem to Control Actuators
-=======================================
+# Using PIDSubsystem to Control Actuators
 
 More advanced subsystems will use sensors for feedback to get guaranteed results for operations like setting elevator heights or wrist angles.  PIDSubsystems use feedback to control the actuator and drive it to a particular position. In this example we use an elevator with a 10-turn potentiometer connected to it to give feedback on the height. The PIDSubsystem has a built-in PIDController to automatically control the mechanism to the correct setpoints.
 
-Create a PIDSubsystem
----------------------
+## Create a PIDSubsystem
 
 .. image:: images/pidsubsystem-actuators-1.png
 
@@ -15,8 +13,7 @@ Creating a subsystem that uses feedback to control the position or speed of a me
 
 Notice that some of the parts of the robot description have turned red. This indicates that these components (the PIDSubsystem) haven't been completed and need to be filled in. The properties that are either missing or incorrect are shown in red.
 
-Adding Sensors and Actuators to the PIDSubsystem
-------------------------------------------------
+## Adding Sensors and Actuators to the PIDSubsystem
 
 .. image:: images/pidsubsystem-actuators-2.png
 
@@ -25,16 +22,14 @@ Add the missing components for the PIDSubsystem
 1. Drag in the actuator (a motor controller) to the particular subsystem - in this case the Elevator
 2. Drag the sensor that will be used for feedback to the subsystem, in this case the sensor is a potentiometer that might give elevator height feedback.
 
-Fill in the PID Parameters
---------------------------
+## Fill in the PID Parameters
 
 .. image:: images/pidsubsystem-actuators-3.png
 
 
 The P, I, and D values need to be filled in to get the desired sensitivity and stability of the component. In the case of our elevator we use a proportional constant of 6.0 and 0 for the I and D terms.
 
-Create Setpoint Constants
--------------------------
+## Create Setpoint Constants
 
 .. image:: images/pidsubsystem-actuators-4.png
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-setpoint-command.rst b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-setpoint-command.rst
index 51025ee8de..a7d05d213c 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-setpoint-command.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-setpoint-command.rst
@@ -1,10 +1,8 @@
-Setpoint Command
-================
+# Setpoint Command
 
 A Setpoint Command works in conjunction with a PIDSubsystem to drive an actuator to a particular angle or position that is measured using a potentiometer or encoder. This happens so often that there is a shortcut in RobotBuilder to do this task.
 
-Start with a PIDSubsystem
--------------------------
+## Start with a PIDSubsystem
 
 .. image:: images/setpoint-command-1.png
 
@@ -12,15 +10,13 @@ Suppose in a robot there is a wrist joint with a potentiometer that measures the
 
 It is important to set the **Tolerance** parameter. This controls how far off the current value can be from the setpoint and be considered on target. This is the criteria that the SetpointCommand uses to move onto the next command.
 
-Creating the Setpoint Command
------------------------------
+## Creating the Setpoint Command
 
 .. image:: images/setpoint-command-2.png
 
 Right-click on the Commands folder in the palette and select "Add Setpoint command".
 
-Setpoint Command Parameters
----------------------------
+## Setpoint Command Parameters
 
 .. image:: images/setpoint-command-3.png
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-writing-pidsubsystem-code.rst b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-writing-pidsubsystem-code.rst
index ad8fd30837..04a8cfa8a0 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-writing-pidsubsystem-code.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-writing-pidsubsystem-code.rst
@@ -1,5 +1,4 @@
-Writing the Code for a PIDSubsystem
-===================================
+# Writing the Code for a PIDSubsystem
 
 The skeleton of the PIDSubsystem is generated by the RobotBuilder and we have to fill in the rest of the code to provide the potentiometer value and drive the motor with the output of the embedded PIDController.
 
@@ -8,97 +7,92 @@ Make sure the Elevator PID subsystem has been created in the RobotBuilder. Once
 
 RobotBuilder generates the PIDSubsystem methods such that no additional code is needed for basic operation.
 
-Setting the PID Constants
--------------------------
+## Setting the PID Constants
 
 The height constants and PID constants are automatically generated.
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      public class Elevator extends PIDSubsystem {
-
-          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-      public static final double Bottom = 4.6;
-      public static final double Stow = 1.65;
-      public static final double Table_Height = 1.58;
-
-          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-
-          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-      private AnalogPotentiometer pot;private PWMVictorSPX motor;
-          //P I D Variables
-          private static final double kP = 6.0;
-          private static final double kI = 0.0;
-          private static final double kD = 0.0;
-          private static final double kF = 0.0;
-          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-
-   .. code-block:: cpp
-
+   ```java
+   public class Elevator extends PIDSubsystem {
+
+       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+   public static final double Bottom = 4.6;
+   public static final double Stow = 1.65;
+   public static final double Table_Height = 1.58;
+       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+
+       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+   private AnalogPotentiometer pot;private PWMVictorSPX motor;
+       //P I D Variables
+       private static final double kP = 6.0;
+       private static final double kI = 0.0;
+       private static final double kD = 0.0;
+       private static final double kF = 0.0;
+       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+   ```
+
+   ```c++
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
       static constexpr const double Bottom = 4.6;
       static constexpr const double Stow = 1.65;
       static constexpr const double Table_Height = 1.58;
-
           static constexpr const double kP = 6.0;
           static constexpr const double kI = 0.0;
           static constexpr const double kD = 0.0;
           static constexpr const double kF = 0.0;
           // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+   ```
 
-Get Potentiometer Measurement
------------------------------
+## Get Potentiometer Measurement
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-       @Override
-       public double getMeasurement() {
-           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
-           return pot.get();
+   ```java
+   @Override
+   public double getMeasurement() {
+       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
+       return pot.get();
 
-           // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
-       }
+       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
+   }
+   ```
 
-   .. code-block:: cpp
+   ```c++
+   double Elevator::GetMeasurement() {
+       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
+       return m_pot.Get();
 
-      double Elevator::GetMeasurement() {
-          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
-          return m_pot.Get();
-
-          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
-      }
+       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
+   }
+   ```
 
 The ``getMeasurement()`` method is used to set the value of the sensor that is providing the feedback for the PID controller. In this case, the code is automatically generated and returns the potentiometer voltage as returned by the ``get()`` method.
 
-Calculate PID Output
---------------------
+## Calculate PID Output
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-          @Override
-          public void useOutput(double output, double setpoint) {
-              output += setpoint*kF;
-              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
-      motor.set(output);
-
-              // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
-          }
-
-   .. code-block:: cpp
-
-      void Elevator::UseOutput(double output, double setpoint) {
-          output += setpoint*kF;
-          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
-      m_motor.Set(output);
-
-          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
-      }
+   ```java
+        @Override
+        public void useOutput(double output, double setpoint) {
+            output += setpoint*kF;
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
+    motor.set(output);
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
+        }
+   ```
+
+   ```c++
+   void Elevator::UseOutput(double output, double setpoint) {
+       output += setpoint*kF;
+       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
+   m_motor.Set(output);
+
+       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
+   }
+   ```
 
 The ``useOutput`` method writes the calculated PID output directly to the motor.
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/index.rst b/source/docs/software/wpilib-tools/robotbuilder/index.rst
index f664ed6306..500adb8708 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/index.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/index.rst
@@ -1,5 +1,4 @@
-RobotBuilder
-============
+# RobotBuilder
 
 .. toctree::
    :maxdepth: 2
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/images/autonomous-command-1.png b/source/docs/software/wpilib-tools/robotbuilder/introduction/images/autonomous-command-1.png
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index 5943b5f4fc..b68cb74dad 100644
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diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/images/testing-with-smartdashboard-1.png b/source/docs/software/wpilib-tools/robotbuilder/introduction/images/testing-with-smartdashboard-1.png
index a3324f22a0..d9393c2ac0 100644
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diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/index.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/index.rst
index 2fff96f4f5..9cc1ab749f 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/index.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/index.rst
@@ -1,5 +1,4 @@
-RobotBuilder - Introduction
-===========================
+# RobotBuilder - Introduction
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-autonomous-command.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-autonomous-command.rst
index dcd2c4da7c..ab2d77d483 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-autonomous-command.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-autonomous-command.rst
@@ -1,5 +1,4 @@
-Setting the Autonomous Commands
-===============================
+# Setting the Autonomous Commands
 
 Since a command is simply one or more actions (behaviors) that the robot performs, it makes sense to describe the autonomous operation of a robot as a command. While it could be a single command, it is more likely going to be a command group (a group of commands that happen together).
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-created-code.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-created-code.rst
index c2af7196ad..faabc50272 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-created-code.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-created-code.rst
@@ -1,8 +1,6 @@
-RobotBuilder Created Code
-=========================
+# RobotBuilder Created Code
 
-The Layout of a RobotBuilder Generated Project
-----------------------------------------------
+## The Layout of a RobotBuilder Generated Project
 
 .. image:: images/robotbuilder-created-code-java.png
   :height: 500
@@ -14,25 +12,24 @@ A RobotBuilder generated project consists of a package (in Java) or a folder (in
 
 For more information on the organization of a Command Based robot, see :doc:`/docs/software/commandbased/structuring-command-based-project`
 
-Autogenerated Code
-------------------
+## Autogenerated Code
 .. tab-set-code::
 
-    .. code-block:: java
+    ```java
+    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+    m_chooser.setDefaultOption("Autonomous", new Autonomous());
+    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 
-        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-        m_chooser.setDefaultOption("Autonomous", new Autonomous());
-        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+    SmartDashboard.putData("Auto Mode", m_chooser);
+    ```
 
-        SmartDashboard.putData("Auto Mode", m_chooser);
+    ```c++
+    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+    m_chooser.SetDefaultOption("Autonomous", new Autonomous());
+    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 
-    .. code-block:: cpp
-
-        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-        m_chooser.SetDefaultOption("Autonomous", new Autonomous());
-        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-
-        frc::SmartDashboard::PutData("Auto Mode", &m_chooser);
+    frc::SmartDashboard::PutData("Auto Mode", &m_chooser);
+    ```
 
 When the robot description is modified and code is re-exported RobotBuilder is designed to not modify any changes you made to the file, thus preserving your code. This makes RobotBuilder a full-lifecycle tool. To know what code is OK to be modified by RobotBuilder, it generates sections that will potentially have to be rewritten delimited with some special comments. These comments are shown in the example above. Don't add any code within these comment blocks, it will be rewritten next time the project is exported from RobotBuilder.
 
@@ -40,255 +37,254 @@ If code inside one of these blocks must be modified, the comments can be removed
 
 .. tab-set-code::
 
-    .. code-block:: java
-
-        // ROBOTBUILDER TYPE: Robot.
+    ```java
+    // ROBOTBUILDER TYPE: Robot.
+    ```
 
-    .. code-block:: cpp
-
-        // ROBOTBUILDER TYPE: Robot.
+    ```c++
+    // ROBOTBUILDER TYPE: Robot.
+    ```
 
 Additionally, each file has a comment defining the type of file. If this is modified or deleted, RobotBuilder will completely regenerate the file deleting any code added both inside and outside the AUTOGENERATED CODE blocks.
 
-Main Robot Program
-------------------
+## Main Robot Program
 .. tab-set::
 
     .. tab-item:: Java
 
-        .. code-block:: java
-            :linenos:
-            :lineno-start: 11
-            :emphasize-lines: 19,50,70-75
-
-            // ROBOTBUILDER TYPE: Robot.
+        ```java
+        :linenos:
+        :lineno-start: 11
+        :emphasize-lines: 19,50,70-75
+        
+        // ROBOTBUILDER TYPE: Robot.
 
-            package frc.robot;
+        package frc.robot;
 
-            import edu.wpi.first.hal.FRCNetComm.tInstances;
-            import edu.wpi.first.hal.FRCNetComm.tResourceType;
-            import edu.wpi.first.hal.HAL;
-            import edu.wpi.first.wpilibj.TimedRobot;
-            import edu.wpi.first.wpilibj2.command.Command;
-            import edu.wpi.first.wpilibj2.command.CommandScheduler;
+        import edu.wpi.first.hal.FRCNetComm.tInstances;
+        import edu.wpi.first.hal.FRCNetComm.tResourceType;
+        import edu.wpi.first.hal.HAL;
+        import edu.wpi.first.wpilibj.TimedRobot;
+        import edu.wpi.first.wpilibj2.command.Command;
+        import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
-            /**
-             * The VM is configured to automatically run this class, and to call the
-             * functions corresponding to each mode, as described in the TimedRobot
-             * documentation. If you change the name of this class or the package after
-             * creating this project, you must also update the build.properties file in
-             * the project.
-             */
-            public class Robot extends TimedRobot { // (1)
-
-                private Command m_autonomousCommand;
-
-                private RobotContainer m_robotContainer;
-
-                /**
-                 * This function is run when the robot is first started up and should be
-                 * used for any initialization code.
-                 */
-                @Override
-                public void robotInit() {
-                    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
-                    // autonomous chooser on the dashboard.
-                    m_robotContainer = RobotContainer.getInstance();
-                    HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_RobotBuilder);
-                }
+        /**
+         * The VM is configured to automatically run this class, and to call the
+         * functions corresponding to each mode, as described in the TimedRobot
+         * documentation. If you change the name of this class or the package after
+         * creating this project, you must also update the build.properties file in
+         * the project.
+         */
+        public class Robot extends TimedRobot { // (1)
 
-                /**
-                * This function is called every robot packet, no matter the mode. Use this for items like
-                * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
-                *
-                * <p>This runs after the mode specific periodic functions, but before
-                * LiveWindow and SmartDashboard integrated updating.
-                */
-                @Override
-                public void robotPeriodic() {
-                    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
-                    // commands, running already-scheduled commands, removing finished or interrupted commands,
-                    // and running subsystem periodic() methods.  This must be called from the robot's periodic
-                    // block in order for anything in the Command-based framework to work.
-                    CommandScheduler.getInstance().run();  // (2)
-                }
+            private Command m_autonomousCommand;
 
+            private RobotContainer m_robotContainer;
 
-                /**
-                * This function is called once each time the robot enters Disabled mode.
-                */
-                @Override
-                public void disabledInit() {
-                }
+            /**
+             * This function is run when the robot is first started up and should be
+             * used for any initialization code.
+             */
+            @Override
+            public void robotInit() {
+                // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
+                // autonomous chooser on the dashboard.
+                m_robotContainer = RobotContainer.getInstance();
+                HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_RobotBuilder);
+            }
 
-                @Override
-                public void disabledPeriodic() {
-                }
+            /**
+            * This function is called every robot packet, no matter the mode. Use this for items like
+            * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+            *
+            * <p>This runs after the mode specific periodic functions, but before
+            * LiveWindow and SmartDashboard integrated updating.
+            */
+            @Override
+            public void robotPeriodic() {
+                // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
+                // commands, running already-scheduled commands, removing finished or interrupted commands,
+                // and running subsystem periodic() methods.  This must be called from the robot's periodic
+                // block in order for anything in the Command-based framework to work.
+                CommandScheduler.getInstance().run();  // (2)
+            }
 
-                /**
-                * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
-                */
-                @Override
-                public void autonomousInit() {
-                    m_autonomousCommand = m_robotContainer.getAutonomousCommand();  // (3)
-
-                    // schedule the autonomous command (example)
-                    if (m_autonomousCommand != null) {
-                        m_autonomousCommand.schedule();
-                    }
-                }
 
-                /**
-                * This function is called periodically during autonomous.
-                */
-                @Override
-                public void autonomousPeriodic() {
-                }
+            /**
+            * This function is called once each time the robot enters Disabled mode.
+            */
+            @Override
+            public void disabledInit() {
+            }
 
-                @Override
-                public void teleopInit() {
-                    // This makes sure that the autonomous stops running when
-                    // teleop starts running. If you want the autonomous to
-                    // continue until interrupted by another command, remove
-                    // this line or comment it out.
-                    if (m_autonomousCommand != null) {
-                        m_autonomousCommand.cancel();
-                    }
-                }
+            @Override
+            public void disabledPeriodic() {
+            }
 
-                /**
-                 * This function is called periodically during operator control.
-                 */
-                @Override
-                public void teleopPeriodic() {
+            /**
+            * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+            */
+            @Override
+            public void autonomousInit() {
+                m_autonomousCommand = m_robotContainer.getAutonomousCommand();  // (3)
+
+                // schedule the autonomous command (example)
+                if (m_autonomousCommand != null) {
+                    m_autonomousCommand.schedule();
                 }
+            }
 
-                @Override
-                public void testInit() {
-                    // Cancels all running commands at the start of test mode.
-                    CommandScheduler.getInstance().cancelAll();
-                }
+            /**
+            * This function is called periodically during autonomous.
+            */
+            @Override
+            public void autonomousPeriodic() {
+            }
 
-                /**
-                * This function is called periodically during test mode.
-                */
-                @Override
-                public void testPeriodic() {
+            @Override
+            public void teleopInit() {
+                // This makes sure that the autonomous stops running when
+                // teleop starts running. If you want the autonomous to
+                // continue until interrupted by another command, remove
+                // this line or comment it out.
+                if (m_autonomousCommand != null) {
+                    m_autonomousCommand.cancel();
                 }
-
             }
 
-
-    .. tab-item:: C++ (Header)
-
-        .. code-block:: C++
-            :linenos:
-            :lineno-start: 11
-            :emphasize-lines: 9
-
-            // ROBOTBUILDER TYPE: Robot.
-            #pragma once
-
-            #include <frc/TimedRobot.h>
-            #include <frc2/command/Command.h>
-
-            #include "RobotContainer.h"
-
-            class Robot : public frc::TimedRobot { // {1}
-             public:
-              void RobotInit() override;
-              void RobotPeriodic() override;
-              void DisabledInit() override;
-              void DisabledPeriodic() override;
-              void AutonomousInit() override;
-              void AutonomousPeriodic() override;
-              void TeleopInit() override;
-              void TeleopPeriodic() override;
-              void TestPeriodic() override;
-
-             private:
-              // Have it null by default so that if testing teleop it
-              // doesn't have undefined behavior and potentially crash.
-              frc2::Command* m_autonomousCommand = nullptr;
-
-              RobotContainer* m_container = RobotContainer::GetInstance();
-            };
-
-
-    .. tab-item:: C++ (Source)
-
-        .. code-block:: C++
-            :linenos:
-            :lineno-start: 11
-            :emphasize-lines: 18,34-38
-
-            // ROBOTBUILDER TYPE: Robot.
-
-            #include "Robot.h"
-
-            #include <frc/smartdashboard/SmartDashboard.h>
-            #include <frc2/command/CommandScheduler.h>
-
-            void Robot::RobotInit() {}
-
             /**
-             * This function is called every robot packet, no matter the mode. Use
-             * this for items like diagnostics that you want to run during disabled,
-             * autonomous, teleoperated and test.
-             *
-             * <p> This runs after the mode specific periodic functions, but before
-             * LiveWindow and SmartDashboard integrated updating.
-             */
-            void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); } // (2)
-
-            /**
-             * This function is called once each time the robot enters Disabled mode. You
-             * can use it to reset any subsystem information you want to clear when the
-             * robot is disabled.
+             * This function is called periodically during operator control.
              */
-            void Robot::DisabledInit() {}
+            @Override
+            public void teleopPeriodic() {
+            }
 
-            void Robot::DisabledPeriodic() {}
+            @Override
+            public void testInit() {
+                // Cancels all running commands at the start of test mode.
+                CommandScheduler.getInstance().cancelAll();
+            }
 
             /**
-             * This autonomous runs the autonomous command selected by your {@link
-             * RobotContainer} class.
-             */
-            void Robot::AutonomousInit() {
-              m_autonomousCommand = m_container->GetAutonomousCommand(); // {3}
-
-              if (m_autonomousCommand != nullptr) {
-                m_autonomousCommand->Schedule();
-              }
+            * This function is called periodically during test mode.
+            */
+            @Override
+            public void testPeriodic() {
             }
 
-            void Robot::AutonomousPeriodic() {}
-
-            void Robot::TeleopInit() {
-              // This makes sure that the autonomous stops running when
-              // teleop starts running. If you want the autonomous to
-              // continue until interrupted by another command, remove
-              // this line or comment it out.
-              if (m_autonomousCommand != nullptr) {
-                m_autonomousCommand->Cancel();
-                m_autonomousCommand = nullptr;
-              }
-            }
+        }
+        ```
 
-            /**
-             * This function is called periodically during operator control.
-             */
-            void Robot::TeleopPeriodic() {}
+    .. tab-item:: C++ (Header)
 
-            /**
-             * This function is called periodically during test mode.
-             */
-            void Robot::TestPeriodic() {}
+        ```C++
+        :linenos:
+        :lineno-start: 11
+        :emphasize-lines: 9
 
-            #ifndef RUNNING_FRC_TESTS
-            int main() { return frc::StartRobot<Robot>(); }
-            #endif
+        // ROBOTBUILDER TYPE: Robot.
+        #pragma once
+
+        #include <frc/TimedRobot.h>
+        #include <frc2/command/Command.h>
+
+        #include "RobotContainer.h"
+
+        class Robot : public frc::TimedRobot { // {1}
+         public:
+          void RobotInit() override;
+          void RobotPeriodic() override;
+          void DisabledInit() override;
+          void DisabledPeriodic() override;
+          void AutonomousInit() override;
+          void AutonomousPeriodic() override;
+          void TeleopInit() override;
+          void TeleopPeriodic() override;
+          void TestPeriodic() override;
+
+         private:
+          // Have it null by default so that if testing teleop it
+          // doesn't have undefined behavior and potentially crash.
+          frc2::Command* m_autonomousCommand = nullptr;
+
+          RobotContainer* m_container = RobotContainer::GetInstance();
+        };
+        ```
+
+    .. tab-item:: C++ (Source)
 
+        ```C++
+        :linenos:
+        :lineno-start: 11
+        :emphasize-lines: 18,34-38
+        
+        // ROBOTBUILDER TYPE: Robot.
+
+        #include "Robot.h"
+
+        #include <frc/smartdashboard/SmartDashboard.h>
+        #include <frc2/command/CommandScheduler.h>
+
+        void Robot::RobotInit() {}
+
+        /**
+         * This function is called every robot packet, no matter the mode. Use
+         * this for items like diagnostics that you want to run during disabled,
+         * autonomous, teleoperated and test.
+         *
+         * <p> This runs after the mode specific periodic functions, but before
+         * LiveWindow and SmartDashboard integrated updating.
+         */
+        void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); } // (2)
+
+        /**
+         * This function is called once each time the robot enters Disabled mode. You
+         * can use it to reset any subsystem information you want to clear when the
+         * robot is disabled.
+         */
+        void Robot::DisabledInit() {}
+
+        void Robot::DisabledPeriodic() {}
+
+        /**
+         * This autonomous runs the autonomous command selected by your {@link
+         * RobotContainer} class.
+         */
+        void Robot::AutonomousInit() {
+          m_autonomousCommand = m_container->GetAutonomousCommand(); // {3}
+
+          if (m_autonomousCommand != nullptr) {
+            m_autonomousCommand->Schedule();
+          }
+        }
+
+        void Robot::AutonomousPeriodic() {}
+
+        void Robot::TeleopInit() {
+          // This makes sure that the autonomous stops running when
+          // teleop starts running. If you want the autonomous to
+          // continue until interrupted by another command, remove
+          // this line or comment it out.
+          if (m_autonomousCommand != nullptr) {
+            m_autonomousCommand->Cancel();
+            m_autonomousCommand = nullptr;
+          }
+        }
+
+        /**
+         * This function is called periodically during operator control.
+         */
+        void Robot::TeleopPeriodic() {}
+
+        /**
+         * This function is called periodically during test mode.
+         */
+        void Robot::TestPeriodic() {}
+
+        #ifndef RUNNING_FRC_TESTS
+        int main() { return frc::StartRobot<Robot>(); }
+        #endif
+        ```
 
 This is the main program generated by RobotBuilder. There are a number of parts to this program (highlighted sections):
 
@@ -297,392 +293,392 @@ This is the main program generated by RobotBuilder. There are a number of parts
 3. The autonomous command provided is scheduled at the start of autonomous in the ``autonomousInit()`` method and canceled at the end of the autonomous period in ``teleopInit()``.
 
 
-RobotContainer
---------------
+## RobotContainer
 .. tab-set::
 
     .. tab-item:: Java
 
-        .. code-block:: java
-            :linenos:
-            :lineno-start: 11
-            :emphasize-lines: 33-36, 39, 62, 81, 92, 112
-
-            // ROBOTBUILDER TYPE: RobotContainer.
+        ```java
+        :linenos:
+        :lineno-start: 11
+        :emphasize-lines: 33-36, 39, 62, 81, 92, 112
 
-            package frc.robot;
-
-            import frc.robot.commands.*;
-            import frc.robot.subsystems.*;
-            import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-            import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-            import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
-
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-            import edu.wpi.first.wpilibj2.command.Command;
-            import edu.wpi.first.wpilibj2.command.InstantCommand;
-            import edu.wpi.first.wpilibj.Joystick;
-            import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-            import frc.robot.subsystems.*;
-
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-
-
-            /**
-             * This class is where the bulk of the robot should be declared.  Since Command-based is a
-             * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
-             * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
-             * (including subsystems, commands, and button mappings) should be declared here.
-             */
-            public class RobotContainer {
-
-              private static RobotContainer m_robotContainer = new RobotContainer();
-
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-            // The robot's subsystems
-                public final Wrist m_wrist = new Wrist(); // (1)
-                public final Elevator m_elevator = new Elevator();
-                public final Claw m_claw = new Claw();
-                public final Drivetrain m_drivetrain = new Drivetrain();
+        // ROBOTBUILDER TYPE: RobotContainer.
 
-            // Joysticks
-            private final Joystick joystick2 = new Joystick(2); // (3)
-            private final Joystick joystick1 = new Joystick(1);
-            private final Joystick logitechController = new Joystick(0);
+        package frc.robot;
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+        import frc.robot.commands.*;
+        import frc.robot.subsystems.*;
+        import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+        import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+        import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
 
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+        import edu.wpi.first.wpilibj2.command.Command;
+        import edu.wpi.first.wpilibj2.command.InstantCommand;
+        import edu.wpi.first.wpilibj.Joystick;
+        import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+        import frc.robot.subsystems.*;
 
-              // A chooser for autonomous commands
-              SendableChooser<Command> m_chooser = new SendableChooser<>();
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 
-              /**
-              * The container for the robot.  Contains subsystems, OI devices, and commands.
-              */
-              private RobotContainer() {
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
-                // Smartdashboard Subsystems
-                SmartDashboard.putData(m_wrist); // (6)
-                SmartDashboard.putData(m_elevator);
-                SmartDashboard.putData(m_claw);
-                SmartDashboard.putData(m_drivetrain);
 
+        /**
+         * This class is where the bulk of the robot should be declared.  Since Command-based is a
+         * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+         * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
+         * (including subsystems, commands, and button mappings) should be declared here.
+         */
+        public class RobotContainer {
 
-                // SmartDashboard Buttons
-                SmartDashboard.putData("Close Claw", new CloseClaw( m_claw )); // (6)
-                SmartDashboard.putData("Open Claw: OpenTime", new OpenClaw(1.0, m_claw));
-                SmartDashboard.putData("Pickup", new Pickup());
-                SmartDashboard.putData("Place", new Place());
-                SmartDashboard.putData("Prepare To Pickup", new PrepareToPickup());
-                SmartDashboard.putData("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
-                SmartDashboard.putData("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
-                SmartDashboard.putData("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
-                SmartDashboard.putData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, m_wrist));
-                SmartDashboard.putData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, m_wrist));
-                SmartDashboard.putData("Drive: Straight3Meters", new Drive(3, 0, m_drivetrain));
-                SmartDashboard.putData("Drive: Place", new Drive(Drivetrain.PlaceDistance, Drivetrain.BackAwayDistance, m_drivetrain));
+          private static RobotContainer m_robotContainer = new RobotContainer();
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
-                // Configure the button bindings
-                configureButtonBindings();
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+        // The robot's subsystems
+            public final Wrist m_wrist = new Wrist(); // (1)
+            public final Elevator m_elevator = new Elevator();
+            public final Claw m_claw = new Claw();
+            public final Drivetrain m_drivetrain = new Drivetrain();
 
-                // Configure default commands
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
-                m_drivetrain.setDefaultCommand(new TankDrive(() -> getJoystick1().getY(), () -> getJoystick2().getY(), m_drivetrain)); // (5)
+        // Joysticks
+        private final Joystick joystick2 = new Joystick(2); // (3)
+        private final Joystick joystick1 = new Joystick(1);
+        private final Joystick logitechController = new Joystick(0);
 
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
 
-                // Configure autonomous sendable chooser
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+          // A chooser for autonomous commands
+          SendableChooser<Command> m_chooser = new SendableChooser<>();
 
-                m_chooser.addOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
-                m_chooser.addOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
-                m_chooser.addOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
-                m_chooser.setDefaultOption("Autonomous", new Autonomous()); // (2)
+          /**
+          * The container for the robot.  Contains subsystems, OI devices, and commands.
+          */
+          private RobotContainer() {
+                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
+            // Smartdashboard Subsystems
+            SmartDashboard.putData(m_wrist); // (6)
+            SmartDashboard.putData(m_elevator);
+            SmartDashboard.putData(m_claw);
+            SmartDashboard.putData(m_drivetrain);
+
+
+            // SmartDashboard Buttons
+            SmartDashboard.putData("Close Claw", new CloseClaw( m_claw )); // (6)
+            SmartDashboard.putData("Open Claw: OpenTime", new OpenClaw(1.0, m_claw));
+            SmartDashboard.putData("Pickup", new Pickup());
+            SmartDashboard.putData("Place", new Place());
+            SmartDashboard.putData("Prepare To Pickup", new PrepareToPickup());
+            SmartDashboard.putData("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
+            SmartDashboard.putData("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
+            SmartDashboard.putData("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
+            SmartDashboard.putData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, m_wrist));
+            SmartDashboard.putData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, m_wrist));
+            SmartDashboard.putData("Drive: Straight3Meters", new Drive(3, 0, m_drivetrain));
+            SmartDashboard.putData("Drive: Place", new Drive(Drivetrain.PlaceDistance, Drivetrain.BackAwayDistance, m_drivetrain));
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
+            // Configure the button bindings
+            configureButtonBindings();
+
+            // Configure default commands
+                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
+            m_drivetrain.setDefaultCommand(new TankDrive(() -> getJoystick1().getY(), () -> getJoystick2().getY(), m_drivetrain)); // (5)
+
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
+
+            // Configure autonomous sendable chooser
+                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+            m_chooser.addOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
+            m_chooser.addOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
+            m_chooser.addOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
+            m_chooser.setDefaultOption("Autonomous", new Autonomous()); // (2)
 
-                SmartDashboard.putData("Auto Mode", m_chooser);
-              }
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 
-              public static RobotContainer getInstance() {
-                return m_robotContainer;
-              }
+            SmartDashboard.putData("Auto Mode", m_chooser);
+          }
 
-              /**
-               * Use this method to define your button->command mappings.  Buttons can be created by
-               * instantiating a {@link GenericHID} or one of its subclasses ({@link
-               * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
-               * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
-               */
-              private void configureButtonBindings() {
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
-            // Create some buttons
-            final JoystickButton r1 = new JoystickButton(logitechController, 12);        // (4)
-            r1.onTrue(new Autonomous().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
+          public static RobotContainer getInstance() {
+            return m_robotContainer;
+          }
 
-            final JoystickButton l1 = new JoystickButton(logitechController, 11);
-            l1.onTrue(new Place().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
+          /**
+           * Use this method to define your button->command mappings.  Buttons can be created by
+           * instantiating a {@link GenericHID} or one of its subclasses ({@link
+           * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+           * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+           */
+          private void configureButtonBindings() {
+                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
+        // Create some buttons
+        final JoystickButton r1 = new JoystickButton(logitechController, 12);        // (4)
+        r1.onTrue(new Autonomous().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
 
-            final JoystickButton r2 = new JoystickButton(logitechController, 10);
-            r2.onTrue(new Pickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
+        final JoystickButton l1 = new JoystickButton(logitechController, 11);
+        l1.onTrue(new Place().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
 
-            final JoystickButton l2 = new JoystickButton(logitechController, 9);
-            l2.onTrue(new PrepareToPickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
+        final JoystickButton r2 = new JoystickButton(logitechController, 10);
+        r2.onTrue(new Pickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
 
-            final JoystickButton dpadLeft = new JoystickButton(logitechController, 8);
-            dpadLeft.onTrue(new OpenClaw(1.0, m_claw).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
+        final JoystickButton l2 = new JoystickButton(logitechController, 9);
+        l2.onTrue(new PrepareToPickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
 
-            final JoystickButton dpadRight = new JoystickButton(logitechController, 6);
-            dpadRight.onTrue(new CloseClaw( m_claw ).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
+        final JoystickButton dpadLeft = new JoystickButton(logitechController, 8);
+        dpadLeft.onTrue(new OpenClaw(1.0, m_claw).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
 
-            final JoystickButton dpadDown = new JoystickButton(logitechController, 7);
-            dpadDown.onTrue(new SetElevatorSetpoint(0, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
+        final JoystickButton dpadRight = new JoystickButton(logitechController, 6);
+        dpadRight.onTrue(new CloseClaw( m_claw ).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
 
-            final JoystickButton dpadUp = new JoystickButton(logitechController, 5);
-            dpadUp.onTrue(new SetElevatorSetpoint(0.3, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
+        final JoystickButton dpadDown = new JoystickButton(logitechController, 7);
+        dpadDown.onTrue(new SetElevatorSetpoint(0, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
 
+        final JoystickButton dpadUp = new JoystickButton(logitechController, 5);
+        dpadUp.onTrue(new SetElevatorSetpoint(0.3, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
 
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
-              }
 
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
-            public Joystick getLogitechController() {
-                    return logitechController;
-                }
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
+          }
 
-            public Joystick getJoystick1() {
-                    return joystick1;
-                }
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
+        public Joystick getLogitechController() {
+                return logitechController;
+            }
 
-            public Joystick getJoystick2() {
-                    return joystick2;
-                }
+        public Joystick getJoystick1() {
+                return joystick1;
+            }
 
+        public Joystick getJoystick2() {
+                return joystick2;
+            }
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
 
-              /**
-               * Use this to pass the autonomous command to the main {@link Robot} class.
-               *
-               * @return the command to run in autonomous
-              */
-              public Command getAutonomousCommand() {
-                // The selected command will be run in autonomous
-                return m_chooser.getSelected();
-              }
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
 
+          /**
+           * Use this to pass the autonomous command to the main {@link Robot} class.
+           *
+           * @return the command to run in autonomous
+          */
+          public Command getAutonomousCommand() {
+            // The selected command will be run in autonomous
+            return m_chooser.getSelected();
+          }
 
-            }
 
+        }
+        ```
 
     .. tab-item:: C++ (Header)
 
-        .. code-block:: C++
-            :linenos:
-            :lineno-start: 11
-            :emphasize-lines: 38, 56
+        ```C++
+        :linenos:
+        :lineno-start: 11
+        :emphasize-lines: 38, 56
 
-            // ROBOTBUILDER TYPE: RobotContainer.
+        // ROBOTBUILDER TYPE: RobotContainer.
 
-            #pragma once
+        #pragma once
 
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-            #include <frc/smartdashboard/SendableChooser.h>
-            #include <frc2/command/Command.h>
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+        #include <frc/smartdashboard/SendableChooser.h>
+        #include <frc2/command/Command.h>
 
-            #include "subsystems/Claw.h"
-            #include "subsystems/Drivetrain.h"
-            #include "subsystems/Elevator.h"
-            #include "subsystems/Wrist.h"
+        #include "subsystems/Claw.h"
+        #include "subsystems/Drivetrain.h"
+        #include "subsystems/Elevator.h"
+        #include "subsystems/Wrist.h"
 
-            #include "commands/Autonomous.h"
-            #include "commands/CloseClaw.h"
-            #include "commands/Drive.h"
-            #include "commands/OpenClaw.h"
-            #include "commands/Pickup.h"
-            #include "commands/Place.h"
-            #include "commands/PrepareToPickup.h"
-            #include "commands/SetElevatorSetpoint.h"
-            #include "commands/SetWristSetpoint.h"
-            #include "commands/TankDrive.h"
-            #include <frc/Joystick.h>
-            #include <frc2/command/button/JoystickButton.h>
+        #include "commands/Autonomous.h"
+        #include "commands/CloseClaw.h"
+        #include "commands/Drive.h"
+        #include "commands/OpenClaw.h"
+        #include "commands/Pickup.h"
+        #include "commands/Place.h"
+        #include "commands/PrepareToPickup.h"
+        #include "commands/SetElevatorSetpoint.h"
+        #include "commands/SetWristSetpoint.h"
+        #include "commands/TankDrive.h"
+        #include <frc/Joystick.h>
+        #include <frc2/command/button/JoystickButton.h>
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
 
-            class RobotContainer {
+        class RobotContainer {
 
-            public:
+        public:
 
-                frc2::Command* GetAutonomousCommand();
-                static RobotContainer* GetInstance();
+            frc2::Command* GetAutonomousCommand();
+            static RobotContainer* GetInstance();
 
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
-            // The robot's subsystems
-            Drivetrain m_drivetrain; // (1)
-            Claw m_claw;
-            Elevator m_elevator;
-            Wrist m_wrist;
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
+        // The robot's subsystems
+        Drivetrain m_drivetrain; // (1)
+        Claw m_claw;
+        Elevator m_elevator;
+        Wrist m_wrist;
 
 
-            frc::Joystick* getJoystick2();
-            frc::Joystick* getJoystick1();
-            frc::Joystick* getLogitechController();
+        frc::Joystick* getJoystick2();
+        frc::Joystick* getJoystick1();
+        frc::Joystick* getLogitechController();
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
 
-            private:
+        private:
 
-                RobotContainer();
+            RobotContainer();
 
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-            // Joysticks
-            frc::Joystick m_logitechController{0}; // (3)
-            frc::Joystick m_joystick1{1};
-            frc::Joystick m_joystick2{2};
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+        // Joysticks
+        frc::Joystick m_logitechController{0}; // (3)
+        frc::Joystick m_joystick1{1};
+        frc::Joystick m_joystick2{2};
 
-            frc::SendableChooser<frc2::Command*> m_chooser;
+        frc::SendableChooser<frc2::Command*> m_chooser;
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 
-            Autonomous m_autonomousCommand;
-                static RobotContainer* m_robotContainer;
+        Autonomous m_autonomousCommand;
+            static RobotContainer* m_robotContainer;
 
-                void ConfigureButtonBindings();
-            };
+            void ConfigureButtonBindings();
+        };
+        ```
 
     .. tab-item:: C++ (Source)
 
-        .. code-block:: cpp
-            :linenos:
-            :lineno-start: 11
-            :emphasize-lines: 28, 46, 56, 74
+        ```c++
+        :linenos:
+        :lineno-start: 11
+        :emphasize-lines: 28, 46, 56, 74
+        
+        // ROBOTBUILDER TYPE: RobotContainer.
 
-            // ROBOTBUILDER TYPE: RobotContainer.
+        #include "RobotContainer.h"
+        #include <frc2/command/ParallelRaceGroup.h>
+        #include <frc/smartdashboard/SmartDashboard.h>
 
-            #include "RobotContainer.h"
-            #include <frc2/command/ParallelRaceGroup.h>
-            #include <frc/smartdashboard/SmartDashboard.h>
 
 
+        RobotContainer* RobotContainer::m_robotContainer = NULL;
 
-            RobotContainer* RobotContainer::m_robotContainer = NULL;
+        RobotContainer::RobotContainer() : m_autonomousCommand(
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+        ){
 
-            RobotContainer::RobotContainer() : m_autonomousCommand(
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
-            ){
 
 
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
+            // Smartdashboard Subsystems
+            frc::SmartDashboard::PutData(&m_drivetrain);
+            frc::SmartDashboard::PutData(&m_claw);
+            frc::SmartDashboard::PutData(&m_elevator);
+            frc::SmartDashboard::PutData(&m_wrist);
 
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
-                // Smartdashboard Subsystems
-                frc::SmartDashboard::PutData(&m_drivetrain);
-                frc::SmartDashboard::PutData(&m_claw);
-                frc::SmartDashboard::PutData(&m_elevator);
-                frc::SmartDashboard::PutData(&m_wrist);
 
+            // SmartDashboard Buttons
+            frc::SmartDashboard::PutData("Drive: Straight3Meters", new Drive(3, 0, &m_drivetrain)); // (6)
+            frc::SmartDashboard::PutData("Drive: Place", new Drive(Drivetrain::PlaceDistance, Drivetrain::BackAwayDistance, &m_drivetrain));
+            frc::SmartDashboard::PutData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, &m_wrist));
+            frc::SmartDashboard::PutData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, &m_wrist));
+            frc::SmartDashboard::PutData("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, &m_elevator));
+            frc::SmartDashboard::PutData("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, &m_elevator));
+            frc::SmartDashboard::PutData("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, &m_elevator));
+            frc::SmartDashboard::PutData("Prepare To Pickup", new PrepareToPickup());
+            frc::SmartDashboard::PutData("Place", new Place());
+            frc::SmartDashboard::PutData("Pickup", new Pickup());
+            frc::SmartDashboard::PutData("Open Claw: OpenTime", new OpenClaw(1.0_s, &m_claw));
+            frc::SmartDashboard::PutData("Close Claw", new CloseClaw( &m_claw ));
 
-                // SmartDashboard Buttons
-                frc::SmartDashboard::PutData("Drive: Straight3Meters", new Drive(3, 0, &m_drivetrain)); // (6)
-                frc::SmartDashboard::PutData("Drive: Place", new Drive(Drivetrain::PlaceDistance, Drivetrain::BackAwayDistance, &m_drivetrain));
-                frc::SmartDashboard::PutData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, &m_wrist));
-                frc::SmartDashboard::PutData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, &m_wrist));
-                frc::SmartDashboard::PutData("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, &m_elevator));
-                frc::SmartDashboard::PutData("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, &m_elevator));
-                frc::SmartDashboard::PutData("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, &m_elevator));
-                frc::SmartDashboard::PutData("Prepare To Pickup", new PrepareToPickup());
-                frc::SmartDashboard::PutData("Place", new Place());
-                frc::SmartDashboard::PutData("Pickup", new Pickup());
-                frc::SmartDashboard::PutData("Open Claw: OpenTime", new OpenClaw(1.0_s, &m_claw));
-                frc::SmartDashboard::PutData("Close Claw", new CloseClaw( &m_claw ));
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
+            ConfigureButtonBindings();
 
-                ConfigureButtonBindings();
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
+        m_drivetrain.SetDefaultCommand(TankDrive([this] {return getJoystick1()->GetY();}, [this] {return getJoystick2()->GetY();}, &m_drivetrain)); // (5)
 
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
-            m_drivetrain.SetDefaultCommand(TankDrive([this] {return getJoystick1()->GetY();}, [this] {return getJoystick2()->GetY();}, &m_drivetrain)); // (5)
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-
-                m_chooser.AddOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, &m_elevator));
-                m_chooser.AddOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, &m_elevator));
-                m_chooser.AddOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, &m_elevator));
+            m_chooser.AddOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, &m_elevator));
+            m_chooser.AddOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, &m_elevator));
+            m_chooser.AddOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, &m_elevator));
 
-                m_chooser.SetDefaultOption("Autonomous", new Autonomous()); // (2)
+            m_chooser.SetDefaultOption("Autonomous", new Autonomous()); // (2)
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
 
-                frc::SmartDashboard::PutData("Auto Mode", &m_chooser);
+            frc::SmartDashboard::PutData("Auto Mode", &m_chooser);
 
-            }
+        }
 
-            RobotContainer* RobotContainer::GetInstance() {
-                if (m_robotContainer == NULL) {
-                    m_robotContainer = new RobotContainer();
-                }
-                return(m_robotContainer);
+        RobotContainer* RobotContainer::GetInstance() {
+            if (m_robotContainer == NULL) {
+                m_robotContainer = new RobotContainer();
             }
+            return(m_robotContainer);
+        }
 
-            void RobotContainer::ConfigureButtonBindings() {
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
-
-            frc2::JoystickButton m_dpadUp{&m_logitechController, 5}; // (4)
-            frc2::JoystickButton m_dpadDown{&m_logitechController, 7};
-            frc2::JoystickButton m_dpadRight{&m_logitechController, 6};
-            frc2::JoystickButton m_dpadLeft{&m_logitechController, 8};
-            frc2::JoystickButton m_l2{&m_logitechController, 9};
-            frc2::JoystickButton m_r2{&m_logitechController, 10};
-            frc2::JoystickButton m_l1{&m_logitechController, 11};
-            frc2::JoystickButton m_r1{&m_logitechController, 12};
+        void RobotContainer::ConfigureButtonBindings() {
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
 
-            m_dpadUp.OnTrue(SetElevatorSetpoint(0.3, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+        frc2::JoystickButton m_dpadUp{&m_logitechController, 5}; // (4)
+        frc2::JoystickButton m_dpadDown{&m_logitechController, 7};
+        frc2::JoystickButton m_dpadRight{&m_logitechController, 6};
+        frc2::JoystickButton m_dpadLeft{&m_logitechController, 8};
+        frc2::JoystickButton m_l2{&m_logitechController, 9};
+        frc2::JoystickButton m_r2{&m_logitechController, 10};
+        frc2::JoystickButton m_l1{&m_logitechController, 11};
+        frc2::JoystickButton m_r1{&m_logitechController, 12};
 
-            m_dpadDown.OnTrue(SetElevatorSetpoint(0, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+        m_dpadUp.OnTrue(SetElevatorSetpoint(0.3, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 
-            m_dpadRight.OnTrue(CloseClaw( &m_claw ).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+        m_dpadDown.OnTrue(SetElevatorSetpoint(0, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 
-            m_dpadLeft.OnTrue(OpenClaw(1.0_s, &m_claw).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+        m_dpadRight.OnTrue(CloseClaw( &m_claw ).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 
-            m_l2.OnTrue(PrepareToPickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+        m_dpadLeft.OnTrue(OpenClaw(1.0_s, &m_claw).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 
-            m_r2.OnTrue(Pickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+        m_l2.OnTrue(PrepareToPickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 
-            m_l1.OnTrue(Place().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+        m_r2.OnTrue(Pickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 
-            m_r1.OnTrue(Autonomous().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+        m_l1.OnTrue(Place().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 
+        m_r1.OnTrue(Autonomous().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
-            }
 
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
+        }
 
-            frc::Joystick* RobotContainer::getLogitechController() {
-               return &m_logitechController;
-            }
-            frc::Joystick* RobotContainer::getJoystick1() {
-               return &m_joystick1;
-            }
-            frc::Joystick* RobotContainer::getJoystick2() {
-               return &m_joystick2;
-            }
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
 
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
+        frc::Joystick* RobotContainer::getLogitechController() {
+           return &m_logitechController;
+        }
+        frc::Joystick* RobotContainer::getJoystick1() {
+           return &m_joystick1;
+        }
+        frc::Joystick* RobotContainer::getJoystick2() {
+           return &m_joystick2;
+        }
 
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
 
-            frc2::Command* RobotContainer::GetAutonomousCommand() {
-              // The selected command will be run in autonomous
-              return m_chooser.GetSelected();
-            }
 
+        frc2::Command* RobotContainer::GetAutonomousCommand() {
+          // The selected command will be run in autonomous
+          return m_chooser.GetSelected();
+        }
+        ```
 
 This is the RobotContainer generated by RobotBuilder which is where the subsystems and operator interface are defined. There are a number of parts to this program (highlighted sections):
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-creating-command.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-creating-command.rst
index fbe5958b67..0a5cc53bd9 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-creating-command.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-creating-command.rst
@@ -1,24 +1,20 @@
-Creating a Command
-==================
+# Creating a Command
 
 Commands are classes you create that provide behaviors or actions for your subsystems. The subsystem class should set the operation of the subsystem, like MoveElevator to start the elevator moving, or ElevatorToSetPoint to set the elevator's PID setpoint. The commands initiate the subsystem operation and keep track of when it is finished.
 
-Drag the Command to the Commands Folder
----------------------------------------
+## Drag the Command to the Commands Folder
 
 .. image:: images/creating-commands-1.png
 
 Simple commands can be dragged from the palette to the robot description. The command will be created under the Commands folder.
 
-Creating Commands using the Context Menu
-----------------------------------------
+## Creating Commands using the Context Menu
 
 .. image:: images/creating-commands-2.png
 
 You can also create commands using the right-click context menu on the Command folder in the robot description.
 
-Configuring the Command
------------------------
+## Configuring the Command
 
 .. image:: images/creating-commands-3.png
 
@@ -32,8 +28,7 @@ Configuring the Command
 
 Setpoint commands come with a single parameter ('setpoint', of type double); parameters cannot be added, edited, or deleted for setpoint commands.
 
-Adding and Editing Parameters
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Adding and Editing Parameters
 
 .. image:: images/creating-commands-4.png
 
@@ -46,8 +41,7 @@ To add or edit parameters:
 
 Rows can be reordered simply by dragging, and can be deleted by selecting them and pressing delete or backspace.
 
-Adding and Editing Parameter Presets
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Adding and Editing Parameter Presets
 
 .. image:: images/creating-commands-5.png
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-creating-subsystem.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-creating-subsystem.rst
index 316171498c..6855e7f221 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-creating-subsystem.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-creating-subsystem.rst
@@ -1,31 +1,26 @@
-Creating a Subsystem
-====================
+# Creating a Subsystem
 
 Subsystems are classes that encapsulate (or contain) all the data and code that make a subsystem on your robot operate. The first step in creating a robot program with the RobotBuilder is to identify and create all the subsystems on the robot. Examples of subsystems are grippers, ball collectors, the drive base, elevators, arms, etc. Each subsystem contains all the sensors and actuators that are used to make it work. For example, an elevator might have a Victor SPX motor controller and a potentiometer to provide feedback of the robot position.
 
-Creating a Subsystem using the Palette
---------------------------------------
+## Creating a Subsystem using the Palette
 
 .. image:: images/creating-subsystem-1.png
 
 Drag the subsystem icon from the palette to the Subsystems folder in the robot description to create a subsystem class.
 
-Creating a Subsystem using the Context Menu
--------------------------------------------
+## Creating a Subsystem using the Context Menu
 
 .. image:: images/creating-subsystem-2.png
 
 Right-click on the Subsystem folder in the robot description to add a subsystem to that folder.
 
-Name the Subsystem
-------------------
+## Name the Subsystem
 
 .. image:: images/creating-subsystem-3.png
 
 After creating the subsystem by either dragging or using the context menu as described above, simply type the name you would like to give the subsystem. The name can be multiple words separated by spaces, RobotBuilder will concatenate the words to make a proper Java or C++ class name for you.
 
-Adding Constants
-----------------
+## Adding Constants
 
 .. image:: images/creating-subsystem-4.png
 
@@ -33,15 +28,13 @@ Constants are very useful to reduce the amount of magic numbers in your code. In
 
 By default, there will be no constants in a subsystem. Press the button next to "Constants" to open a dialog to create some.
 
-Creating Constants
-^^^^^^^^^^^^^^^^^^
+### Creating Constants
 
 .. image:: images/creating-subsystem-5.png
 
 The constants table will be empty at first. Press "Add constant" to add one.
 
-Add Constants
-^^^^^^^^^^^^^
+### Add Constants
 
 .. image:: images/creating-subsystem-6.png
 
@@ -49,22 +42,19 @@ Add Constants
 2. The type of the constant. This will most likely be a double, but you can choose from one of: String, double, int, long, boolean, or byte.
 3. The value of the constant.
 
-Saving Constants
-^^^^^^^^^^^^^^^^
+### Saving Constants
 
 .. image:: images/creating-subsystem-7.png
 
 After adding constants and setting their values, just press "Save and close" to save the constants and close the dialog. If you don't want to save, press the exit button on the top of the window.
 
-After Saving
-^^^^^^^^^^^^
+### After Saving
 
 .. image:: images/creating-subsystem-8.png
 
 After saving constants, the names will appear in the "Constants" button in the subsystem properties.
 
-Dragging Actuators/Sensors into the Subsystem
----------------------------------------------
+## Dragging Actuators/Sensors into the Subsystem
 
 .. image:: images/creating-subsystem-9.png
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-interface.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-interface.rst
index 2ba75e0361..1495a201fa 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-interface.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-interface.rst
@@ -1,33 +1,28 @@
-RobotBuilder User Interface
-===========================
+# RobotBuilder User Interface
 
 .. image:: images/robotbuilder-interface-1.png
 
 RobotBuilder has a user interface designed for rapid development of robot programs. Almost all operations are performed by drag-and-drop or selecting options from drop-down lists.
 
-Dragging Items from the Palette to the Robot Description
---------------------------------------------------------
+## Dragging Items from the Palette to the Robot Description
 
 .. image:: images/robotbuilder-interface-2.png
 
 You can drag items from the palette to the robot description by starting the drag on the palette item and ending on the container where you would like the item to be located. In this example, dropping a potentiometer to the Elevator subsystem.
 
-Adding Components using the Right-Click Context Menu
-----------------------------------------------------
+## Adding Components using the Right-Click Context Menu
 
 .. image:: images/robotbuilder-interface-3.png
 
 A shortcut method of adding items to the robot description is to right-click on the container object (Elevator) and select the item that should be added (Potentiometer). This is identical to using drag and drop but might be easier for some people.
 
-Editing Properties of Robot Description Items
----------------------------------------------
+## Editing Properties of Robot Description Items
 
 .. image:: images/robotbuilder-interface-4.png
 
 The properties for a selected item will appear in the properties viewer. The properties can be edited by selecting the value in the right hand column.
 
-Using the Menu System
----------------------
+## Using the Menu System
 
 .. image:: images/robotbuilder-interface-5.png
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-operator-interface-to-command.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-operator-interface-to-command.rst
index 35527d468b..8da2e27870 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-operator-interface-to-command.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-operator-interface-to-command.rst
@@ -1,12 +1,10 @@
-Connecting the Operator Interface to a Command
-==============================================
+# Connecting the Operator Interface to a Command
 
 Commands handle the behaviors for your robot. The command starts a subsystem to some operating mode like raising and elevator and continues running until it reaches some setpoint or timeout. The command then handles waiting for the subsystem to finish. That way commands can run in sequence to develop more complex behaviors.
 
 RobotBuilder will also generate code to schedule a command to run whenever a button on your operator interface is pressed. You can also write code to run a command when a particular trigger condition has happened.
 
-Run a Command with a Button Press
----------------------------------
+## Run a Command with a Button Press
 
 .. image:: images/operator-interface-command-1.png
 
@@ -16,8 +14,7 @@ In this example we want to schedule the "Close Claw" command to run whenever the
 2. Notice that the command requires the Claw subsystem. This will ensure that this command starts running even if there was another operation happening at the same time that used the claw. In this case the previous command would be interrupted.
 3. Parameters make it possible for one command to do multiple things; presets let you define values you pass to the command and reuse them
 
-Adding the Joystick to the Robot Program
-----------------------------------------
+## Adding the Joystick to the Robot Program
 
 .. image:: images/operator-interface-command-2.png
 
@@ -26,8 +23,7 @@ Add the joystick to the robot program
 1. Drag the joystick to the Operator Interface folder in the robot program
 2. Name the joystick so that it reflects the use of the joystick and set the USB port number
 
-Linking a Button to the "Move Elevator" Command
------------------------------------------------
+## Linking a Button to the "Move Elevator" Command
 
 .. image:: images/operator-interface-command-3.png
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-overview.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-overview.rst
index 440de9bc52..5553bfd317 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-overview.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-overview.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-RobotBuilder Overview
-=====================
+# RobotBuilder Overview
 
 RobotBuilder is an application designed to aid the robot development process. RobotBuilder can help you:
 
@@ -16,8 +15,7 @@ Creating a program with RobotBuilder is a very straight forward procedure by fol
 
 .. note:: RobotBuilder generates code using the new Command Framework. For more details on the new framework see :ref:`Command Based Programming <docs/software/commandbased/index:Command-Based Programming>`.
 
-Divide the Robot into Subsystems
---------------------------------
+## Divide the Robot into Subsystems
 
 .. image:: images/robotbuilder-overview-1.png
 
@@ -25,8 +23,7 @@ Your robot is naturally made up of a number of smaller systems like the drive tr
 
 For more information see :doc:`Creating a Subsystem <robotbuilder-creating-subsystem>`.
 
-Adding each Subsystem to the Project
-------------------------------------
+## Adding each Subsystem to the Project
 
 .. image:: images/robotbuilder-overview-2.png
 
@@ -39,8 +36,7 @@ As you look through more of this documentation the differences between the subsy
 
 For more information see :doc:`Creating a Subsystem <robotbuilder-creating-subsystem>` and :ref:`Writing Code for a Subsystem <docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-subsystem-code:Writing the Code for a Subsystem>`.
 
-Adding Components to each of the Subsystems
--------------------------------------------
+## Adding Components to each of the Subsystems
 
 .. image:: images/robotbuilder-overview-3.png
 
@@ -48,8 +44,7 @@ Each subsystem consists of a number of actuators, sensors and controllers that i
 
 In this example there is an Elevator subsystem that uses a motor and a potentiometer (motor and pot) that have been dragged to the Elevator subsystem.
 
-Adding Commands That Describe Subsystem Goals
----------------------------------------------
+## Adding Commands That Describe Subsystem Goals
 
 Commands are distinct goals that the robot will perform. These commands are added by dragging the command under the "Commands" folder. When creating a command, there are 7 choices (shown on the palette on the left of the picture):
 
@@ -64,8 +59,7 @@ Commands are distinct goals that the robot will perform. These commands are adde
 
 For more information see :doc:`Creating a Command <robotbuilder-creating-command>` and :ref:`Writing Command Code <docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-command-code:Writing the Code for a Command>`.
 
-Testing each Command
---------------------
+## Testing each Command
 
 .. image:: images/robotbuilder-overview-4.png
 
@@ -75,8 +69,7 @@ By creating buttons, each command can be tested individually. If all the command
 
 For more information see :doc:`Testing with Smartdashboard <robotbuilder-testing-with-shuffleboard>`.
 
-Adding Operator Interface Components
-------------------------------------
+## Adding Operator Interface Components
 
 .. image:: images/robotbuilder-overview-5.png
 
@@ -84,8 +77,7 @@ The operator interface consists of joysticks, gamepads and other HID input devic
 
 The operator interface components are dragged from the palette to the "Operator Interface" folder in the RobotBuilder program. First (1) add Joysticks to the program then put buttons under the associated joysticks (2) and give them meaningful names, like ShootButton.
 
-Connecting the Commands to the Operator Interface
--------------------------------------------------
+## Connecting the Commands to the Operator Interface
 
 .. image:: images/robotbuilder-overview-6.png
 
@@ -95,8 +87,7 @@ This is simply done by (1) adding the command to the JoystickButton object in th
 
 For more information see :doc:`Connecting the Operator Interface to a Command <robotbuilder-operator-interface-to-command>`.
 
-Developing Autonomous Commands
-------------------------------
+## Developing Autonomous Commands
 
 .. image:: images/robotbuilder-overview-7.png
 
@@ -106,8 +97,7 @@ Select the robot at the root of the RobotBuilder project (1), then edit the Auto
 
 For more information see :doc:`Setting the Autonomous Commands <robotbuilder-autonomous-command>`.
 
-Generating Code
----------------
+## Generating Code
 
 .. image:: images/robotbuilder-overview-8.png
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-setup.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-setup.rst
index b792986022..c2371d6e78 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-setup.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-setup.rst
@@ -1,10 +1,8 @@
-Setting up the Robot Project
-============================
+# Setting up the Robot Project
 
 The RobotBuilder program has some default properties that need to be set up so the generated program and other generated files work properly. This setup information is stored in the properties for robot description (the first line).
 
-Robot Project Properties
-------------------------
+## Robot Project Properties
 
 The properties that describe the robot are:
 
@@ -30,8 +28,7 @@ The properties that describe the robot are:
 
 * **Desktop Support** - Enables unit test and simulation. While WPILib supports this, third party software libraries may not. If libraries do not support desktop, then your code may not compile or may crash. It should be left unchecked unless unit testing or simulation is needed and all libraries support it.
 
-Using Source Control with the RobotBuilder Project
---------------------------------------------------
+## Using Source Control with the RobotBuilder Project
 
 .. image:: images/robotbuilder-setup-1.png
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-testing-with-shuffleboard.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-testing-with-shuffleboard.rst
index df0967b542..878a635f95 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-testing-with-shuffleboard.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-testing-with-shuffleboard.rst
@@ -1,41 +1,37 @@
-Using Shuffleboard to Test a Command
-====================================
+# Using Shuffleboard to Test a Command
 
 Commands are easily tested by adding a button to Shuffleboard/SmartDashboard to trigger the command. In this way, no integration with the rest of the robot program is necessary and commands can easily be independently tested. This is the easiest way to verify commands since with a single line of code in your program, a button can be created on Shuffleboard that will run the command. These buttons can then be left in place to verify subsystems and command operations in the future.
 
 This has the added benefit of accommodating multiple programmers, each writing commands. As the code is checked into the main robot project, the commands can be individually tested.
 
-Creating the Button on Shuffleboard
------------------------------------
+## Creating the Button on Shuffleboard
 
 .. image:: images/testing-with-smartdashboard-1.png
    :alt: To create a button in Shuffleboard ensure the "Button on SmartDashboard" checkbox is checked.
 
 The button is created on the SmartDashboard by putting an instance of the command from the robot program to the dashboard. This is such a common operation that it has been added to RobotBuilder as a checkbox. When writing your commands, be sure that the box is checked, and buttons will be automatically generated for you.
 
-Operating the Buttons
----------------------
+## Operating the Buttons
 
 .. image:: images/robotbuilder-overview-4.png
    :alt: Each of the created buttons has its own widget in Shuffleboard.
 
 The buttons will be generated automatically and will appear on the dashboard screen. You can rearrange the buttons on Shuffleboard. In this example there are a number of commands, each with an associated button for testing. Pressing the commands button will run the command. Once it is pressed, pressing again it will interrupt the command causing the ``Interrupted()`` method to be called.
 
-Adding Commands Manually
-------------------------
+## Adding Commands Manually
 
 .. tab-set-code::
 
-   .. code-block:: java
-
-      SmartDashboard.putData("Autonomous Command", new AutonomousCommand());
-      SmartDashboard.putData("Open Claw", new OpenClaw(m_claw);
-      SmartDashboard.putData("Close Claw", new CloseClaw(m_claw));
-
-   .. code-block:: cpp
-
-      SmartDashboard::PutData("Autonomous Command", new AutonomousCommand());
-      SmartDashboard::PutData("Open Claw", new OpenClaw(&m_claw));
-      SmartDashboard::PutData("Close Claw", new CloseClaw(&m_claw));
+   ```java
+   SmartDashboard.putData("Autonomous Command", new AutonomousCommand());
+   SmartDashboard.putData("Open Claw", new OpenClaw(m_claw);
+   SmartDashboard.putData("Close Claw", new CloseClaw(m_claw));
+   ```
+
+   ```c++
+   SmartDashboard::PutData("Autonomous Command", new AutonomousCommand());
+   SmartDashboard::PutData("Open Claw", new OpenClaw(&m_claw));
+   SmartDashboard::PutData("Close Claw", new CloseClaw(&m_claw));
+   ```
 
 Commands can be added to the Shuffleboard manually by writing the code yourself. This is done by passing instances of the command to the PutData method along with the name that should be associated with the button on the Shuffleboard. These instances are scheduled whenever the button is pressed. The result is exactly the same as RobotBuilder generated code, although clicking the checkbox in RobotBuilder is much easier than writing all the code by hand.
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/starting-robotbuilder.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/starting-robotbuilder.rst
index 1784d30710..21a055a4b1 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/starting-robotbuilder.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/starting-robotbuilder.rst
@@ -1,27 +1,22 @@
-Starting RobotBuilder
-=====================
+# Starting RobotBuilder
 
 .. note:: RobotBuilder is a Java program and as such should be able to run on any platform that is supported by Java. We have been running RobotBuilder on macOS, Windows, and various versions of Linux successfully.
 
-Getting RobotBuilder
---------------------
+## Getting RobotBuilder
 
 RobotBuilder is downloaded as part of the WPILib Offline Installer. For more information, see the :ref:`Windows/macOS/Linux installation guides <docs/zero-to-robot/step-2/wpilib-setup:WPILib Installation Guide>`
 
-Option 1 - Starting from Visual Studio Code
--------------------------------------------
+## Option 1 - Starting from Visual Studio Code
 
 .. image:: images/starting-robotbuilder-1.png
 
 Press :kbd:`Ctrl+Shift+P` and type "WPILib" or click the WPILib logo in the top right to launch the WPILib Command Palette.  Select :guilabel:`Start Tool`, then select :guilabel:`Robot Builder`.
 
-Option 2 - Shortcuts
---------------------
+## Option 2 - Shortcuts
 
 Shortcuts are installed to the Windows Start Menu and the ``2024 WPILib Tools`` folder on the desktop.
 
-Option 3 - Running from the Script
-----------------------------------
+## Option 3 - Running from the Script
 
 .. image:: images/starting-robotbuilder-2.png
 
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diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/images/writing-command-code-1.png b/source/docs/software/wpilib-tools/robotbuilder/writing-code/images/writing-command-code-1.png
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diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/images/writing-subsystem-code-1.png b/source/docs/software/wpilib-tools/robotbuilder/writing-code/images/writing-subsystem-code-1.png
index 6b46299d96..a4505ef5d1 100644
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diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/index.rst b/source/docs/software/wpilib-tools/robotbuilder/writing-code/index.rst
index 65aceb77f6..5778b7e58c 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/writing-code/index.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/writing-code/index.rst
@@ -1,5 +1,4 @@
-RobotBuilder - Writing the Code
-===============================
+# RobotBuilder - Writing the Code
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-drive-tank.rst b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-drive-tank.rst
index c4832f6bd7..1e79012e00 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-drive-tank.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-drive-tank.rst
@@ -1,12 +1,10 @@
-Driving the Robot with Tank Drive and Joysticks
-===============================================
+# Driving the Robot with Tank Drive and Joysticks
 
 A common use case is to have a joystick that should drive some actuators that are part of a subsystem. The problem is that the joystick is created in the RobotContainer class and the motors to be controlled are in the subsystem. The idea is to create a command that, when scheduled, reads input from the joystick and calls a method that is created on the subsystem that drives the motors.
 
 In this example a drive base subsystem is shown that is operated in tank drive using a pair of joysticks.
 
-Create a Drive Train Subsystem
-------------------------------
+## Create a Drive Train Subsystem
 
 .. image:: images/driving-with-joysticks-subsystem.png
    :alt: Dragging subsystem from palette to tree
@@ -28,8 +26,7 @@ Since we want to use more then two motors to drive the robot, inside the Differe
 
 Finally, create two Motor Controllers in each Motor Controller Group.
 
-Add the Joysticks to the Operator Interface
--------------------------------------------
+## Add the Joysticks to the Operator Interface
 
 .. image:: images/driving-with-joysticks-joysticks.png
    :alt: dragging joystick from palette to tree
@@ -38,294 +35,295 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
 
 .. note:: Be sure to export your program to C++ or Java before continuing to the next step.
 
-Create a Method to Write the Motors on the Subsystem
-----------------------------------------------------
+## Create a Method to Write the Motors on the Subsystem
 
 .. tab-set::
 
    .. tab-item:: java
       :sync: java
 
-      .. code-block:: java
-         :linenos:
-         :lineno-start: 11
-         :emphasize-lines: 119-121
+      ```java
+      :linenos:
+      :lineno-start: 11
+      :emphasize-lines: 119-121
 
-         // ROBOTBUILDER TYPE: Subsystem.
+      // ROBOTBUILDER TYPE: Subsystem.
 
-         package frc.robot.subsystems;
+      package frc.robot.subsystems;
 
 
-         import frc.robot.commands.*;
-         import edu.wpi.first.wpilibj.livewindow.LiveWindow;
-         import edu.wpi.first.wpilibj2.command.SubsystemBase;
+      import frc.robot.commands.*;
+      import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+      import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-         import edu.wpi.first.wpilibj.AnalogGyro;
-         import edu.wpi.first.wpilibj.AnalogInput;
-         import edu.wpi.first.wpilibj.CounterBase.EncodingType;
-         import edu.wpi.first.wpilibj.Encoder;
-         import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-         import edu.wpi.first.wpilibj.motorcontrol.MotorController;
-         import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
-         import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+      import edu.wpi.first.wpilibj.AnalogGyro;
+      import edu.wpi.first.wpilibj.AnalogInput;
+      import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+      import edu.wpi.first.wpilibj.Encoder;
+      import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+      import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+      import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+      import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 
 
-         /**
-          *
-          */
-         public class Drivetrain extends SubsystemBase {
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-         public static final double PlaceDistance = 0.1;
-         public static final double BackAwayDistance = 0.6;
+      /**
+       *
+       */
+      public class Drivetrain extends SubsystemBase {
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+      public static final double PlaceDistance = 0.1;
+      public static final double BackAwayDistance = 0.6;
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
 
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-         private PWMVictorSPX left1;
-         private PWMVictorSPX left2;
-         private MotorControllerGroup leftMotor;
-         private PWMVictorSPX right1;
-         private PWMVictorSPX right2;
-         private MotorControllerGroup rightMotor;
-         private DifferentialDrive drive;
-         private Encoder leftencoder;
-         private Encoder rightencoder;
-         private AnalogGyro gyro;
-         private AnalogInput rangefinder;
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+      private PWMVictorSPX left1;
+      private PWMVictorSPX left2;
+      private MotorControllerGroup leftMotor;
+      private PWMVictorSPX right1;
+      private PWMVictorSPX right2;
+      private MotorControllerGroup rightMotor;
+      private DifferentialDrive drive;
+      private Encoder leftencoder;
+      private Encoder rightencoder;
+      private AnalogGyro gyro;
+      private AnalogInput rangefinder;
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 
-             /**
-             *
-             */
-             public Drivetrain() {
-                 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
-         left1 = new PWMVictorSPX(0);
-          addChild("left1",left1);
-          left1.setInverted(false);
+          /**
+          *
+          */
+          public Drivetrain() {
+              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+      left1 = new PWMVictorSPX(0);
+       addChild("left1",left1);
+       left1.setInverted(false);
 
-         left2 = new PWMVictorSPX(1);
-          addChild("left2",left2);
-          left2.setInverted(false);
+      left2 = new PWMVictorSPX(1);
+       addChild("left2",left2);
+       left2.setInverted(false);
 
-         leftMotor = new MotorControllerGroup(left1, left2  );
-          addChild("Left Motor",leftMotor);
+      leftMotor = new MotorControllerGroup(left1, left2  );
+       addChild("Left Motor",leftMotor);
 
 
-         right1 = new PWMVictorSPX(5);
-          addChild("right1",right1);
-          right1.setInverted(false);
+      right1 = new PWMVictorSPX(5);
+       addChild("right1",right1);
+       right1.setInverted(false);
 
-         right2 = new PWMVictorSPX(6);
-          addChild("right2",right2);
-          right2.setInverted(false);
+      right2 = new PWMVictorSPX(6);
+       addChild("right2",right2);
+       right2.setInverted(false);
 
-         rightMotor = new MotorControllerGroup(right1, right2  );
-          addChild("Right Motor",rightMotor);
+      rightMotor = new MotorControllerGroup(right1, right2  );
+       addChild("Right Motor",rightMotor);
 
 
-         drive = new DifferentialDrive(leftMotor, rightMotor);
-          addChild("Drive",drive);
-          drive.setSafetyEnabled(true);
-         drive.setExpiration(0.1);
-         drive.setMaxOutput(1.0);
+      drive = new DifferentialDrive(leftMotor, rightMotor);
+       addChild("Drive",drive);
+       drive.setSafetyEnabled(true);
+      drive.setExpiration(0.1);
+      drive.setMaxOutput(1.0);
 
 
-         leftencoder = new Encoder(0, 1, false, EncodingType.k4X);
-          addChild("left encoder",leftencoder);
-          leftencoder.setDistancePerPulse(1.0);
+      leftencoder = new Encoder(0, 1, false, EncodingType.k4X);
+       addChild("left encoder",leftencoder);
+       leftencoder.setDistancePerPulse(1.0);
 
-         rightencoder = new Encoder(2, 3, false, EncodingType.k4X);
-          addChild("right encoder",rightencoder);
-          rightencoder.setDistancePerPulse(1.0);
+      rightencoder = new Encoder(2, 3, false, EncodingType.k4X);
+       addChild("right encoder",rightencoder);
+       rightencoder.setDistancePerPulse(1.0);
 
-         gyro = new AnalogGyro(0);
-          addChild("gyro",gyro);
-          gyro.setSensitivity(0.007);
+      gyro = new AnalogGyro(0);
+       addChild("gyro",gyro);
+       gyro.setSensitivity(0.007);
 
-         rangefinder = new AnalogInput(1);
-          addChild("range finder", rangefinder);
+      rangefinder = new AnalogInput(1);
+       addChild("range finder", rangefinder);
 
 
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
-             }
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+          }
 
-             @Override
-             public void periodic() {
-                 // This method will be called once per scheduler run
+          @Override
+          public void periodic() {
+              // This method will be called once per scheduler run
 
-             }
+          }
 
-             @Override
-             public void simulationPeriodic() {
-                 // This method will be called once per scheduler run when in simulation
+          @Override
+          public void simulationPeriodic() {
+              // This method will be called once per scheduler run when in simulation
 
-             }
+          }
 
-             // Put methods for controlling this subsystem
-             // here. Call these from Commands.
+          // Put methods for controlling this subsystem
+          // here. Call these from Commands.
 
-             public void drive(double left, double right) {
-                 drive.tankDrive(left, right);
-             }
-         }
+          public void drive(double left, double right) {
+              drive.tankDrive(left, right);
+          }
+      }
+      ```
 
    .. tab-item:: C++ (Header)
       :sync: C++ (Header)
 
-      .. code-block:: c++
-         :linenos:
-         :lineno-start: 11
-         :emphasize-lines: 43
-
-         // ROBOTBUILDER TYPE: Subsystem.
-         #pragma once
-
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-         #include <frc2/command/SubsystemBase.h>
-         #include <frc/AnalogGyro.h>
-         #include <frc/AnalogInput.h>
-         #include <frc/Encoder.h>
-         #include <frc/drive/DifferentialDrive.h>
-         #include <frc/motorcontrol/MotorControllerGroup.h>
-         #include <frc/motorcontrol/PWMVictorSPX.h>
-
-         // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-
-         /**
-          *
-          *
-          * @author ExampleAuthor
-          */
-         class Drivetrain: public frc2::SubsystemBase {
-         private:
-             // It's desirable that everything possible is private except
-             // for methods that implement subsystem capabilities
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-         frc::AnalogInput m_rangefinder{1};
-         frc::AnalogGyro m_gyro{0};
-         frc::Encoder m_rightencoder{2, 3, false, frc::Encoder::k4X};
-         frc::Encoder m_leftencoder{0, 1, false, frc::Encoder::k4X};
-         frc::DifferentialDrive m_drive{m_leftMotor, m_rightMotor};
-         frc::MotorControllerGroup m_rightMotor{m_right1, m_right2  };
-         frc::PWMVictorSPX m_right2{6};
-         frc::PWMVictorSPX m_right1{5};
-         frc::MotorControllerGroup m_leftMotor{m_left1, m_left2  };
-         frc::PWMVictorSPX m_left2{1};
-         frc::PWMVictorSPX m_left1{0};
-
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-         public:
-         Drivetrain();
-
-             void Periodic() override;
-             void SimulationPeriodic() override;
-             void Drive(double left, double right);
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-         static constexpr const double PlaceDistance = 0.1;
-         static constexpr const double BackAwayDistance = 0.6;
-
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-
-
-         };
+      ```c++
+      :linenos:
+      :lineno-start: 11
+      :emphasize-lines: 43
+
+      // ROBOTBUILDER TYPE: Subsystem.
+      #pragma once
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+      #include <frc2/command/SubsystemBase.h>
+      #include <frc/AnalogGyro.h>
+      #include <frc/AnalogInput.h>
+      #include <frc/Encoder.h>
+      #include <frc/drive/DifferentialDrive.h>
+      #include <frc/motorcontrol/MotorControllerGroup.h>
+      #include <frc/motorcontrol/PWMVictorSPX.h>
+
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      /**
+       *
+       *
+       * @author ExampleAuthor
+       */
+      class Drivetrain: public frc2::SubsystemBase {
+      private:
+          // It's desirable that everything possible is private except
+          // for methods that implement subsystem capabilities
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+      frc::AnalogInput m_rangefinder{1};
+      frc::AnalogGyro m_gyro{0};
+      frc::Encoder m_rightencoder{2, 3, false, frc::Encoder::k4X};
+      frc::Encoder m_leftencoder{0, 1, false, frc::Encoder::k4X};
+      frc::DifferentialDrive m_drive{m_leftMotor, m_rightMotor};
+      frc::MotorControllerGroup m_rightMotor{m_right1, m_right2  };
+      frc::PWMVictorSPX m_right2{6};
+      frc::PWMVictorSPX m_right1{5};
+      frc::MotorControllerGroup m_leftMotor{m_left1, m_left2  };
+      frc::PWMVictorSPX m_left2{1};
+      frc::PWMVictorSPX m_left1{0};
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+      public:
+      Drivetrain();
+
+          void Periodic() override;
+          void SimulationPeriodic() override;
+          void Drive(double left, double right);
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+      static constexpr const double PlaceDistance = 0.1;
+      static constexpr const double BackAwayDistance = 0.6;
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+
+
+      };
+      ```
 
    .. tab-item:: C++ (Source)
       :sync: C++ (Header)
 
 
-      .. code-block:: c++
-         :linenos:
-         :lineno-start: 11
-         :emphasize-lines: 71-73
+      ```c++
+      :linenos:
+      :lineno-start: 11
+      :emphasize-lines: 71-73
 
-         // ROBOTBUILDER TYPE: Subsystem.
+      // ROBOTBUILDER TYPE: Subsystem.
 
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-         #include "subsystems/Drivetrain.h"
-         #include <frc/smartdashboard/SmartDashboard.h>
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+      #include "subsystems/Drivetrain.h"
+      #include <frc/smartdashboard/SmartDashboard.h>
 
-         // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
 
-         Drivetrain::Drivetrain(){
-             SetName("Drivetrain");
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-             SetSubsystem("Drivetrain");
+      Drivetrain::Drivetrain(){
+          SetName("Drivetrain");
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+          SetSubsystem("Drivetrain");
 
-          AddChild("range finder", &m_rangefinder);
+       AddChild("range finder", &m_rangefinder);
 
 
-          AddChild("gyro", &m_gyro);
-          m_gyro.SetSensitivity(0.007);
+       AddChild("gyro", &m_gyro);
+       m_gyro.SetSensitivity(0.007);
 
-          AddChild("right encoder", &m_rightencoder);
-          m_rightencoder.SetDistancePerPulse(1.0);
+       AddChild("right encoder", &m_rightencoder);
+       m_rightencoder.SetDistancePerPulse(1.0);
 
-          AddChild("left encoder", &m_leftencoder);
-          m_leftencoder.SetDistancePerPulse(1.0);
+       AddChild("left encoder", &m_leftencoder);
+       m_leftencoder.SetDistancePerPulse(1.0);
 
-          AddChild("Drive", &m_drive);
-          m_drive.SetSafetyEnabled(true);
-         m_drive.SetExpiration(0.1_s);
-         m_drive.SetMaxOutput(1.0);
+       AddChild("Drive", &m_drive);
+       m_drive.SetSafetyEnabled(true);
+      m_drive.SetExpiration(0.1_s);
+      m_drive.SetMaxOutput(1.0);
 
 
-          AddChild("Right Motor", &m_rightMotor);
+       AddChild("Right Motor", &m_rightMotor);
 
 
-          AddChild("right2", &m_right2);
-          m_right2.SetInverted(false);
+       AddChild("right2", &m_right2);
+       m_right2.SetInverted(false);
 
-          AddChild("right1", &m_right1);
-          m_right1.SetInverted(false);
+       AddChild("right1", &m_right1);
+       m_right1.SetInverted(false);
 
-          AddChild("Left Motor", &m_leftMotor);
+       AddChild("Left Motor", &m_leftMotor);
 
 
-          AddChild("left2", &m_left2);
-          m_left2.SetInverted(false);
+       AddChild("left2", &m_left2);
+       m_left2.SetInverted(false);
 
-          AddChild("left1", &m_left1);
-          m_left1.SetInverted(false);
+       AddChild("left1", &m_left1);
+       m_left1.SetInverted(false);
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-         }
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+      }
 
-         void Drivetrain::Periodic() {
-             // Put code here to be run every loop
+      void Drivetrain::Periodic() {
+          // Put code here to be run every loop
 
-         }
+      }
 
-         void Drivetrain::SimulationPeriodic() {
-             // This method will be called once per scheduler run when in simulation
+      void Drivetrain::SimulationPeriodic() {
+          // This method will be called once per scheduler run when in simulation
 
-         }
+      }
 
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
 
-         // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
 
 
-         // Put methods for controlling this subsystem
-         // here. Call these from Commands.
+      // Put methods for controlling this subsystem
+      // here. Call these from Commands.
 
-             void Drivetrain::Drive(double left, double right) {
-                 m_drive.TankDrive(left, right);
-             }
+          void Drivetrain::Drive(double left, double right) {
+              m_drive.TankDrive(left, right);
+          }
+      ```
 
 Create a method that takes the joystick inputs, in this case the left and right driver joystick. The values are passed to the DifferentialDrive object that in turn does tank steering using the joystick values. Also create a method called stop() that stops the robot from driving, this might come in handy later.
 
 .. note:: Some RobotBuilder output has been removed for this example for clarity
 
-Read Joystick Values and Call the Subsystem Methods
----------------------------------------------------
+## Read Joystick Values and Call the Subsystem Methods
 
 .. image:: images/driving-with-joysticks-command.png
    :alt: dragging a command from palette to the tree
@@ -344,202 +342,202 @@ Create a parameter preset to retrieve joystick values. Java: For the left parame
 
 .. note:: Be sure to export your program to C++ or Java before continuing to the next step.
 
-Add the Code to do the Driving
-------------------------------
+## Add the Code to do the Driving
 
 .. tab-set::
 
    .. tab-item:: java
       :sync: java
 
-      .. code-block:: java
-         :linenos:
-         :lineno-start: 11
-         :emphasize-lines: 48, 54
+      ```java
+      :linenos:
+      :lineno-start: 11
+      :emphasize-lines: 48, 54
 
-         // ROBOTBUILDER TYPE: Command.
+      // ROBOTBUILDER TYPE: Command.
 
-         package frc.robot.commands;
-         import edu.wpi.first.wpilibj.Joystick;
-         import edu.wpi.first.wpilibj2.command.CommandBase;
-         import frc.robot.RobotContainer;
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-         import frc.robot.subsystems.Drivetrain;
+      package frc.robot.commands;
+      import edu.wpi.first.wpilibj.Joystick;
+      import edu.wpi.first.wpilibj2.command.CommandBase;
+      import frc.robot.RobotContainer;
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+      import frc.robot.subsystems.Drivetrain;
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 
-         /**
-          *
-          */
-         public class TankDrive extends CommandBase {
+      /**
+       *
+       */
+      public class TankDrive extends CommandBase {
 
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
-                 private final Drivetrain m_drivetrain;
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+              private final Drivetrain m_drivetrain;
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
 
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
 
 
-             public TankDrive(Drivetrain subsystem) {
+          public TankDrive(Drivetrain subsystem) {
 
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
-                 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
-                 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
+              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
 
-                 m_drivetrain = subsystem;
-                 addRequirements(m_drivetrain);
+              m_drivetrain = subsystem;
+              addRequirements(m_drivetrain);
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
-             }
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
+          }
 
-             // Called when the command is initially scheduled.
-             @Override
-             public void initialize() {
-             }
+          // Called when the command is initially scheduled.
+          @Override
+          public void initialize() {
+          }
 
-             // Called every time the scheduler runs while the command is scheduled.
-             @Override
-             public void execute() {
-                 m_drivetrain.drive(m_left.getAsDouble(), m_right.getAsDouble());
-             }
+          // Called every time the scheduler runs while the command is scheduled.
+          @Override
+          public void execute() {
+              m_drivetrain.drive(m_left.getAsDouble(), m_right.getAsDouble());
+          }
 
-             // Called once the command ends or is interrupted.
-             @Override
-             public void end(boolean interrupted) {
-                 m_drivetrain.drive(0.0, 0.0);
-             }
+          // Called once the command ends or is interrupted.
+          @Override
+          public void end(boolean interrupted) {
+              m_drivetrain.drive(0.0, 0.0);
+          }
 
-             // Returns true when the command should end.
-             @Override
-             public boolean isFinished() {
-                 return false;
-             }
+          // Returns true when the command should end.
+          @Override
+          public boolean isFinished() {
+              return false;
+          }
 
-             @Override
-             public boolean runsWhenDisabled() {
-                 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-                 return false;
+          @Override
+          public boolean runsWhenDisabled() {
+              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+              return false;
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-             }
-         }
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+          }
+      }
+      ```
 
    .. tab-item:: C++ (Header)
       :sync: C++ (Header)
 
-      .. code-block:: c++
-         :linenos:
-         :lineno-start: 11
-         :emphasize-lines: 40-41
+      ```c++
+      :linenos:
+      :lineno-start: 11
+      :emphasize-lines: 40-41
 
-         // ROBOTBUILDER TYPE: Command.
+      // ROBOTBUILDER TYPE: Command.
 
-         #pragma once
+      #pragma once
 
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
 
-         #include <frc2/command/CommandHelper.h>
-         #include <frc2/command/CommandBase.h>
+      #include <frc2/command/CommandHelper.h>
+      #include <frc2/command/CommandBase.h>
 
-         #include "subsystems/Drivetrain.h"
+      #include "subsystems/Drivetrain.h"
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-         #include "RobotContainer.h"
-         #include <frc/Joystick.h>
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+      #include "RobotContainer.h"
+      #include <frc/Joystick.h>
 
-         /**
-          *
-          *
-          * @author ExampleAuthor
-          */
-         class TankDrive: public frc2::CommandHelper<frc2::CommandBase, TankDrive> {
-         public:
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
-             explicit TankDrive(Drivetrain* m_drivetrain);
+      /**
+       *
+       *
+       * @author ExampleAuthor
+       */
+      class TankDrive: public frc2::CommandHelper<frc2::CommandBase, TankDrive> {
+      public:
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+          explicit TankDrive(Drivetrain* m_drivetrain);
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 
-         void Initialize() override;
-         void Execute() override;
-         bool IsFinished() override;
-         void End(bool interrupted) override;
-         bool RunsWhenDisabled() const override;
+      void Initialize() override;
+      void Execute() override;
+      bool IsFinished() override;
+      void End(bool interrupted) override;
+      bool RunsWhenDisabled() const override;
 
 
-         private:
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
+      private:
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
 
 
-         Drivetrain* m_drivetrain;
-         frc::Joystick* m_leftJoystick;
-         frc::Joystick* m_rightJoystick;
+      Drivetrain* m_drivetrain;
+      frc::Joystick* m_leftJoystick;
+      frc::Joystick* m_rightJoystick;
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
-         };
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
+      };
+      ```
 
    .. tab-item:: C++ (Source)
       :sync: C++ (Header)
 
-      .. code-block:: c++
-         :linenos:
-         :lineno-start: 11
-         :emphasize-lines: 25, 35
-
-         // ROBOTBUILDER TYPE: Command.
+      ```c++
+      :linenos:
+      :lineno-start: 11
+      :emphasize-lines: 25, 35
 
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+      // ROBOTBUILDER TYPE: Command.
 
-         #include "commands/TankDrive.h"
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 
-         TankDrive::TankDrive(Drivetrain* m_drivetrain)
-         :m_drivetrain(m_drivetrain){
+      #include "commands/TankDrive.h"
 
-             // Use AddRequirements() here to declare subsystem dependencies
-             // eg. AddRequirements(m_Subsystem);
-             SetName("TankDrive");
-             AddRequirements({m_drivetrain});
+      TankDrive::TankDrive(Drivetrain* m_drivetrain)
+      :m_drivetrain(m_drivetrain){
 
-         // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
-         }
+          // Use AddRequirements() here to declare subsystem dependencies
+          // eg. AddRequirements(m_Subsystem);
+          SetName("TankDrive");
+          AddRequirements({m_drivetrain});
 
-         // Called just before this Command runs the first time
-         void TankDrive::Initialize() {
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+      }
 
-         }
+      // Called just before this Command runs the first time
+      void TankDrive::Initialize() {
 
-         // Called repeatedly when this Command is scheduled to run
-         void TankDrive::Execute() {
-             m_drivetrain->Drive(m_left(),m_right());
-         }
+      }
 
-         // Make this return true when this Command no longer needs to run execute()
-         bool TankDrive::IsFinished() {
-             return false;
-         }
+      // Called repeatedly when this Command is scheduled to run
+      void TankDrive::Execute() {
+          m_drivetrain->Drive(m_left(),m_right());
+      }
 
-         // Called once after isFinished returns true
-         void TankDrive::End(bool interrupted) {
-             m_drivetrain->Drive(0,0);
-         }
+      // Make this return true when this Command no longer needs to run execute()
+      bool TankDrive::IsFinished() {
+          return false;
+      }
 
-         bool TankDrive::RunsWhenDisabled() const {
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-             return false;
+      // Called once after isFinished returns true
+      void TankDrive::End(bool interrupted) {
+          m_drivetrain->Drive(0,0);
+      }
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-         }
+      bool TankDrive::RunsWhenDisabled() const {
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+          return false;
 
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+      }
+      ```
 
 Add code to the execute method to do the actual driving. All that is needed is pass the for the left and right parameters to the Drive Train subsystem. The subsystem just uses them for the tank steering method on its DifferentialDrive object. And we get tank steering.
 
 We also filled in the ``end()`` method so that when this command is interrupted or stopped, the motors will be stopped as a safety precaution.
 
-Make Default Command
---------------------
+## Make Default Command
 
 .. image:: images/driving-with-joysticks-default-command.png
    :alt: setting default command for subsystem
diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-generating-code.rst b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-generating-code.rst
index 3855bb5c6e..92b42e1f76 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-generating-code.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-generating-code.rst
@@ -1,17 +1,14 @@
-Generating Code for a Project
-=============================
+# Generating Code for a Project
 
 After you've set up your robot framework in RobotBuilder, you'll need to export the code and load it into Visual Studio Code. This article describes the process for doing so.
 
-Generate the Code for the Project
----------------------------------
+## Generate the Code for the Project
 
 .. image:: ../introduction/images/robotbuilder-overview-8.png
 
 Verify that the Export Directory points to where you want (1) and then click Java or C++ (2) to generate a VS Code project or update code.
 
-Open the Project in Visual Studio Code
---------------------------------------
+## Open the Project in Visual Studio Code
 
 .. image:: images/generating-code-2.png
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-command-code.rst b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-command-code.rst
index 86cc3f628d..ea050bcbc4 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-command-code.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-command-code.rst
@@ -1,148 +1,144 @@
-Writing the Code for a Command
-==============================
+# Writing the Code for a Command
 
 Subsystem classes get the mechanisms on your robot moving, but to get it to stop at the right time and sequence through more complex operations you write Commands. Previously in :doc:`writing the code for a subsystem <robotbuilder-writing-subsystem-code>` we developed the code for the `Claw` subsystem on a robot to start the claw opening, closing, or to stop moving. Now we will write the code for a command that will actually run the claw motor for the right time to get the claw to open and close. Our claw example is a very simple mechanism where we run the motor for 1 second to open it or until the limit switch is tripped to close it.
 
-Close Claw Command in RobotBuilder
-----------------------------------
+## Close Claw Command in RobotBuilder
 
 .. image:: images/writing-command-code-1.png
 
 This is the definition of the `CloseClaw` command in RobotBuilder. Notice that it requires the `Claw` subsystem. This is explained in the next step.
 
-Generated CloseClaw Class
--------------------------
+## Generated CloseClaw Class
 
 .. tab-set-code::
 
 
-    .. code-block:: java
-       :linenos:
-       :lineno-start: 11
-       :emphasize-lines: 42, 53, 59
+    ```java
+    :linenos:
+    :lineno-start: 11
+    :emphasize-lines: 42, 53, 59
 
-        // ROBOTBUILDER TYPE: Command.
+    // ROBOTBUILDER TYPE: Command.
 
-        package frc.robot.commands;
-        import edu.wpi.first.wpilibj2.command.CommandBase;
+    package frc.robot.commands;
+    import edu.wpi.first.wpilibj2.command.CommandBase;
 
-        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-        import frc.robot.subsystems.Claw;
+    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+    import frc.robot.subsystems.Claw;
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 
-        /**
-        *
-        */
-        public class CloseClaw extends CommandBase {
+    /**
+    *
+    */
+    public class CloseClaw extends CommandBase {
 
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
-                private final Claw m_claw;
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+            private final Claw m_claw;
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
 
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
 
 
-            public CloseClaw(Claw subsystem) {
+        public CloseClaw(Claw subsystem) {
 
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
 
-                m_claw = subsystem;
-                addRequirements(m_claw);
+            m_claw = subsystem;
+            addRequirements(m_claw);
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
-            }
-
-            // Called when the command is initially scheduled.
-            @Override
-            public void initialize() {
-                m_claw.close(); // (1)
-            }
-
-            // Called every time the scheduler runs while the command is scheduled.
-            @Override
-            public void execute() {
-            }
-
-            // Called once the command ends or is interrupted.
-            @Override
-            public void end(boolean interrupted) {
-                m_claw.stop(); // (3)
-            }
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
+        }
 
-            // Returns true when the command should end.
-            @Override
-            public boolean isFinished() {
-                return m_claw.isGripping(); // (2)
-            }
+        // Called when the command is initially scheduled.
+        @Override
+        public void initialize() {
+            m_claw.close(); // (1)
+        }
 
-            @Override
-            public boolean runsWhenDisabled() {
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-                return false;
+        // Called every time the scheduler runs while the command is scheduled.
+        @Override
+        public void execute() {
+        }
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-            }
+        // Called once the command ends or is interrupted.
+        @Override
+        public void end(boolean interrupted) {
+            m_claw.stop(); // (3)
         }
 
+        // Returns true when the command should end.
+        @Override
+        public boolean isFinished() {
+            return m_claw.isGripping(); // (2)
+        }
 
+        @Override
+        public boolean runsWhenDisabled() {
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+            return false;
 
-    .. code-block:: cpp
-        :linenos:
-        :lineno-start: 11
-        :emphasize-lines: 21, 31, 36
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+        }
+    }
+    ```
 
-        // ROBOTBUILDER TYPE: Command.
+    ```c++
+    :linenos:
+    :lineno-start: 11
+    :emphasize-lines: 21, 31, 36
 
-        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+    // ROBOTBUILDER TYPE: Command.
 
-        #include "commands/CloseClaw.h"
+    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 
-        CloseClaw::CloseClaw(Claw* m_claw)
-        :m_claw(m_claw){
+    #include "commands/CloseClaw.h"
 
-            // Use AddRequirements() here to declare subsystem dependencies
-            // eg. AddRequirements(m_Subsystem);
-            SetName("CloseClaw");
-            AddRequirements({m_claw});
+    CloseClaw::CloseClaw(Claw* m_claw)
+    :m_claw(m_claw){
 
-        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+        // Use AddRequirements() here to declare subsystem dependencies
+        // eg. AddRequirements(m_Subsystem);
+        SetName("CloseClaw");
+        AddRequirements({m_claw});
 
-        }
+    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 
-        // Called just before this Command runs the first time
-        void CloseClaw::Initialize() {
-            m_claw->Close(); // (1)
-        }
+    }
 
-        // Called repeatedly when this Command is scheduled to run
-        void CloseClaw::Execute() {
+    // Called just before this Command runs the first time
+    void CloseClaw::Initialize() {
+        m_claw->Close(); // (1)
+    }
 
-        }
+    // Called repeatedly when this Command is scheduled to run
+    void CloseClaw::Execute() {
 
-        // Make this return true when this Command no longer needs to run execute()
-        bool CloseClaw::IsFinished() {
-            return m_claw->IsGripping(); // (2)
-        }
+    }
 
-        // Called once after isFinished returns true
-        void CloseClaw::End(bool interrupted) {
-            m_claw->Stop(); // (3)
-        }
+    // Make this return true when this Command no longer needs to run execute()
+    bool CloseClaw::IsFinished() {
+        return m_claw->IsGripping(); // (2)
+    }
 
-        bool CloseClaw::RunsWhenDisabled() const {
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-            return false;
+    // Called once after isFinished returns true
+    void CloseClaw::End(bool interrupted) {
+        m_claw->Stop(); // (3)
+    }
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-        }
+    bool CloseClaw::RunsWhenDisabled() const {
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+        return false;
 
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+    }
+    ```
 
 RobotBuilder will generate the class files for the `CloseClaw` command. The command represents the behavior of the claw, that is the operation over time. To operate this very simple claw mechanism the motor needs to operate in the close direction,. The `Claw` subsystem has methods to start the motor running in the right direction and to stop it. The commands responsibility is to run the motor for the correct time. The lines of code that are shown in the boxes are added to add this behavior.
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-subsystem-code.rst b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-subsystem-code.rst
index be71fd4cdc..75bb31e323 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-subsystem-code.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-subsystem-code.rst
@@ -1,168 +1,167 @@
-Writing the Code for a Subsystem
-================================
+# Writing the Code for a Subsystem
 
 Adding code to create an actual working subsystem is very straightforward. For simple subsystems that don't use feedback it turns out to be extremely simple. In this section we will look at an example of a `Claw` subsystem. The `Claw` subsystem also has a limit switch to determine if an object is in the grip.
 
-RobotBuilder Representation of the Claw Subsystem
--------------------------------------------------
+## RobotBuilder Representation of the Claw Subsystem
 
 .. image:: images/writing-subsystem-code-1.png
 
 The claw at the end of a robot arm is a subsystem operated by a single VictorSPX Motor Controller. There are three things we want the motor to do, start opening, start closing, and stop moving. This is the responsibility of the subsystem. The timing for opening and closing will be handled by a command later in this tutorial. We will also define a method to get if the claw is gripping an object.
 
-Adding Subsystem Capabilities
------------------------------
+## Adding Subsystem Capabilities
 
 .. tab-set::
 
    .. tab-item:: Java
       :sync: java
 
-      .. code-block:: java
-        :linenos:
-        :lineno-start: 11
-        :emphasize-lines: 63-77
+      ```java
+      :linenos:
+      :lineno-start: 11
+      :emphasize-lines: 63-77
 
-        // ROBOTBUILDER TYPE: Subsystem.
+      // ROBOTBUILDER TYPE: Subsystem.
 
-        package frc.robot.subsystems;
+      package frc.robot.subsystems;
 
 
-        import frc.robot.commands.*;
-        import edu.wpi.first.wpilibj.livewindow.LiveWindow;
-        import edu.wpi.first.wpilibj2.command.SubsystemBase;
+      import frc.robot.commands.*;
+      import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+      import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-        import edu.wpi.first.wpilibj.DigitalInput;
-        import edu.wpi.first.wpilibj.motorcontrol.MotorController;
-        import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+      import edu.wpi.first.wpilibj.DigitalInput;
+      import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+      import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 
 
-        /**
-         *
-         */
-        public class Claw extends SubsystemBase {
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-        public static final double PlaceDistance = 0.1;
-        public static final double BackAwayDistance = 0.6;
+      /**
+       *
+       */
+      public class Claw extends SubsystemBase {
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+      public static final double PlaceDistance = 0.1;
+      public static final double BackAwayDistance = 0.6;
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
 
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-        private PWMVictorSPX motor;
-        private DigitalInput limitswitch;
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+      private PWMVictorSPX motor;
+      private DigitalInput limitswitch;
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 
-            /**
-            *
-            */
-            public Claw() {
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
-        motor = new PWMVictorSPX(4);
-         addChild("motor",motor);
-         motor.setInverted(false);
+          /**
+          *
+          */
+          public Claw() {
+              // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+      motor = new PWMVictorSPX(4);
+       addChild("motor",motor);
+       motor.setInverted(false);
 
-        limitswitch = new DigitalInput(4);
-         addChild("limit switch", limitswitch);
+      limitswitch = new DigitalInput(4);
+       addChild("limit switch", limitswitch);
 
 
 
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
-            }
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+          }
 
-            @Override
-            public void periodic() {
-                // This method will be called once per scheduler run
+          @Override
+          public void periodic() {
+              // This method will be called once per scheduler run
 
-            }
+          }
 
-            @Override
-            public void simulationPeriodic() {
-                // This method will be called once per scheduler run when in simulation
+          @Override
+          public void simulationPeriodic() {
+              // This method will be called once per scheduler run when in simulation
 
-            }
+          }
 
-            public void open() {
-                motor.set(1.0);
-            }
+          public void open() {
+              motor.set(1.0);
+          }
 
-            public void close() {
-                motor.set(-1.0);
-            }
+          public void close() {
+              motor.set(-1.0);
+          }
 
-            public void stop() {
-                motor.set(0.0);
-            }
+          public void stop() {
+              motor.set(0.0);
+          }
 
-            public boolean isGripping() {
-                return limitswitch.get();
-            }
+          public boolean isGripping() {
+              return limitswitch.get();
+          }
 
-        }
+      }
+      ```
 
    .. tab-item:: C++
-      :sync: cpp
+      :sync: c++
 
-      .. code-block:: cpp
-         :linenos:
-         :lineno-start: 11
-         :emphasize-lines: 38-52
+      ```c++
+      :linenos:
+      :lineno-start: 11
+      :emphasize-lines: 38-52
 
-         // ROBOTBUILDER TYPE: Subsystem.
+      // ROBOTBUILDER TYPE: Subsystem.
 
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-         #include "subsystems/Claw.h"
-         #include <frc/smartdashboard/SmartDashboard.h>
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+      #include "subsystems/Claw.h"
+      #include <frc/smartdashboard/SmartDashboard.h>
 
-         // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
 
-         Claw::Claw(){
-             SetName("Claw");
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-             SetSubsystem("Claw");
+      Claw::Claw(){
+          SetName("Claw");
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+          SetSubsystem("Claw");
 
-          AddChild("limit switch", &m_limitswitch);
+       AddChild("limit switch", &m_limitswitch);
 
 
-          AddChild("motor", &m_motor);
-          m_motor.SetInverted(false);
+       AddChild("motor", &m_motor);
+       m_motor.SetInverted(false);
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-         }
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+      }
 
-         void Claw::Periodic() {
-             // Put code here to be run every loop
+      void Claw::Periodic() {
+          // Put code here to be run every loop
 
-         }
+      }
 
-         void Claw::SimulationPeriodic() {
-             // This method will be called once per scheduler run when in simulation
+      void Claw::SimulationPeriodic() {
+          // This method will be called once per scheduler run when in simulation
 
-         }
+      }
 
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
 
-         // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
 
 
-         void Claw::Open() {
-             m_motor.Set(1.0);
-         }
+      void Claw::Open() {
+          m_motor.Set(1.0);
+      }
 
-         void Claw::Close() {
-             m_motor.Set(-1.0);
-         }
+      void Claw::Close() {
+          m_motor.Set(-1.0);
+      }
 
-         void Claw::Stop() {
-             m_motor.Set(0.0);
-         }
+      void Claw::Stop() {
+          m_motor.Set(0.0);
+      }
 
-         bool Claw::IsGripping() {
-             return m_limitswitch.Get();
-         }
+      bool Claw::IsGripping() {
+          return m_limitswitch.Get();
+      }
+      ```
 
 Add methods to the ``claw.java`` or ``claw.cpp`` that will open, close, and stop the claw from moving and get the claw limit switch. Those will be used by commands that actually operate the claw.
 
@@ -170,63 +169,63 @@ Add methods to the ``claw.java`` or ``claw.cpp`` that will open, close, and stop
 
 Notice that member variable called ``motor`` and ``limitswitch`` are created by RobotBuilder so it can be used throughout the subsystem. Each of your dragged-in palette items will have a member variable with the name given in RobotBuilder.
 
-Adding the Method Declarations to the Header File (C++ Only)
-------------------------------------------------------------
+## Adding the Method Declarations to the Header File (C++ Only)
 
 .. tab-set::
 
    .. tab-item:: C++
-      :sync: cpp
-
-      .. code-block:: cpp
-         :linenos:
-         :lineno-start: 11
-         :emphasize-lines: 30-33
-
-         // ROBOTBUILDER TYPE: Subsystem.
-         #pragma once
-
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-         #include <frc2/command/SubsystemBase.h>
-         #include <frc/DigitalInput.h>
-         #include <frc/motorcontrol/PWMVictorSPX.h>
-
-         // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-
-         /**
-          *
-          *
-          * @author ExampleAuthor
-          */
-         class Claw: public frc2::SubsystemBase {
-         private:
-             // It's desirable that everything possible is private except
-             // for methods that implement subsystem capabilities
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-         frc::DigitalInput m_limitswitch{4};
-         frc::PWMVictorSPX m_motor{4};
-
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-         public:
-         Claw();
-
-             void Periodic() override;
-             void SimulationPeriodic() override;
-             void Open();
-             void Close();
-             void Stop();
-             bool IsGripping();
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-         static constexpr const double PlaceDistance = 0.1;
-         static constexpr const double BackAwayDistance = 0.6;
-
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-
-
-         };
+      :sync: c++
+
+      ```c++
+      :linenos:
+      :lineno-start: 11
+      :emphasize-lines: 30-33
+
+      // ROBOTBUILDER TYPE: Subsystem.
+      #pragma once
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+      #include <frc2/command/SubsystemBase.h>
+      #include <frc/DigitalInput.h>
+      #include <frc/motorcontrol/PWMVictorSPX.h>
+
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      /**
+       *
+       *
+       * @author ExampleAuthor
+       */
+      class Claw: public frc2::SubsystemBase {
+      private:
+          // It's desirable that everything possible is private except
+          // for methods that implement subsystem capabilities
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+      frc::DigitalInput m_limitswitch{4};
+      frc::PWMVictorSPX m_motor{4};
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+      public:
+      Claw();
+
+          void Periodic() override;
+          void SimulationPeriodic() override;
+          void Open();
+          void Close();
+          void Stop();
+          bool IsGripping();
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+      static constexpr const double PlaceDistance = 0.1;
+      static constexpr const double BackAwayDistance = 0.6;
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+
+
+      };
+      ```
 
 In addition to adding the methods to the class implementation file, ``Claw.cpp``, the declarations for the methods need to be added to the header file, ``Claw.h``. Those declarations that must be added are shown here.
 
diff --git a/source/docs/xrp-robot/getting-to-know-xrp.rst b/source/docs/xrp-robot/getting-to-know-xrp.rst
index 5c7f274075..636329ccc1 100644
--- a/source/docs/xrp-robot/getting-to-know-xrp.rst
+++ b/source/docs/xrp-robot/getting-to-know-xrp.rst
@@ -1,8 +1,6 @@
-Getting to know your XRP
-========================
+# Getting to know your XRP
 
-Booting up the XRP
-------------------
+## Booting up the XRP
 
 Upon start up (when power is applied to the XRP either via battery or USB), the following will happen:
 
@@ -12,8 +10,7 @@ Upon start up (when power is applied to the XRP either via battery or USB), the
 
 3. After this, the XRP is ready for use.
 
-Hardware, Sensors and GPIO
---------------------------
+## Hardware, Sensors and GPIO
 
 The XRP has the following built-in hardware/peripherals:
 
@@ -26,8 +23,7 @@ The XRP has the following built-in hardware/peripherals:
 - 1x Line following sensor (exposed as 2 Analog inputs)
 - 1x Ultrasonic PING style rangefinder (uses 2 digital IO pins, exposed as an analog input)
 
-Motors, Wheels, and Encoders
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Motors, Wheels, and Encoders
 
 The motors used on the XRP have a 48.75:1 gear reduction and a no-load output speed of 90 RPM at 4.5V.
 
@@ -89,15 +85,13 @@ The encoder channels are listed in the table below.
 
 .. note:: By default, the encoders count up when the XRP moves forward.
 
-Inertial Measurement Unit
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### Inertial Measurement Unit
 
 The XRP includes an STMicroelectronics LSM6DSOX Inertial Measurement Unit (IMU) which contains a 3-axis gyro and a 3-axis accelerometer.
 
 The XRP will calibrate the gyro and accelerometer upon each boot (the onboard LED will quickly flash for about 3-5 seconds at startup time).
 
-Onboard LED and Push Button
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Onboard LED and Push Button
 
 The XRP has a push button (labeled USER) and a green LED onboard that are exposed as Digital IO (DIO) channels to robot code.
 
@@ -111,8 +105,7 @@ The XRP has a push button (labeled USER) and a green LED onboard that are expose
 
 .. note:: DIO 2 and 3 are reserved for future system use.
 
-Line Following (Reflectance) Sensor
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Line Following (Reflectance) Sensor
 
 When assembled according to the instructions, the XRP supports a line following sensor with 2 sensing elements. Each sensing element measures reflectance exposes these as AnalogInput channels to robot code. The returned values range from 0V (pure white) to 5V (pure black).
 
@@ -124,8 +117,7 @@ When assembled according to the instructions, the XRP supports a line following
 | AnalogInput 1       | Right Reflectance Sensor  |
 +---------------------+---------------------------+
 
-Ultrasonic Rangefinder
-^^^^^^^^^^^^^^^^^^^^^^
+### Ultrasonic Rangefinder
 
 When assembled according to the instructions, the XRP supports an ultrasonic, PING style, rangefinder. This is exposed as an AnalogInput channel to robot code. The returned values range from 0V (20mm) to 5V (4000mm).
 
diff --git a/source/docs/xrp-robot/hardware-and-imaging.rst b/source/docs/xrp-robot/hardware-and-imaging.rst
index 1be4034c41..9200b2eb25 100644
--- a/source/docs/xrp-robot/hardware-and-imaging.rst
+++ b/source/docs/xrp-robot/hardware-and-imaging.rst
@@ -1,35 +1,30 @@
-XRP Hardware, Assembly and Imaging
-==================================
+# XRP Hardware, Assembly and Imaging
 
 To get started with the XRP, you will need to have the necessary hardware.
 
-1. XRP Kit `from SparkFun <https://www.sparkfun.com/products/22230>`__ or `from DigiKey <https://www.digikey.com/en/products/detail/sparkfun-electronics/KIT-22296/19117674>`__ - Available at a discount for educational institutions or FIRST teams. See individual vendors for details.
-2. `Micro-USB cable <https://www.amazon.com/dp/B0711PVX6Z>`__ - Ensure that this is a data cable
-3. `4 AA batteries <https://www.amazon.com/gp/product/B07TW9T8JW/>`__ - Rechargeable (`example <https://www.amazon.com/AmazonBasics-AA-High-Capacity-Rechargeable-4-Pack/dp/B081FF82RK>`__) is best (don't forget the charger)
+1. XRP Kit [from SparkFun](https://www.sparkfun.com/products/22230) or [from DigiKey](https://www.digikey.com/en/products/detail/sparkfun-electronics/KIT-22296/19117674) - Available at a discount for educational institutions or FIRST teams. See individual vendors for details.
+2. [Micro-USB cable](https://www.amazon.com/dp/B0711PVX6Z) - Ensure that this is a data cable
+3. [4 AA batteries](https://www.amazon.com/gp/product/B07TW9T8JW/) - Rechargeable ([example](https://www.amazon.com/AmazonBasics-AA-High-Capacity-Rechargeable-4-Pack/dp/B081FF82RK)) is best (don't forget the charger)
 
-Assembly
---------
+## Assembly
 
 .. note::
 
-   See the assembly instructions on the `XRP User Guide <https://xrpusersguide.readthedocs.io/en/latest/course/building.html>`_.
+   See the assembly instructions on the [XRP User Guide](https://xrpusersguide.readthedocs.io/en/latest/course/building.html).
 
    You should follow the instructions up to and including the point where the XRP arm is mounted to the servo.
 
-Imaging your XRP
-----------------
+## Imaging your XRP
 
 The XRP uses a Raspberry Pi Pico W as its main processor. A special firmware will need to be installed so that the robot operates properly.
 
-Download
-^^^^^^^^
+### Download
 
 The XRP firmware must be downloaded and written to the Pico W. Click on ``Assets`` at the bottom of the description to see the available image files:
 
-`XRP-WPILib Firmware <https://github.com/wpilibsuite/xrp-wpilib-firmware/releases>`__
+[XRP-WPILib Firmware](https://github.com/wpilibsuite/xrp-wpilib-firmware/releases)
 
-Imaging
-^^^^^^^
+### Imaging
 
 To image the XRP, perform the following steps:
 
@@ -48,8 +43,7 @@ To image the XRP, perform the following steps:
 
 6. Once complete, the ``RPI-RP2`` USB storage device will disconnect. At this point, you can disconnect the XRP board from your computer and run it off battery power.
 
-First Boot
-^^^^^^^^^^
+### First Boot
 
 Perform the following steps to get your XRP ready for use:
 
diff --git a/source/docs/xrp-robot/hardware-support.rst b/source/docs/xrp-robot/hardware-support.rst
index abaa98637d..61e2e6e0c4 100644
--- a/source/docs/xrp-robot/hardware-support.rst
+++ b/source/docs/xrp-robot/hardware-support.rst
@@ -1,19 +1,16 @@
-XRP Hardware Support
-====================
+# XRP Hardware Support
 
 The XRP robot, having a different hardware architecture than a roboRIO, is compatible with a subset of commonly used FRC control system components.
 
-Compatible Hardware
--------------------
+## Compatible Hardware
 
 In general, the XRP is compatible with the following:
 
 - Hobby DC motors with built-in encoders (6-pin connector)
-- Standard RC-style PWM output devices (e.g. servos, PWM based motor controllers)
+- Standard RC-style :term:`PWM` output devices (e.g. servos, PWM based motor controllers)
 - "Ping" style ultrasonic sensors (only when connected to the RANGE port)
 
-Incompatible Hardware
----------------------
+## Incompatible Hardware
 
 Due to hardware limitations, the XRP is not compatible with the following:
 
@@ -21,8 +18,7 @@ Due to hardware limitations, the XRP is not compatible with the following:
 - Timing based sensors
 - CAN based devices
 
-Compatible Classes
-------------------
+## Compatible Classes
 
 All classes listed here are supported by the XRP. If a class is not listed here, assume that it is not supported and *will not* work.
 
diff --git a/source/docs/xrp-robot/images/hardware-and-imaging/xrp-power-switch.png b/source/docs/xrp-robot/images/hardware-and-imaging/xrp-power-switch.png
index 5827ff386c..9b5b2bfad5 100644
Binary files a/source/docs/xrp-robot/images/hardware-and-imaging/xrp-power-switch.png and b/source/docs/xrp-robot/images/hardware-and-imaging/xrp-power-switch.png differ
diff --git a/source/docs/xrp-robot/images/hardware-and-imaging/xrp-reset-button.png b/source/docs/xrp-robot/images/hardware-and-imaging/xrp-reset-button.png
index c42e81e29e..179134eff0 100644
Binary files a/source/docs/xrp-robot/images/hardware-and-imaging/xrp-reset-button.png and b/source/docs/xrp-robot/images/hardware-and-imaging/xrp-reset-button.png differ
diff --git a/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-new-project.png b/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-new-project.png
index cb38775b55..48b96c7393 100644
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diff --git a/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-reference-example.png b/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-reference-example.png
index 1c9397e008..7b7a9c9fc3 100644
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diff --git a/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-select-example.png b/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-select-example.png
index 73175183b8..c635cd0426 100644
Binary files a/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-select-example.png and b/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-select-example.png differ
diff --git a/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-simulate.png b/source/docs/xrp-robot/images/programming-xrp/xrp-vscode-simulate.png
index a2f4bc2154..5a169e24af 100644
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diff --git a/source/docs/xrp-robot/images/web-ui/xrp-webui-json.png b/source/docs/xrp-robot/images/web-ui/xrp-webui-json.png
index 93e62616f6..bc96e94d6d 100644
Binary files a/source/docs/xrp-robot/images/web-ui/xrp-webui-json.png and b/source/docs/xrp-robot/images/web-ui/xrp-webui-json.png differ
diff --git a/source/docs/xrp-robot/images/xrp.png b/source/docs/xrp-robot/images/xrp.png
index 3ccce84c0e..c0fdcfa810 100644
Binary files a/source/docs/xrp-robot/images/xrp.png and b/source/docs/xrp-robot/images/xrp.png differ
diff --git a/source/docs/xrp-robot/index.rst b/source/docs/xrp-robot/index.rst
index 574fc6029d..27a494016e 100644
--- a/source/docs/xrp-robot/index.rst
+++ b/source/docs/xrp-robot/index.rst
@@ -1,7 +1,6 @@
-Getting Started with XRP
-========================
+# Getting Started with XRP
 
-The XRP is a small and inexpensive robot designed for learning about programming FRC robots. All the same tools used for programming full-sized FRC robots can be used to program the XRP. The XRP comes with two drive motors with integrated wheel encoders. It also includes an IMU sensor that can be used for measuring headings and accelerations. Using it is as simple as writing a robot program, and running it on your computer. It will command the XRP to follow the steps in the program.
+The XRP is a small and inexpensive robot designed for learning about programming FRC robots. All the same tools used for programming full-sized FRC robots can be used to program the XRP. The XRP comes with two drive motors with integrated wheel encoders. It also includes an :term:`IMU` sensor that can be used for measuring headings and accelerations. Using it is as simple as writing a robot program, and running it on your computer. It will command the XRP to follow the steps in the program.
 
 The XRP provides a similar use case as the :doc:`Romi </docs/romi-robot/index>` with similar functionality, albeit using a lower power processor and is overall lower in cost.
 
diff --git a/source/docs/xrp-robot/programming-xrp.rst b/source/docs/xrp-robot/programming-xrp.rst
index c625c1450c..3c361d6977 100644
--- a/source/docs/xrp-robot/programming-xrp.rst
+++ b/source/docs/xrp-robot/programming-xrp.rst
@@ -1,19 +1,16 @@
-Programming the XRP
-===================
+# Programming the XRP
 
 Writing a program for the XRP is very similar to writing a program for a regular FRC robot. In fact, all the same tools (Visual Studio Code, Driver Station, SmartDashboard, etc) can be used with the XRP.
 
-Creating an XRP Program
------------------------
+## Creating an XRP Program
 
 Creating a new program for an XRP is like creating a normal FRC program, similar to the :doc:`Zero To Robot </docs/zero-to-robot/step-4/index>` programming steps.
 
 WPILib comes with two templates for XRP projects, including one based on TimedRobot, and a Command-Based project template. Additionally, an example project is provided which showcases some of the built-in functionality of the XRP, and shows how to use the vendordep exposed XRP classes. This article will walk through creating a project from this example.
 
-.. note:: In order to program the XRP using C++, a compatible C++ desktop compiler must be installed. See :ref:`Robot Simulation - Additional C++ Dependency <docs/software/wpilib-tools/robot-simulation/introduction:Additional C++ Dependency>`.
+.. note:: In order to program the XRP using C++, a compatible C++ desktop compiler must be installed. See :ref:`Robot Simulation - Additional C++ Dependency <cpp_sim_additional_dependency>`.
 
-Creating a New WPILib XRP Project
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Creating a New WPILib XRP Project
 
 Bring up the Visual Studio Code command palette with :kbd:`Ctrl+Shift+P`, and type "New project" into the prompt. Select the "Create a new project" command:
 
@@ -29,8 +26,7 @@ Next, a list of examples will appear. Scroll through the list to find the "XRP R
 
 Fill out the rest of the fields in the "New Project Creator" and click "Generate Project" to create the new robot project.
 
-Running an XRP Program
-^^^^^^^^^^^^^^^^^^^^^^
+### Running an XRP Program
 
 Once the robot project is generated, it is essentially ready to run. The project has a pre-built ``Drivetrain`` class and associated default command that lets you drive the XRP around using a joystick.
 
@@ -38,11 +34,11 @@ One aspect where an XRP project differs from a regular FRC robot project is that
 
 To run an XRP program, first, ensure that your XRP is powered on. Next, connect to ``XRP-<IDENT>`` WiFi network broadcast by the XRP. If you changed the XRP network settings (for example, to connect it to your own network), you may change the IP address that your program uses to connect to the XRP. To do this, open the ``build.gradle`` file and update the ``wpi.sim.envVar`` line to the appropriate IP address.
 
-.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/main/vscode-wpilib/resources/gradle/javaxrp/build.gradle
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2024.3.2/vscode-wpilib/resources/gradle/javaxrp/build.gradle
    :language: groovy
-   :lines: 44-47
+   :lines: 43-46
    :linenos:
-   :lineno-start: 44
+   :lineno-start: 43
    :emphasize-lines: 2
 
 Now to start your XRP robot code, open the WPILib Command Palette (type :kbd:`Ctrl+Shift+P`) and select "Simulate Robot Code", or press :kbd:`F5`.
diff --git a/source/docs/xrp-robot/web-ui.rst b/source/docs/xrp-robot/web-ui.rst
index 69db770123..9d3bc46a50 100644
--- a/source/docs/xrp-robot/web-ui.rst
+++ b/source/docs/xrp-robot/web-ui.rst
@@ -1,5 +1,4 @@
-The XRP Web UI
-==============
+# The XRP Web UI
 
 The XRP provides a simple Web UI for configuration. It is accessible at ``http://<IP Address of XRP>:5000``. By default, this is ``http://192.168.42.1:5000``.
 
@@ -8,20 +7,17 @@ The XRP configuration is a simple JSON object that allows a user to configure th
 .. image:: images/web-ui/xrp-webui-json.png
    :alt: XRP Web UI JSON configuration
 
-Switching Network Modes
------------------------
+## Switching Network Modes
 
 Box 3 in the image above shows the field that needs to be changed in order to switch the XRP from Access Point mode to/from Station mode. In Access Point (``AP``) mode, the XRP will broadcast a WiFi network. In Station (``STA``) mode, the XRP will connect to an existing WiFi network. Update the ``mode`` field with the appropriate value (``AP``/``STA``).
 
-Setting up a default Access Point (AP)
---------------------------------------
+## Setting up a default Access Point (AP)
 
 By default, the XRP will operate in Access Point mode, where it broadcasts a WiFi network. Box 1 in the image above shows which fields control the settings for the AP SSID and passphrase.
 
 If the operating mode is set to ``AP``, the access point information will be used to create the WiFi Access Point. If the mode is set to ``STA`` (station) and the XRP is unable to connect to any of the listed WiFi networks, then it will fall back to AP mode, again, using the information specified in box 1.
 
-Connecting to an existing WiFi network
---------------------------------------
+## Connecting to an existing WiFi network
 
 Box 2 in the image above shows an example of listing a WiFi network that you want the XRP to connect to. the ``networkList`` array can be populated with as many preferred networks as you would like (following the same format as Box 2). When set to ``STA`` mode, the XRP will attempt to connect to each listed network in order. If none of the networks are available, the XRP will fallback into AP mode.
 
diff --git a/source/docs/yearly-overview/2020-Game-Data.rst b/source/docs/yearly-overview/2020-Game-Data.rst
index e341605464..3154cbd2af 100644
--- a/source/docs/yearly-overview/2020-Game-Data.rst
+++ b/source/docs/yearly-overview/2020-Game-Data.rst
@@ -1,97 +1,88 @@
 .. include:: <isonum.txt>
 
-2020 Game Data Details
-======================
+# 2020 Game Data Details
 
 In the 2020 *FIRST*\ |reg| Robotics Competition game, the Position Control objective requires alliances to select a specific color transmitted to them when specific pre-requisites have been met. The field will transmit the selected color to teams using Game Data. This page details the timing and structure of the sent data and provides examples of how to access it in the three supported programming languages.
 
-The Data
---------
+## The Data
 
-Timing
-^^^^^^
+### Timing
 
 Color assignment data is sent to both alliances simultaneously once the first alliance in a match has reached Capacity on Stage 3 of the Shield Generator (see the Game Manual for more complete details). Between the beginning of the match and this point, the Game Data will be an empty string.
 
-Data format
-^^^^^^^^^^^
+### Data format
 
 The selected color for an alliance will be provided as a single character representing the color (i.e. 'R' = red, 'G' = green, 'B' = blue, 'Y' = yellow). This color indicates the color that must be placed underneath the Control Panel's color sensor in order to complete the Position Control objective (see the Game Manual for information about the location of the Control Panel sensor).
 
-Accessing the Data
-------------------
+## Accessing the Data
 
 The data is accessed using the Game Data methods or VIs in each language. Below are descriptions and examples of how to access the data from each of the three languages. As the data is provided to the Robot during the Teleop period, teams will likely want to query the data in Teleop periodic code, or trigger reading it off a button press or other action after they have reached Stage 3 capacity.
 
-C++/Java
-^^^^^^^^
+### C++/Java
 
 In C++ and Java the Game Data is accessed by using the GetGameSpecificMessage method of the DriverStation class. Teams likely want to query the data in a Teleop method such as Teleop Periodic in order to receive the data after it is sent during the match. Make sure to handle the case where the data is an empty string as this is what the data will be until the criteria are reached to enable Position Control for either alliance.
 
 .. tab-set-code::
 
-  .. code-block:: java
-
-    import edu.wpi.first.wpilibj.DriverStation;
-
-    String gameData;
-    gameData = DriverStation.getInstance().getGameSpecificMessage();
-    if(gameData.length() > 0)
+  ```java
+  import edu.wpi.first.wpilibj.DriverStation;
+  String gameData;
+  gameData = DriverStation.getInstance().getGameSpecificMessage();
+  if(gameData.length() > 0)
+  {
+    switch (gameData.charAt(0))
     {
-      switch (gameData.charAt(0))
-      {
-        case 'B' :
-          //Blue case code
-          break;
-        case 'G' :
-          //Green case code
-          break;
-        case 'R' :
-          //Red case code
-          break;
-        case 'Y' :
-          //Yellow case code
-          break;
-        default :
-          //This is corrupt data
-          break;
-      }
-    } else {
-      //Code for no data received yet
+      case 'B' :
+        //Blue case code
+        break;
+      case 'G' :
+        //Green case code
+        break;
+      case 'R' :
+        //Red case code
+        break;
+      case 'Y' :
+        //Yellow case code
+        break;
+      default :
+        //This is corrupt data
+        break;
     }
-
-  .. code-block:: c++
-
-    #include <frc/DriverStation.h>
-
-    std::string gameData;
-    gameData = frc::DriverStation::GetInstance().GetGameSpecificMessage();
-    if(gameData.length() > 0)
+  } else {
+    //Code for no data received yet
+  }
+  ```
+
+  ```c++
+  #include <frc/DriverStation.h>
+  std::string gameData;
+  gameData = frc::DriverStation::GetInstance().GetGameSpecificMessage();
+  if(gameData.length() > 0)
+  {
+    switch (gameData[0])
     {
-      switch (gameData[0])
-      {
-        case 'B' :
-          //Blue case code
-          break;
-        case 'G' :
-          //Green case code
-          break;
-        case 'R' :
-          //Red case code
-          break;
-        case 'Y' :
-          //Yellow case code
-          break;
-        default :
-          //This is corrupt data
-          break;
-      }
-    } else {
-      //Code for no data received yet
+      case 'B' :
+        //Blue case code
+        break;
+      case 'G' :
+        //Green case code
+        break;
+      case 'R' :
+        //Red case code
+        break;
+      case 'Y' :
+        //Yellow case code
+        break;
+      default :
+        //This is corrupt data
+        break;
     }
+  } else {
+    //Code for no data received yet
+  }
+  ```
 
-LabVIEW
-^^^^^^^
+### LabVIEW
 
 The Game Data in LabVIEW is accessed from the Game Specific Data VI. This VI can be found in the WPI Robotics Library -> Driver Station palette.
 
@@ -100,10 +91,9 @@ LabVIEW teams will likely want to query the data in the Teleop or PeriodicTasks
 .. image:: images/2020-Game-Data/labview-game-data-code.png
   :alt: Making a decision what to do about the game data received using a case structure.
 
-Testing Game Specific Data
---------------------------
+## Testing Game Specific Data
 
-You can test your Game Specific Data code without FMS by using the Driver Station. Click on the Setup tab of the Driver Station, then enter the desired test string into the Game Data text field. The data will be transmitted to the robot in one of two conditions: Enable the robot in Teleop mode, or when the DS reaches the End Game time in a Practice Match (times are configurable on the Setup tab). It is recommended to run at least one match using the Practice functionality to verify that your code works correctly in a full match flow.
+You can test your Game Specific Data code without :term:`FMS` by using the Driver Station. Click on the Setup tab of the Driver Station, then enter the desired test string into the Game Data text field. The data will be transmitted to the robot in one of two conditions: Enable the robot in Teleop mode, or when the DS reaches the End Game time in a Practice Match (times are configurable on the Setup tab). It is recommended to run at least one match using the Practice functionality to verify that your code works correctly in a full match flow.
 
 .. image:: images/2020-Game-Data/ds-game-data.png
   :alt: Game Data text box on the Driver Station.
diff --git a/source/docs/yearly-overview/images/2020-Game-Data/ds-game-data.png b/source/docs/yearly-overview/images/2020-Game-Data/ds-game-data.png
index e5de807eac..2b391f8362 100644
Binary files a/source/docs/yearly-overview/images/2020-Game-Data/ds-game-data.png and b/source/docs/yearly-overview/images/2020-Game-Data/ds-game-data.png differ
diff --git a/source/docs/yearly-overview/images/2020-Game-Data/labview-game-data-code.png b/source/docs/yearly-overview/images/2020-Game-Data/labview-game-data-code.png
index 9e42080093..4df88769ea 100644
Binary files a/source/docs/yearly-overview/images/2020-Game-Data/labview-game-data-code.png and b/source/docs/yearly-overview/images/2020-Game-Data/labview-game-data-code.png differ
diff --git a/source/docs/yearly-overview/images/known-issues/labview-autorun.png b/source/docs/yearly-overview/images/known-issues/labview-autorun.png
index deb81f936c..809155cf07 100644
Binary files a/source/docs/yearly-overview/images/known-issues/labview-autorun.png and b/source/docs/yearly-overview/images/known-issues/labview-autorun.png differ
diff --git a/source/docs/yearly-overview/index.rst b/source/docs/yearly-overview/index.rst
index f13197b2c1..8ec22f73df 100644
--- a/source/docs/yearly-overview/index.rst
+++ b/source/docs/yearly-overview/index.rst
@@ -1,8 +1,8 @@
-2024 Overview
-=============
+# 2024 Overview
 
 .. toctree::
    :maxdepth: 1
 
    known-issues
    yearly-changelog
+   returning-quickstart
diff --git a/source/docs/yearly-overview/known-issues.rst b/source/docs/yearly-overview/known-issues.rst
index 5f1f5b5bf8..1fb019b64b 100644
--- a/source/docs/yearly-overview/known-issues.rst
+++ b/source/docs/yearly-overview/known-issues.rst
@@ -1,22 +1,56 @@
 .. include:: <isonum.txt>
 
-Known Issues
-============
+# Known Issues
 
 This article details known issues (and workarounds) for FRC\ |reg| Control System Software.
 
-Open Issues
------------
+## Open Issues
 
-roboRIO 2.0 Ethernet Settings
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Driver Station randomly disabled
 
-**Issue:** On the roboRIO 2.0, the Ethernet port is configured to DHCP only. This will work in normal networking setups where the radio acts as a DHCP server, but will not communicate when tethered directly to the Driver Station via Ethernet.
+**Issue:** The Driver Station contains tighter safety mechanisms in 2024 to protect against control issues. Some teams have seen this cause the robot to disable.
 
-**Workaround:** Use the :doc:`/docs/software/roborio-info/roborio-web-dashboard` to change the Ethernet Adapter eth0 :guilabel:`Configure IPv4 Address` to :guilabel:`DHCP or Link Local`.
+**Workaround:** There are multiple potential causes for tripping the safety mechanisms.
 
-Driver Station Reporting No Code
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. note:: The new safety mechanisms will *not* disable the robot when connected to the :term:`FMS`.
+
+Driver Station 24.0.1 from Game Tools 2024 Patch 1 contains an update to the safety controls that may resolve the issue in certain circumstances. If the issue is still seen with this version installed, please continue with the troubleshooting steps below.
+
+The Driver Station software has new tools for control packet delays that could cause this. The control system team requests that teams that experience this issue post screenshots of the :doc:`Driver Station Timing window </docs/software/driverstation/driver-station-timing-viewer>` to https://github.com/wpilibsuite/allwpilib/issues/6174
+
+Some teams have seen this happen only when the robot is operated wirelessly, but not when operated via USB or ethernet tether. Some potential mitigations:
+
+1. Try relocating the robot radio to a better location (high in the robot and away from motors or large amounts of metal).
+2. :doc:`Measure your robot's bandwidth </docs/networking/networking-introduction/measuring-bandwidth-usage>` and ensure you have margin to the 4 Mbps bandwidth limit
+3. See if the Wi-Fi environment is congested using a tool like [WiFi Analyzer](https://apps.microsoft.com/detail/9NBLGGH33N0N?hl=en-US&gl=US). As the 5 ghz WiFi spectrum has more channels and is less crowded, switching the robot radio to operate at 5 ghz will likely improve WiFi communication.
+4. Update the Wi-Fi drivers for the computer.
+5. If you operate multiple robots in close proximity in access point mode, setting up a router and operating the radios in bridge mode will reduce the number of wireless access points and may improve communications
+
+Some teams have seen this happen due to software that is running on the driver station (such as Autodesk updater or Discord). Some potential mitigations:
+
+1. Reboot the driver station computer
+2. Close software that is running in the background
+3. Follow the :doc:`Driver Station Best Practices </docs/software/driverstation/driver-station-best-practices>`
+
+While rare, this can be caused by robot code that oversaturates the roboRIO processor or network connection. If all other troubleshooting steps fail, you can try running with one of the WPILib example programs to see if the problem still occurs.
+
+If you identify software that interferes with driver station, please post it to `<https://github.com/wpilibsuite/allwpilib/issues/6174>`__
+
+### Driver Station Reports Less Free RAM then is Available
+
+**Issue:** The Driver Station diagnostic screen reports free RAM that is misleadingly low. This is due to Linux's use of memory caches. Linux will cache data in memory, but then relinquish when the robot programs requests more memory. The Driver Station only reports memory that isn't used by caches.
+
+**Workaround:** The true memory available to the robot program is available in the file ``/proc/meminfo``. :doc:`Use ssh to connect to the robot </docs/software/roborio-info/roborio-ssh>`, and run ``cat /proc/meminfo``.
+
+```text
+MemTotal:         250152 kB
+MemFree:           46484 kB
+MemAvailable:     126956 kB
+```
+
+The proper value to look is as MemAvailable, rather then MemFree (which is what the driver station is reporting).
+
+### Driver Station Reporting No Code
 
 **Issue:** There is a rare occurrence in the roboRIO 2.0 that causes the roboRIO to not properly start the robot program. This causes the Driver Station to report a successful connection but no code, even though code is deployed on the roboRIO.
 
@@ -24,15 +58,13 @@ Driver Station Reporting No Code
 
  .. note:: Pressing the physical :guilabel:`User` button on the roboRIO for 5 seconds can also cause the robot code to not start, but a reboot will not start the robot code. If the robot code does not start after rebooting, press the :guilabel:`User` button. Ensure that nothing on the robot is in contact with the :guilabel:`User` button.
 
-Radio Second Port Sometimes Fails to Communicate
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Radio Second Port Sometimes Fails to Communicate
 
 **Issue:** There is a rare occurrence in the OM5P Radios that causes the second Ethernet port (the one farthest from the power plug) to not communicate.
 
-**Workaround:** Generally, power cycling the radio will restablish communication with the second port. Alternately, utilize a network switch such as the tp-link switch available from `FIRST Choice <https://firstchoicebyandymark.com/fc-cn-9024>`__ or the `brainboxes SW-005 <https://www.brainboxes.com/product/industrial-ethernet-switches/fast-ethernet/sw-005>`__ and plug all ethernet devices into the network switch and then plug the switch into the radio's first Ethernet port. This also allows easier tethering while at competition.
+**Workaround:** Generally, power cycling the radio will restablish communication with the second port. Alternately, utilize a network switch such as the tp-link switch formerly available from [FIRST Choice](https://www.amazon.com/gp/product/B000FNFSPY) or the [brainboxes SW-005](https://www.brainboxes.com/product/industrial-ethernet-switches/fast-ethernet/sw-005) and plug all ethernet devices into the network switch and then plug the switch into the radio's first Ethernet port. This also allows easier tethering while at competition.
 
-Onboard I2C Causing System Lockups
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Onboard I2C Causing System Lockups
 
 **Issue:** Use of the onboard I2C port on the roboRIO 1 or 2, in any language, can result in system lockups. The frequency of these lockups appears to be dependent on the specific hardware (i.e. different roboRIOs will behave differently) as well as how the bus is being used.
 
@@ -40,38 +72,34 @@ Onboard I2C Causing System Lockups
 
 Several alternatives exist for accessing the REV color sensor without using the roboRIO I2C port. A similar approach could be used for other I2C sensors.
 
-- Use a `Raspberry Pi Pico <https://github.com/ThadHouse/picocolorsensor/>`__. Supports up to 2 REV color sensors, sends data to the roboRIO via serial. The Pi Pico is low cost (less than $10) and readily available.
-- Use a `Raspberry Pi <https://github.com/PeterJohnson/rpi-colorsensor/>`__. Supports 1-4 color sensors, sends data to the roboRIO via NetworkTables. Primarily useful for teams already using a Raspberry Pi as a coprocessor.
+- Use a [Raspberry Pi Pico](https://github.com/ThadHouse/picocolorsensor/). Supports up to 2 REV color sensors, sends data to the roboRIO via serial. The Pi Pico is low cost (less than $10) and readily available.
+- Use a [Raspberry Pi](https://github.com/PeterJohnson/rpi-colorsensor/). Supports 1-4 color sensors, sends data to the roboRIO via NetworkTables. Primarily useful for teams already using a Raspberry Pi as a coprocessor.
 
-Updating Properties on roboRIO 2.0 may be slow or hang
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Updating Properties on roboRIO 2.0 may be slow or hang
 
 **Issue:** Updating the properties on a roboRIO 2.0 without reformatting using the Imaging Tool (such as setting the team number) may be slow or hang.
 
 **Workaround:** After a few minutes of the tool waiting the roboRIO should be able to be rebooted and the new properties should be set.
 
-Simulation crashes on Mac after updating WPILib
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Simulation crashes on Mac after updating WPILib
 
 **Issue:** On macOS, after updating the project to use a newer version of WPILib, running simulation immediately crashes without the GUI appearing.
 
 **Workaround:** In VS Code, run WPILib | Run a command in Gradle, ``clean``. Alternatively, run ``./gradlew clean`` in the terminal or delete the build directory.
 
-Invalid build due to missing GradleRIO
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Invalid build due to missing GradleRIO
 
 **Issue:** Rarely, a user's Gradle cache will get broken and they will get shown errors similar to the following:
 
-.. code-block:: console
-
-   Could not apply requested plugin [id: ‘edu.wpi.first.GradleRIO’, version: ‘2020.3.2’] as it does not provide a plugin with id ‘edu.wpi.first.GradleRIO’
+```console
+Could not apply requested plugin [id: ‘edu.wpi.first.GradleRIO’, version: ‘2020.3.2’] as it does not provide a plugin with id ‘edu.wpi.first.GradleRIO’
+```
 
 **Workaround:**
 
-Delete your Gradle cache located under ``~$USER_HOME/.gradle``. Windows machines may need to enable the ability to `view hidden files <https://support.microsoft.com/en-us/windows/view-hidden-files-and-folders-in-windows-10-97fbc472-c603-9d90-91d0-1166d1d9f4b5>`__. This issue has only shown up on Windows so far. Please `report <https://github.com/wpilibsuite/frc-docs/issues/new>`__ this issue if you get it on an alternative OS.
+Delete your Gradle cache located under ``~$USER_HOME/.gradle``. Windows machines may need to enable the ability to [view hidden files](https://support.microsoft.com/en-us/windows/view-hidden-files-and-folders-in-windows-10-97fbc472-c603-9d90-91d0-1166d1d9f4b5). This issue has only shown up on Windows so far. Please [report](https://github.com/wpilibsuite/frc-docs/issues/new) this issue if you get it on an alternative OS.
 
-Chinese characters in Driver Station Log
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Chinese characters in Driver Station Log
 
 **Issue:** Rarely, the driver station log will show Chinese characters instead of the English text. This appears to only happen when Windows is set to a language other then English.
 
@@ -84,8 +112,7 @@ There are two known workarounds:
   #. Copy and paste the Chinese characters into notepad, and the English text will be shown.
   #. Temporarily change the Windows language to English.
 
-C++ Intellisense - Files Open on Launch Don't Work Properly
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### C++ Intellisense - Files Open on Launch Don't Work Properly
 
 **Issue:** In C++, files open when VS Code launches will have issues with Intellisense showing suggestions from all options from a compilation unit and not just the appropriate ones or not finding header files. This is a bug in VS Code.
 
@@ -98,8 +125,7 @@ C++ Intellisense - Files Open on Launch Don't Work Properly
   #. Wait ~1 min
   #. Open the main cpp file (not a header file). Intellisense should now be working
 
-Issues with WPILib Dashboards and Simulation on Windows N Editions
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Issues with WPILib Dashboards and Simulation on Windows N Editions
 
 **Issue:** WPILib code using CSCore (dashboards and simulated robot code) will have issues on Education N editions of Windows.
 
@@ -107,5 +133,16 @@ Issues with WPILib Dashboards and Simulation on Windows N Editions
 - Smartdashbard will crash on start-up
 - Robot Simulation will crash on start-up
 
-**Solution:** Install the `Media Feature Pack <https://www.microsoft.com/en-us/software-download/mediafeaturepack>`__
+**Solution:** Install the [Media Feature Pack](https://www.microsoft.com/en-us/software-download/mediafeaturepack)
+
+### Python - CameraServer/cscore runs out of memory on roboRIO 1
+
+**Issue:** When using CameraServer on a roboRIO 1, the image processing program will sometimes exit with a ``SIGABRT`` or "Error code 6" or a ``MemoryError``.
+
+**Solution:** You may be able to workaround this issue by disabling the NI webserver using the following robotpy-installer command:
+
+```shell
+python -m robotpy installer niweb disable
+```
 
+.. seealso:: [Github issue](https://github.com/robotpy/mostrobotpy/issues/61)
diff --git a/source/docs/yearly-overview/returning-quickstart.rst b/source/docs/yearly-overview/returning-quickstart.rst
new file mode 100644
index 0000000000..4c67f0f504
--- /dev/null
+++ b/source/docs/yearly-overview/returning-quickstart.rst
@@ -0,0 +1,13 @@
+# Quick Start for Returning Teams
+
+This section serves as a launching point for veteran teams that need to update to the current year's software.
+
+It is advised that **all** teams read through the :doc:`changelog </docs/yearly-overview/yearly-changelog>` and :doc:`known issues </docs/yearly-overview/known-issues>` for the season.
+
+1. :doc:`Install LabVIEW </docs/zero-to-robot/step-2/labview-setup>` (LabVIEW teams only)
+2. :doc:`Install Game Tools </docs/zero-to-robot/step-2/frc-game-tools>`
+3. :doc:`Install WPILib </docs/zero-to-robot/step-2/wpilib-setup>` (Java / C++ teams only)
+4. :doc:`Update third party libraries </docs/software/vscode-overview/3rd-party-libraries>`
+5. Reimage :doc:`roboRIO 1 </docs/zero-to-robot/step-3/imaging-your-roborio>` or :doc:`roboRIO 2 </docs/zero-to-robot/step-3/roborio2-imaging>`
+6. :doc:`Import robot project </docs/software/vscode-overview/importing-last-years-robot-code>` (Java / C++ teams only)
+7. Update software based on the changes described in the :doc:`changelog </docs/yearly-overview/yearly-changelog>`
diff --git a/source/docs/yearly-overview/yearly-changelog.rst b/source/docs/yearly-overview/yearly-changelog.rst
index b6a3203dca..9235e6b47e 100644
--- a/source/docs/yearly-overview/yearly-changelog.rst
+++ b/source/docs/yearly-overview/yearly-changelog.rst
@@ -1,19 +1,16 @@
 .. include:: <isonum.txt>
 
-New for 2024
-============
+# New for 2024
 
-A number of improvements have been made to FRC\ |reg| Control System software for 2024. This article will describe and provide a brief overview of the new changes and features as well as a more complete changelog for Java/C++ WPILib changes. This document only includes the most relevant changes for end users, the full list of changes can be viewed on the various `WPILib <https://github.com/wpilibsuite/>`__ GitHub repositories.
+A number of improvements have been made to FRC\ |reg| Control System software for 2024. This article will describe and provide a brief overview of the new changes and features as well as a more complete changelog for Java/C++ WPILib changes. This document only includes the most relevant changes for end users, the full list of changes can be viewed on the various [WPILib](https://github.com/wpilibsuite/) GitHub repositories.
 
 It's recommended to also review the list of :doc:`known issues <known-issues>`.
 
-Importing Projects from Previous Years
---------------------------------------
+## Importing Projects from Previous Years
 
-Due to internal GradleRIO changes, it is necessary to update projects from previous years. After :doc:`Installing WPILib for 2024 </docs/zero-to-robot/step-2/wpilib-setup>`, any 2023 projects must be :doc:`imported </docs/software/vscode-overview/importing-gradle-project>` to be compatible.
+Due to internal GradleRIO changes, it is necessary to update projects from previous years. After :doc:`Installing WPILib for 2024 </docs/zero-to-robot/step-2/wpilib-setup>`, any 2023 projects must be :doc:`imported </docs/software/vscode-overview/importing-last-years-robot-code>` to be compatible.
 
-Major Changes (Java/C++)
-------------------------
+## Major Changes (Java/C++)
 
 These changes contain *some* of the major changes to the library that it's important for the user to recognize. This does not include all of the breaking changes, see the other sections of this document for more changes.
 
@@ -23,6 +20,8 @@ These changes contain *some* of the major changes to the library that it's impor
 - Java now uses the Serial GC by default on the roboRIO; this should improve performance and reduce memory usage for most robot programs
 - Performance improvements and reduced worst-case memory usage throughout libraries
 - Added a typesafe unit system for Java (not used by the main part of WPILib yet)
+- Disabled LiveWindow in Test Mode by default. See See :ref:`docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode:Enabling LiveWindow in Test Mode` to enable it.
+- SysId has been rewritten to remove project generation; Replaced with data logging within team robot program
 
 Supported Operating Systems and Architectures:
  * Windows 10 & 11, 64 bit. 32 bit and Arm are not supported
@@ -31,11 +30,9 @@ Supported Operating Systems and Architectures:
 
 .. warning:: The following OSes are no longer supported: macOS 11, Ubuntu 18.04 & 20.04, Windows 7, Windows 8.1, and any 32-bit Windows.
 
-WPILib
-------
+## WPILib
 
-General Library
-^^^^^^^^^^^^^^^
+### General Library
 
 - Commands:
 
@@ -66,6 +63,7 @@ General Library
     - Improved file rename functionality to only use system time after it is updated by DS
     - NT publishers created before the log is started are now captured
     - Add delete without download functionality to DataLogTool
+    - Changed default log location to logs subdirectory for better organization
 
 - Hardware interfaces:
 
@@ -74,8 +72,8 @@ General Library
     - Exposed CAN timestamp base clock
     - Fixed and documented addressable LED timings
     - Fixed ``DutyCycleEncoder`` reset behavior
-    - Added function to read the RSL state
-    - Raw PWM now uses microseconds units
+    - Added function to read the :term:`RSL` state
+    - Raw :term:`PWM` now uses microseconds units
     - Fixed REVPH faults bitfield
     - C++: Fix ``Counter`` default distance per pulse to match Java
 
@@ -92,6 +90,8 @@ General Library
     - Add constructor overloads for easier Transform2d and Transform3d creation from X, Y, Z coordinates
     - Add ``ChassisSpeeds`` ``fromRobotRelativeSpeeds`` to convert from robot relative to field relative
     - Add method to create a LinearSystem from kA and kV, for example from a characterized mechanism
+    - Add ``SimulatedAnnealing`` class
+    - Fixed MecanumDriveWheelSpeeds desaturate()
 
 - Added ``RobotController`` function to get the assigned team number
 - Updated ``GetMatchTime`` docs and units
@@ -102,11 +102,18 @@ General Library
 - Updated to OpenCV 4.8.0 and EJML 0.43.1 and C++ JSON to 3.11.2
 - Add ``PS5Controller`` class
 - Add accessors for ``AprilTagFieldLayout`` origin and field dimensions
+- ArcadeDrive: Fix max output handling
+- Add ``PWMSparkFlex`` Motor Controller
+- ADIS16470: allow accessing all three axes
+- Deprecated ``MotorControllerGroup``. Use ``PWMMotorController`` ``addFollower()`` method or if using CAN motor controllers use their method of following.
+- Added functional interface to ``DifferentialDrive`` and ``MecanumDrive``. The ``MotorController`` interface may be removed in the future to reduce coupling with vendor libraries. Instead of passing ``MotorController`` objects, the following method references or lambda expressions can be used:
 
-Breaking Changes
-^^^^^^^^^^^^^^^^
+    - Java: ``DifferentialDrive drive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);``
+    - C++: ``frc::DifferentialDrive m_drive{[&](double output) { m_leftMotor.Set(output); }, [&](double output) { m_rightMotor.Set(output); }};``
 
-- Changed ``DriverStation.getAllianceStation()`` to return optional value
+### Breaking Changes
+
+- Changed ``DriverStation.getAllianceStation()`` to return optional value.  See :doc:`example usage </docs/software/basic-programming/alliancecolor>`
 - Merged CommandBase into Command (Command is now a base class instead of an interface)
 - Potentially breaking: made command scheduling order consistent
 - Removed various deprecated command classes and functions:
@@ -121,12 +128,11 @@ Breaking Changes
         - ``whileTrue()`` (replaces ``whileActiveOnce()``): schedule on rising edge, cancel on falling edge.
         - ``toggleOnTrue()`` (replaces ``toggleWhenActive()``): on rising edge, schedule if unscheduled and cancel if scheduled.
         - ``cancelWhenActive()``: this is a fairly niche use case which is better described as having the trigger's rising edge (``Trigger.rising()``) as an end condition for the command (using ``Command.until()``).
-        - ``whileActiveContinuously()``: however common, this relied on the no-op behavior of scheduling an already-scheduled command. The more correct way to repeat the command if it ends before the falling edge is using ``Command.repeatedly()``/``RepeatCommand`` or a ``RunCommand`` -- the only difference is if the command is interrupted, but that is more likely to result in two commands perpetually canceling each other than achieve the desired behavior. Manually implementing a blindly-scheduling binding like ``whileActiveContinuously()`` is still possible, though might not be intuitive.
+        - ``whileActiveContinuously()``: however common, this relied on the :term:`no-op` behavior of scheduling an already-scheduled command. The more correct way to repeat the command if it ends before the falling edge is using ``Command.repeatedly()``/``RepeatCommand`` or a ``RunCommand`` -- the only difference is if the command is interrupted, but that is more likely to result in two commands perpetually canceling each other than achieve the desired behavior. Manually implementing a blindly-scheduling binding like ``whileActiveContinuously()`` is still possible, though might not be intuitive.
     - ``CommandScheduler.clearButtons()``
     - ``CommandScheduler.addButtons()`` (Java only)
     - Command supplier constructor of ``SelectCommand`` (use ``ProxyCommand`` instead)
 
-- Removed project generation from SysId
 - Removed ``Compressor.enabled()`` function (use ``isEnabled()`` instead)
 - Removed ``CameraServer.setSize()`` function (use ``setResolution()`` on the camera object instead)
 - Removed deprecated and broken SPI methods
@@ -134,17 +140,16 @@ Breaking Changes
 - Removed ``frc2::PIDController`` alias (``frc::PIDController`` already existed)
 - For ease of use, ``loadAprilTagFieldLayout()`` now throws an unchecked exception instead of a checked exception
 - Add new parameter for ``ElevatorSim`` constructor for starting height
+- Report error on negative PID gains
 
-Simulation
-----------
+## Simulation
 
 - Unified PWM simulation Speed, Position, and Raw values to be consistent with robot behavior
 - Expanded DutyCycleEncoderSim API
 - Added ability to set starting state of mechanism sims
 - Added mechanism-specific SetState overloads to physics sims
 
-SmartDashboard
---------------
+## SmartDashboard
 
 .. important:: SmartDashboard is not supported on Apple Silicon (Arm64) Macs.
 
@@ -152,8 +157,7 @@ SmartDashboard
 - Added LiveWindow widgets to containing subsystem widget when creating them from the save file
 - Now properly handles putting the Scheduler on SmartDashboard with ``SmartDashboard.putData()``
 
-Glass / OutlineViewer / Simulation GUI
---------------------------------------
+## Glass / OutlineViewer / Simulation GUI
 
 - Include standard field images for Field2D background
 - Enhanced array support in NetworkTables views
@@ -163,9 +167,9 @@ Glass / OutlineViewer / Simulation GUI
 - Fixed loading a maximized window on second monitor
 - Fixed crash when clearing existing workspace
 - Fixed file dialogs not closing after window closes
+- add ProfiledPIDController support
 
-GradleRIO
----------
+## GradleRIO
 
 - Use Java Serial GC by default
 - Remove AlwaysPreTouch from Java arguments (reduces startup memory usage)
@@ -174,30 +178,26 @@ GradleRIO
 - Upgraded to Gradle 8.4
 - Check that project isn't in OneDrive, as that causes issues
 
-WPILib All in One Installer
----------------------------
+## WPILib All in One Installer
 
-- Update to VS Code 1.84.0
-- VS Code extension updates: cpptools 1.17.5, javaext 1.23.0
+- Update to VS Code 1.85.1
+- VS Code extension updates: cpptools 1.19.1, javaext 1.26.0
 - Use separate zip files for VS Code download/install
 - Update to use .NET 8
 - AdvantageScope is now bundlled by the installer
 
-Visual Studio Code Extension
-----------------------------
+## Visual Studio Code Extension
 
 - Java source code is now bundled into the deployed jar file. This makes it possible to recover source code from a deployed robot program.
 - Added XRP support
 - Check that project isn't created in OneDrive, as that causes issues
 
-RobotBuilder
-------------
+## RobotBuilder
 
 - Add POVButton
 - Fixed constants aliasing
 - Updated PCM references and wiring export for addition of REV PH
 
-SysID
------
+## SysId
 
-- Removed project generation; will be replaced with data logging within team robot program (work in progress)
+- Removed project generation; Replaced with data logging within team robot program
diff --git a/source/docs/zero-to-robot/introduction.rst b/source/docs/zero-to-robot/introduction.rst
index 72e09943e2..0ea2f9f8c9 100644
--- a/source/docs/zero-to-robot/introduction.rst
+++ b/source/docs/zero-to-robot/introduction.rst
@@ -1,36 +1,34 @@
 .. include:: <isonum.txt>
 
-Introduction
-============
+# Introduction
 
 Welcome to the official documentation home for the *FIRST*\ |reg| Robotics Competition Control System and WPILib software packages. This page is the primary resource documenting the use of the FRC\ |reg| Control System (including wiring, configuration and software) as well as the WPILib libraries and tools.
 
-New to Programming?
--------------------
+## New to Programming?
 
 These pages cover the specifics of the WPILib libraries and the FRC Control System and do not describe the basics of using the supported programming languages. If you would like resources on learning the supported programming languages check out the recommendations below:
 
 .. note:: You can continue with this Zero-to-Robot section to get a functioning basic robot without knowledge of the programming language. To go beyond that, you will need to be familiar with the language you choose to program in.
 
-Java
-^^^^
+### Java
 
-- `Code Academy <https://www.codecademy.com/learn/learn-java>`__
-- `Head First Java 2nd Edition <https://www.amazon.com/dp/0596009208/>`__ is a very beginner friendly introduction to programming in Java (ISBN-10: 0596009208).
+- [Code Academy](https://www.codecademy.com/learn/learn-java)
+- [Head First Java 2nd Edition](https://www.amazon.com/dp/0596009208/) is a very beginner friendly introduction to programming in Java (ISBN-10: 0596009208).
 
-C++
-^^^
+### C++
 
-- `LearnCPP <https://www.learncpp.com/>`__
-- `Programming: Principles and Practice Using C++ 2nd Edition <https://www.amazon.com/dp/B00KPTEH8C>`__ is an introduction to C++ by the creator of the language himself (ISBN-10: 0321992784).
-- `C++ Primer Plus 6th Edition <https://www.amazon.com/dp/0321928423/>`__ (ISBN-10: 0321776402).
+- [LearnCPP](https://www.learncpp.com/)
+- [Programming: Principles and Practice Using C++ 2nd Edition](https://www.amazon.com/dp/B00KPTEH8C) is an introduction to C++ by the creator of the language himself (ISBN-10: 0321992784).
+- [C++ Primer Plus 6th Edition](https://www.amazon.com/dp/0321928423/) (ISBN-10: 0321776402).
 
-LabVIEW
-^^^^^^^
+### LabVIEW
 
-- `NI Learn LabVIEW <https://www.ni.com/getting-started/labview-basics/>`__
+- [NI Learn LabVIEW](https://www.ni.com/getting-started/labview-basics/)
 
-Zero to Robot
--------------
+### Python
 
-The remaining pages in this tutorial are designed to be completed in order to go from zero to a working basic robot. The documents will walk you through wiring your robot, installation of all needed software, configuration of hardware, and loading a basic example program that should allow your robot to operate. When you complete a page, simply click **Next** to navigate to the next page and continue with the process. When you're done, you can click **Next** to continue to an overview of WPILib in C++/Java or jump back to the home page using the logo at the top left to explore the rest of the content.
+-  [List of various guides to learn Python](http://docs.python-guide.org/en/latest/intro/learning/)
+
+## Zero to Robot
+
+The remaining pages in this tutorial are designed to be completed in order to go from zero to a working basic robot. The documents will walk you through wiring your robot, installation of all needed software, configuration of hardware, and loading a basic example program that should allow your robot to operate. When you complete a page, simply click **Next** to navigate to the next page and continue with the process. When you're done, you can click **Next** to continue to an overview of WPILib in C++/Java/Python or jump back to the home page using the logo at the top left to explore the rest of the content.
diff --git a/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/stop.png b/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/stop.png
index 0946384d1e..7b7befd331 100644
Binary files a/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/stop.png and b/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/stop.png differ
diff --git a/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/ziptie.png b/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/ziptie.png
index 4d0fce53d2..afadb6436d 100644
Binary files a/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/ziptie.png and b/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/ziptie.png differ
diff --git a/source/docs/zero-to-robot/step-1/index.rst b/source/docs/zero-to-robot/step-1/index.rst
index bdeb3f1cf2..3d0531a1b9 100644
--- a/source/docs/zero-to-robot/step-1/index.rst
+++ b/source/docs/zero-to-robot/step-1/index.rst
@@ -1,5 +1,4 @@
-Step 1: Building your Robot
-===========================
+# Step 1: Building your Robot
 
 An overview of the available control system hardware can be found :doc:`here </docs/controls-overviews/control-system-hardware>`.
 
diff --git a/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst b/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst
index 0ee8e7d10b..03f64f3ce7 100644
--- a/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst
+++ b/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Introduction to FRC Robot Wiring
-================================
+# Introduction to FRC Robot Wiring
 
 .. note::
 
@@ -9,8 +8,7 @@ Introduction to FRC Robot Wiring
 
    Some images shown in this section reflect the setup for a Robot Control System using SPARK or SPARK MAX Motor Controllers. Wiring diagram and layout should be similar for other motor controllers. Where appropriate, two sets of images are provided to show connections using controllers with and without integrated wires.
 
-Overview
---------
+## Overview
 .. raw:: html
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
@@ -40,28 +38,27 @@ Overview
         Diagram courtesy of FRC\ |reg| Team 3161 and Stefen Acepcion.
 
 
-Gather Materials
-----------------
+## Gather Materials
 
 Locate the following control system components and tools
 
 
 - Kit Materials:
 
-      - Power Distribution Hub (PH) / Power Distribution Panel (PDP)
+      - Power Distribution Hub (:term:`PDH`) / Power Distribution Panel (:term:`PDP`)
       - roboRIO
-      - Pneumatics Hub (PH) / Pneumatics Control Module (PCM)
-      - Radio Power Module (RPM) / Voltage Regulator Module (VRM)
+      - Pneumatics Hub (:term:`PH`) / Pneumatics Control Module (:term:`PCM`)
+      - Radio Power Module (:term:`RPM`) / Voltage Regulator Module (:term:`VRM`)
       - OpenMesh radio (with power cable and Ethernet cable)
-      - Robot Signal Light (RSL)
+      - Robot Signal Light (:term:`RSL`)
       - 4x SPARK MAX or other motor controllers
-      - 2x PWM y-cables
+      - 2x :term:`PWM` y-cables
       - 120A Circuit breaker
       - 4x 40A Circuit breaker
       - 6 AWG (16 :math:`mm^2`) Red wire
       - 10 AWG (6 :math:`mm^2`) Red/Black wire
       - 18 AWG (1 :math:`mm^2`) Red/Black wire
-      - 22 AWG (0.5 :math:`mm^2`) Yellow/Green twisted CAN cable
+      - 22 AWG (0.5 :math:`mm^2`) Yellow/Green twisted :term:`CAN` cable
       - 8x Pairs of 10-12 AWG (4 - 6 :math:`mm^2`) (Yellow) quick disconnect terminals (16x ring terminals if using integrated wire controllers)
       - 2x Anderson SB50 battery connectors
       - 6 AWG (16 :math:`mm^2`) Terminal lugs
@@ -81,13 +78,11 @@ Locate the following control system components and tools
       - For CTR PDP only: 5 mm Hex key (3/16" may work if metric is unavailable)
       - For CTR PDP only: 1/16" Hex key
 
-Create the Base for the Control System
---------------------------------------
+## Create the Base for the Control System
 
 For a test board, cut piece of 1/4" or 1/2" (6-12 mm) material (wood or plastic) approximately 24" x 16" (60 x 40 cm). For a Robot Quick Build control board see the supporting documentation for the proper size board for the chosen chassis configuration.
 
-Layout the Core Control System Components
------------------------------------------
+## Layout the Core Control System Components
 .. tab-set::
 
    .. tab-item:: REV
@@ -104,16 +99,14 @@ Layout the Core Control System Components
 
 Lay out the components on the board. An example layout is shown in the image above.
 
-Fasten Components
------------------
+## Fasten Components
 
 .. image:: images/how-to-wire-a-simple-robot/ziptie.png
   :alt: Using zipties to secure components down.
 
 Using the Dual Lock or hardware, fasten all components to the board. Note that in many FRC games robot-to-robot contact may be substantial and Dual Lock alone is unlikely to stand up as a fastener for many electronic components. Teams may wish to use nut and bolt fasteners or (as shown in the image above) cable ties, with or without Dual Lock to secure devices to the board.
 
-Attach Robot Side Battery Connector
-----------------------------------------------
+## Attach Robot Side Battery Connector
 
 .. tab-set::
 
@@ -155,8 +148,7 @@ Attach Robot Side Battery Connector
       3. Using a 7/16" (11 mm) box end wrench, remove the nut on the "Batt" side of the main breaker and secure the positive terminal of the battery connector
 
 
-Wire Breaker to Power Distribution
-----------------------------------
+## Wire Breaker to Power Distribution
 
 .. tab-set::
 
@@ -191,8 +183,7 @@ Wire Breaker to Power Distribution
       3. Using the 5 mm Allen wrench, secure the other end to the PDP positive terminal.
 
 
-Insulate power connections
---------------------------
+## Insulate power connections
 
 .. tab-set::
 
@@ -218,8 +209,7 @@ Insulate power connections
       2. Using the 1/16" Allen wrench, replace the PDP terminal cover
 
 
-Motor Controller Power
-----------------------
+## Motor Controller Power
 
 .. tab-set::
 
@@ -283,13 +273,12 @@ Motor Controller Power
       4. Attach the terminal to the motor controller input terminals (red to +, black to -)
 
 
-Weidmuller Connectors
----------------------
+## Weidmuller Connectors
 
 .. raw:: html
 
     <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
-        <iframe src="https://www.youtube-nocookie.com/embed/Zsnro-9_ZfQ" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+        <iframe src="https://www.youtube-nocookie.com/embed/SfkmyN9mYLA?si=dMHW1JCVkbpDjbu6&amp;start=39" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
     </div>
 
 
@@ -297,6 +286,7 @@ A number of the CAN and power connectors in the system use a Weidmuller LSF seri
 
 - Wire should be 16 AWG (1.5 :math:`mm^2`) to 24 AWG (0.25 :math:`mm^2`) (consult rules to verify required gauge for power wiring)
 - Wire ends should be stripped approximately 5/16 (~8 mm)"
+- A ferrule can be added to reinforce the connection and prevent splaying, as shown in the video above.
 - To insert or remove the wire, press down on the corresponding "button" to open the terminal
 
 After making the connection check to be sure that it is clean and secure:
@@ -304,8 +294,7 @@ After making the connection check to be sure that it is clean and secure:
 - Verify that there are no "whiskers" outside the connector that may cause a short circuit
 - Tug on the wire to verify that it is seated fully. If the wire comes out and is the correct gauge it needs to be inserted further and/or stripped back further. Occasionally the terminal may remain stuck open with the wire inserted and the button released even if the wire is stripped and inserted properly; in these cases wiggling the wire in and out a small amount will often allow the connector to latch shut and grip the wire.
 
-roboRIO Power
--------------
+## roboRIO Power
 .. tab-set::
 
    .. tab-item:: REV
@@ -340,8 +329,7 @@ roboRIO Power
       5. Using a very small flat screwdriver connect the wires to the power input connector of the roboRIO (red to V, black to C). Also make sure that the power connector is screwed down securely to the roboRIO.
 
 
-Radio Power
------------
+## Radio Power
 .. tab-set::
 
    .. tab-item:: REV
@@ -386,8 +374,7 @@ Radio Power
       2. Connect the RJ45 (Ethernet) plug end of the cable into the Ethernet port on the radio closest to the barrel connector (labeled 18-24v POE)
 
 
-Pneumatics Power (Optional)
----------------------------
+## Pneumatics Power (Optional)
 
 .. tab-set::
 
@@ -402,7 +389,7 @@ Pneumatics Power (Optional)
 
       Requires: Wire stripper, small flat screwdriver (optional), 18 AWG (1 :math:`mm^2`) red and black wire
 
-      .. note: The Pneumatics Hub is an optional component used for controlling pneumatics on the robot.
+      .. note:: The Pneumatics Hub is an optional component used for controlling pneumatics on the robot.
 
       The Pneumatics Hub can be wired to either a non-switchable fused port on the PDH with a 15A or smaller fuse or to a circuit breaker protected port with a breaker up to 20A.
 
@@ -420,7 +407,7 @@ Pneumatics Power (Optional)
 
       Requires: Wire stripper, small flat screwdriver (optional), 18 AWG (1 :math:`mm^2`) red and black wire
 
-      .. note: The PCM is an optional component used for controlling pneumatics on the robot.
+      .. note:: The PCM is an optional component used for controlling pneumatics on the robot.
 
       1. Strip ~5/16" (~8 mm) on the end of the red and black 18 AWG (1 :math:`mm^2`) wire.
       2. Connect the wire to one of the two terminal pairs labeled "Vbat VRM PCM PWR" on the PDP.
@@ -428,8 +415,7 @@ Pneumatics Power (Optional)
       4. Cut and strip ~5/16" (~8 mm) from the end of the wire.
       5. Connect the wire to the PCM 12Vin terminals.
 
-Ethernet Cables
----------------
+## Ethernet Cables
 
 .. tab-set::
 
@@ -457,11 +443,9 @@ Ethernet Cables
 
       Connect an Ethernet cable from the RJ45 (Ethernet) socket of the Rev Passive POE cable to the RJ45 (Ethernet) port on the roboRIO.
 
-CAN Devices
------------
+## CAN Devices
 
-roboRIO to Pneumatics CAN
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### roboRIO to Pneumatics CAN
 
 .. tab-set::
 
@@ -476,7 +460,7 @@ roboRIO to Pneumatics CAN
 
       Requires: Wire stripper, small flat screwdriver (optional), yellow/green twisted CAN cable
 
-      .. note: The PH is an optional component used for controlling pneumatics on the robot. If you are not using the PH, wire the CAN connection directly from the roboRIO (shown in this step) to the PDH (shown in the next step).
+      .. note:: The PH is an optional component used for controlling pneumatics on the robot. If you are not using the PH, wire the CAN connection directly from the roboRIO (shown in this step) to the PDH (shown in the next step).
 
       1. Strip ~5/16" (~8 mm) off of each of the CAN wires.
       2. Insert the wires into the appropriate CAN terminals on the roboRIO (Yellow->YEL, Green->GRN).
@@ -491,15 +475,14 @@ roboRIO to Pneumatics CAN
 
       Requires: Wire stripper, small flat screwdriver (optional), yellow/green twisted CAN cable
 
-      .. note: The PCM is an optional component used for controlling pneumatics on the robot. If you are not using the PCM, wire the CAN connection directly from the roboRIO (shown in this step) to the PDP (shown in the next step).
+      .. note:: The PCM is an optional component used for controlling pneumatics on the robot. If you are not using the PCM, wire the CAN connection directly from the roboRIO (shown in this step) to the PDP (shown in the next step).
 
       1. Strip ~5/16" (~8 mm) off of each of the CAN wires.
       2. Insert the wires into the appropriate CAN terminals on the roboRIO (Yellow->YEL, Green->GRN).
       3. Measure the length required to reach the CAN terminals of the PCM (either of the two available pairs). Cut and strip ~5/16" (~8 mm) off this end of the wires.
       4. Insert the wires into the appropriate color coded CAN terminals on the PCM. You may use either of the Yellow/Green terminal pairs on the PCM, there is no defined in or out.
 
-Pneumatics to PD CAN
-^^^^^^^^^^^^^^^^^^^^^
+### Pneumatics to PD CAN
 
 .. tab-set::
 
@@ -514,14 +497,14 @@ Pneumatics to PD CAN
 
          Requires: Wire stripper, small flat screwdriver (optional), yellow/green twisted CAN cable
 
-         .. note: The PH is an optional component used for controlling pneumatics on the robot. If you are not using the PH, wire the CAN connection directly from the roboRIO (shown in the above step) to the PDH (shown in this step).
+         .. note:: The PH is an optional component used for controlling pneumatics on the robot. If you are not using the PH, wire the CAN connection directly from the roboRIO (shown in the above step) to the PDH (shown in this step).
 
          1. Strip ~5/16" (~8 mm) off of each of the CAN wires.
          2. Insert the wires into the appropriate CAN terminals on the PH.
          3. Measure the length required to reach the CAN terminals of the PDH (either of the two available pairs). Cut and strip ~5/16" (~8 mm) off this end of the wires.
          4. Insert the wires into the appropriate color coded CAN terminals on the PDH. You may use either of the Yellow/Green terminal pairs on the PDH, there is no defined in or out.
 
-         .. note: See the :ref:`CAN Wiring Basics<docs/hardware/hardware-basics/can-wiring-basics:Termination>` if you need to terminate the CAN bus somewhere other than the PDP.
+         .. note:: See the :ref:`CAN Wiring Basics<docs/hardware/hardware-basics/can-wiring-basics:Termination>` if you need to terminate the CAN bus somewhere other than the PDP.
 
    .. tab-item:: CTR
       :sync: CTR
@@ -531,18 +514,17 @@ Pneumatics to PD CAN
 
       Requires: Wire stripper, small flat screwdriver (optional), yellow/green twisted CAN cable
 
-      .. note: The PCM is an optional component used for controlling pneumatics on the robot. If you are not using the PCM, wire the CAN connection directly from the roboRIO (shown in the above step) to the PDP (shown in this step).
+      .. note:: The PCM is an optional component used for controlling pneumatics on the robot. If you are not using the PCM, wire the CAN connection directly from the roboRIO (shown in the above step) to the PDP (shown in this step).
 
       1. Strip ~5/16" (~8 mm) off of each of the CAN wires.
       2. Insert the wires into the appropriate CAN terminals on the PCM.
       3. Measure the length required to reach the CAN terminals of the PDP (either of the two available pairs). Cut and strip ~5/16" (~8 mm) off this end of the wires.
       4. Insert the wires into the appropriate color coded CAN terminals on the PDP. You may use either of the Yellow/Green terminal pairs on the PDP, there is no defined in or out.
 
-      .. note: See the :ref:`CAN Wiring Basics<docs/hardware/hardware-basics/can-wiring-basics:Termination>` if you need to terminate the CAN bus somewhere other than the PDP.
+      .. note:: See the :ref:`CAN Wiring Basics<docs/hardware/hardware-basics/can-wiring-basics:Termination>` if you need to terminate the CAN bus somewhere other than the PDP.
 
 
-Motor Controller Signal Wires
------------------------------
+## Motor Controller Signal Wires
 
 .. tab-set ::
 
@@ -578,8 +560,7 @@ Motor Controller Signal Wires
 
       When chaining controllers together using the provided connectors, make sure to use the provided retaining clip. If unavailable, secure the connection with a small ziptie, electrical tape, or other similar method.
 
-Robot Signal Light
-------------------
+## Robot Signal Light
 
 .. image:: images/how-to-wire-a-simple-robot/rsl.jpg
   :alt: Robot Signal Light (rsl) wiring from roboRIO to RSL
@@ -595,8 +576,7 @@ Requires: Wire stripper, 2 pin cable, Robot Signal Light, 18 AWG (1 :math:`mm^2`
 
 .. tip:: You may wish to temporarily secure the RSL to the control board using cable ties or Dual Lock (it is recommended to move the RSL to a more visible location as the robot is being constructed)
 
-Circuit Breakers
-----------------
+## Circuit Breakers
 
 .. tab-set ::
 
@@ -624,15 +604,14 @@ Circuit Breakers
 
       If working on a Robot Quick Build, stop here and insert the board into the robot chassis before continuing.
 
-Motor Power
------------
+## Motor Power
 
 .. image:: images/how-to-wire-a-simple-robot/motor-power.jpg
   :alt: Connecting power from the motor to the motor controller.
 
 Requires: Wire stripper, wire crimper, phillips head screwdriver, wire connecting hardware
 
-For each CIM motor:
+For each :term:`CIM` motor:
 
 - Strip the ends of the red and black wires from the CIM
 
@@ -646,8 +625,7 @@ For the SPARK or other non-integrated-wire controllers (bottom image):
 1. Crimp a ring/fork terminal on each of the motor wires.
 2. Attach the wires to the output side of the motor controller (red to +, black to -)
 
-STOP
-----
+## STOP
 
 .. image:: images/how-to-wire-a-simple-robot/stop.png
   :alt: Giant red stop sign.
@@ -662,15 +640,13 @@ STOP
 
 .. tip:: It is also recommended to put the robot on blocks so the wheels are off the ground before proceeding. This will prevent any unexpected movement from becoming dangerous.
 
-Manage Wires
-------------
+## Manage Wires
 
 Requires: Zip ties
 
 .. tip:: Now may be a good time to add a few zip ties to manage some of the wires before proceeding. This will help keep the robot wiring neat.
 
-Connect Battery
----------------
+## Connect Battery
 
 Connect the battery to the robot side of the Anderson connector. Power on the robot by moving the lever on the top of the 120A main breaker into the ridge on the top of the housing.
 
@@ -678,6 +654,6 @@ If stuff blinks, you probably did it right. If you hear any clicking, or see any
 
 Before moving on, if using SPARK MAX controllers, there is one more configuration step to complete. The SPARK MAX motor controllers are configured to control a brushless motor by default. You can verify this by checking that the light on the controller is blinking either cyan or magenta (indicating brushless brake or brushless coast respectively). To change to brushed mode, press and hold the mode button for 3-4 seconds until the status LED changes color. The LED should change to either blue or yellow, indicating that the controller is in brushed mode (brake or coast respectively). To change the brake or coast mode, which controls how quickly the motor slows down when a neutral signal is applied, press the mode button briefly.
 
-.. tip:: For more information on the SPARK MAX motor controllers, including how to test your motors/controllers without writing any code by using the REV Hardware Client, see the `SPARK MAX Quickstart guide <https://docs.revrobotics.com/sparkmax/gs-sm>`__.
+.. tip:: For more information on the SPARK MAX motor controllers, including how to test your motors/controllers without writing any code by using the REV Hardware Client, see the [SPARK MAX Quickstart guide](https://docs.revrobotics.com/sparkmax/gs-sm).
 
 From here, you should connect to the roboRIO and try uploading your code!
diff --git a/source/docs/zero-to-robot/step-2/frc-game-tools.rst b/source/docs/zero-to-robot/step-2/frc-game-tools.rst
index 4e279bd859..f9c3aa5729 100644
--- a/source/docs/zero-to-robot/step-2/frc-game-tools.rst
+++ b/source/docs/zero-to-robot/step-2/frc-game-tools.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Installing the FRC Game Tools
-=============================
+# Installing the FRC Game Tools
 
 The FRC\ |reg| Game Tools contains the following software components:
 
@@ -13,45 +12,40 @@ The LabVIEW runtime components required for the Driver Station and Imaging Tool
 
 .. note:: No components from the LabVIEW Software for FRC package are required for running either the Driver Station or Imaging Tool.
 
-Requirements
-------------
+## Requirements
 
 - Windows 10 or higher (Windows 10, 11).
 
-- Download the `FRC Game Tools <https://www.ni.com/en-us/support/downloads/drivers/download.frc-game-tools.html#479842>`__ from NI.
+- Download the [FRC Game Tools](https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html#500107) from NI.
 
 .. image:: images/labview/offline-installer.png
    :alt: The Download button for the NI installer with the offline installer link below it.
 
 If you wish to install on other machines offline, click :guilabel:`Individual Offline Installers` before clicking :guilabel:`Download` to download the full installer.
 
-Uninstall Old Versions (Recommended)
-------------------------------------
+## Uninstall Old Versions (Recommended)
 
 .. important:: LabVIEW teams have already completed this step, do not repeat it. LabVIEW teams should skip to the :ref:`docs/zero-to-robot/step-2/frc-game-tools:installation` section.
 
-Before installing the new version of the FRC Game Tools it is recommended to remove any old versions. The new version will likely co-exist with the old version (note that the DS will overwrite old versions), but all testing has been done with FRC 2022 only.  Then click Start >> Add or Remove Programs. Locate the entry labeled "NI Software", and select :guilabel:`Uninstall`.
+Before installing the new version of the FRC Game Tools it is recommended to remove any old versions. The new version will likely co-exist with the old version (note that the DS will overwrite old versions), but all testing has been done with FRC 2024 only.  Then click Start >> Add or Remove Programs. Locate the entry labeled "NI Software", and select :guilabel:`Uninstall`.
 
-.. note:: It is only necessary to uninstall previous versions when installing a new year's tools. For example, uninstall the 2021 tools before installing the 2022 tools. It is not necessary to uninstall before upgrading to a new update of the 2022 game tools.
+.. note:: It is only necessary to uninstall previous versions when installing a new year's tools (or when a beta is installed). For example, uninstall the 2021 tools before installing the 2022 tools. It is not necessary to uninstall before upgrading to a new update of the 2022 game tools.
 
 .. image:: images/labview/uninstall_control_panel.png
    :alt: Add or Remove -> NI Software
 
-Select Components to Uninstall
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Select Components to Uninstall
 
 In the dialog box that appears, select all entries. The easiest way to do this is to de-select the :guilabel:`Products Only` check-box and select the check-box to the left of "Name". Click :guilabel:`Remove`. Wait for the uninstaller to complete and reboot if prompted.
 
 .. image:: images/labview/uninstall_select_components.png
    :alt: Using the checkbox in the upper left to select all.
 
-Installation
-------------
+## Installation
 
 .. important:: The Game Tools installer may prompt that .NET Framework 4.6.2 needs to be updated or installed. Follow prompts on-screen to complete the installation, including rebooting if requested. Then resume the installation of the FRC Game Tools, restarting the installer if necessary.
 
-Extraction
-^^^^^^^^^^
+### Extraction
 
 .. tab-set::
    .. tab-item:: Online
@@ -67,72 +61,63 @@ Extraction
 
       .. note:: Other installed programs may associate with iso files and the :guilabel:`mount` option may not appear. If that software does not give the option to mount or extract the iso file, then install 7-Zip and use that to extract the iso.
 
-NI Package Manager License
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### NI Package Manager License
 
 .. image:: images/update-suite/ni-package-license.png
    :alt: Accepting the License Agreement for NI Package Manager.
 
 If you see this screen, click :guilabel:`Next`. This screen confirms that you agree to NI Package Manager License agreement.
 
-Disable Windows Fast Startup
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Disable Windows Fast Startup
 
 .. image:: images/update-suite/labview_fast_startup.png
    :alt: Screen for disabling Windows fast startup.
 
 It is recommended to leave this screen as-is, as Windows Fast Startup can cause issues with the NI drivers required to image the roboRIO. Go ahead and click :guilabel:`Next`.
 
-NI Package Manager Review
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### NI Package Manager Review
 
 .. image:: images/update-suite/labview_package_manager_review.png
    :alt: Review screen that shows what is about to be installed.
 
 If you see this screen, click :guilabel:`Next`.
 
-NI Package Manager Installation
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### NI Package Manager Installation
 
 .. image:: images/update-suite/ni-package-install.png
    :alt: Screen with progress bars indicating the amount of completion.
 
 Installation progress of the NI Package Manager will be tracked in this window.
 
-Additional Software
-^^^^^^^^^^^^^^^^^^^
+### Additional Software
 
 .. image:: images/update-suite/additional-software.png
    :alt: Leave all of the additional packages selected.
 
 If you see this screen, click :guilabel:`Next`.
 
-License Agreements
-^^^^^^^^^^^^^^^^^^
+### License Agreements
 
 .. image:: images/update-suite/license-agreements.png
    :alt: Accept the NI software license agreement.
 
 Select :guilabel:`I accept…` then click :guilabel:`Next`
 
-Review Summary
-^^^^^^^^^^^^^^
+### Review Summary
 
 .. image:: images/update-suite/review-summary.png
    :alt: Review Summary
 
 Click :guilabel:`Next`.
 
-Detail Progress
-^^^^^^^^^^^^^^^
+### Detail Progress
 
 .. image:: images/update-suite/detail-progress.png
    :alt: Detail Progress
 
 This screen showcases the installation process, go ahead and press :guilabel:`Next` when it's finished.
 
-Reboot to Complete Installation
--------------------------------
+## Reboot to Complete Installation
 
 .. image:: images/update-suite/install-complete-reboot.png
    :alt: Choose reboot to complete the installation.
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diff --git a/source/docs/zero-to-robot/step-2/images/wpilib-setup/macos-launch.png b/source/docs/zero-to-robot/step-2/images/wpilib-setup/macos-launch.png
index f9aefc891c..7693861d4e 100644
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diff --git a/source/docs/zero-to-robot/step-2/index.rst b/source/docs/zero-to-robot/step-2/index.rst
index 55b496ed57..d9ce66d720 100644
--- a/source/docs/zero-to-robot/step-2/index.rst
+++ b/source/docs/zero-to-robot/step-2/index.rst
@@ -1,5 +1,4 @@
-Step 2: Installing Software
-===========================
+# Step 2: Installing Software
 
 An overview of the available control system software can be found :doc:`here </docs/controls-overviews/control-system-software>`.
 
@@ -10,4 +9,5 @@ An overview of the available control system software can be found :doc:`here </d
    labview-setup
    frc-game-tools
    wpilib-setup
+   python-setup
    step-2-next-steps
diff --git a/source/docs/zero-to-robot/step-2/labview-setup.rst b/source/docs/zero-to-robot/step-2/labview-setup.rst
index 46fe4be318..113057e73d 100644
--- a/source/docs/zero-to-robot/step-2/labview-setup.rst
+++ b/source/docs/zero-to-robot/step-2/labview-setup.rst
@@ -1,19 +1,16 @@
 .. include:: <isonum.txt>
 
-Installing LabVIEW for FRC (LabVIEW only)
-=========================================
+# Installing LabVIEW for FRC (LabVIEW only)
 
-.. note:: This installation is for teams programming in LabVIEW or using NI Vision Assistant only. C++ and Java teams not using these features do not need to install LabVIEW and should proceed to :doc:`Installing the FRC Game Tools </docs/zero-to-robot/step-2/frc-game-tools>`.
+.. note:: This installation is for teams programming in LabVIEW or using NI Vision Assistant only. C++, Java, and Python teams not using these features do not need to install LabVIEW and should proceed to :doc:`Installing the FRC Game Tools </docs/zero-to-robot/step-2/frc-game-tools>`.
 
 Download and installation times will vary widely with computer and internet connection specifications, however note that this process involves a large file download and installation and will likely take at least an hour to complete.
 
-Requirements
-------------
+## Requirements
 
 - Windows 10 or higher (Windows 10, 11)
 
-Uninstall Old Versions (Recommended)
-------------------------------------
+## Uninstall Old Versions (Recommended)
 
 .. note:: If you wish to keep programming cRIOs you will need to maintain an install of LabVIEW for FRC\ |reg| 2014. The LabVIEW for FRC 2014 license has been extended. While these versions should be able to co-exist on a single computer, this is not a configuration that has been extensively tested.
 
@@ -22,8 +19,7 @@ Before installing the new version of LabVIEW it is recommended to remove any old
 .. image:: images/labview/uninstall_control_panel.png
    :alt: Add or Remove -> NI Software
 
-Select Components to Uninstall
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Select Components to Uninstall
 
 In the dialog box that appears, select all entries. The easiest way to do this is to de-select the "Products Only" check-box and select the check-box to the left of "Name". Click Remove. Wait for the uninstaller to complete and reboot if prompted.
 
@@ -32,10 +28,9 @@ In the dialog box that appears, select all entries. The easiest way to do this i
 .. image:: images/labview/uninstall_select_components.png
    :alt: Using the checkbox in the upper left to select all.
 
-Getting LabVIEW installer
--------------------------
+## Getting LabVIEW installer
 
-Either locate and insert the LabVIEW USB Drive or download the `LabVIEW for FRC 2024 installer <https://www.ni.com/en-us/support/downloads/software-products/download.labview-software-for-frc.html>`__ from NI. Be sure to select the correct version from the drop-down.
+Download the [LabVIEW for FRC 2024 installer](https://www.ni.com/en-us/support/downloads/software-products/download.labview-software-for-frc.html) from NI. Be sure to select the correct version from the drop-down.
 
 .. image:: images/labview/offline-installer.png
    :alt: The Download button for the NI installer with the offline installer link below it.
@@ -44,15 +39,13 @@ If you wish to install on other machines offline, do not click the Download butt
 
 .. note:: This is a large download (~10GB). It is recommended to use a fast internet connection and to use the NI Downloader to allow the download to resume if interrupted.
 
-Installing LabVIEW
-------------------
+## Installing LabVIEW
 
 NI LabVIEW requires a license. Each season’s license is active until January 31st of the following year (e.g. the license for the 2020 season expires on January 31, 2021)
 
 Teams are permitted to install the software on as many team computers as needed, subject to the restrictions and license terms that accompany the applicable software, and provided that only team members or mentors use the software, and solely for FRC. Rights to use LabVIEW are governed solely by the terms of the license agreements that are shown during the installation of the applicable software.
 
-Starting Install
-^^^^^^^^^^^^^^^^
+### Starting Install
 
 .. tab-set::
   .. tab-item:: Online Installer
@@ -68,8 +61,7 @@ Starting Install
      .. image:: images/labview/mount-iso.png
       :alt: The menu after right clicking on an .iso file to choose "Mount".
 
-NI Package Manager License
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### NI Package Manager License
 
 .. image:: images/labview/ni-package-license.png
    :alt: Accepting the License Agreement for NI Package Manager.
@@ -77,80 +69,70 @@ NI Package Manager License
 If you see this screen, click :guilabel:`Next`
 
 
-Disable Windows Fast Startup
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Disable Windows Fast Startup
 
 .. image:: images/labview/labview_fast_startup.png
    :alt: Screen for disabling Windows fast startup.
 
 If you see this screen, click :guilabel:`Next`
 
-NI Package Manager Review
-^^^^^^^^^^^^^^^^^^^^^^^^^
+### NI Package Manager Review
 
 .. image:: images/labview/labview_package_manager_review.png
    :alt: Review screen that shows what is about to be installed.
 
 If you see this screen, click :guilabel:`Next`
 
-NI Package Manager Installation
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### NI Package Manager Installation
 
 .. image:: images/labview/ni-package-install.png
    :alt: Screen with progress bars indicating the amount of completion.
 
 Installation progress of the NI Package Manager will be tracked in this window
 
-Product List
-^^^^^^^^^^^^
+### Product List
 
 .. image:: images/labview/labview_product_list.png
    :alt: Select all of the products from the list.
 
 Click :guilabel:`Next`
 
-Additional Packages
-^^^^^^^^^^^^^^^^^^^
+### Additional Packages
 
 .. image:: images/labview/labview_additional_software.png
    :alt: Leave all of the additional packages selected.
 
 Click :guilabel:`Next`
 
-License agreements
-^^^^^^^^^^^^^^^^^^
+### License agreements
 
 .. image:: images/labview/labview_license_1.png
    :alt: Accept the NI software license agreement.
 
 Check "I accept..." then Click :guilabel:`Next`
 
-Product Information
-^^^^^^^^^^^^^^^^^^^
+### Product Information
 
 .. image:: images/labview/labview_product_info.png
    :alt: Next through this page showing what will be installed.
 
 Click :guilabel:`Next`
 
-Start Installation
-^^^^^^^^^^^^^^^^^^
+### Start Installation
 
 .. image:: images/labview/labview_start_install.png
    :alt: Line item review of what will be installed.
 
 Click :guilabel:`Next`
 
-Overall Progress
-^^^^^^^^^^^^^^^^
+### Overall Progress
 
 .. image:: images/labview/labview_install_progress.png
    :alt: Screen with progress bars indicating the amount of completion.
 
 Overall installation progress will be tracked in this window
 
-NI Update Service
------------------
+## NI Update Service
 
 .. image:: images/labview/ni_update_enable.png
    :alt: The update service is not needed.
@@ -159,8 +141,7 @@ You will be prompted whether to enable the NI update service. You can choose to
 
 .. warning:: It is not recommended to install these updates unless directed by FRC through our usual communication channels (FRC Blog, Team Updates or E-mail Blasts).
 
-NI Activation Wizard
-^^^^^^^^^^^^^^^^^^^^
+### NI Activation Wizard
 
 .. image:: images/labview/ni_activation_wizard.png
    :alt: The NI Activation Wizard
@@ -187,8 +168,7 @@ Enter the serial number in all the boxes. Click :guilabel:`Activate`.
 
 If your products activate successfully, an "Activation Successful" message will appear. If the serial number was incorrect, it will give you a text box and you can re-enter the number and select :guilabel:`Try Again`. The items shown above are not expected to activate. If everything activated successfully, click :guilabel:`Finish`.
 
-Restart
-^^^^^^^
+### Restart
 
 .. image:: images/labview/labview_restart.png
    :alt: Choose reboot to complete the installation.
diff --git a/source/docs/zero-to-robot/step-2/offline-installation-preparations.rst b/source/docs/zero-to-robot/step-2/offline-installation-preparations.rst
index ce9c0999f7..86a346e17d 100644
--- a/source/docs/zero-to-robot/step-2/offline-installation-preparations.rst
+++ b/source/docs/zero-to-robot/step-2/offline-installation-preparations.rst
@@ -1,7 +1,6 @@
 .. include:: <isonum.txt>
 
-Offline Installation Preparation
-================================
+# Offline Installation Preparation
 
 This article contains instructions/links to components you will want to gather if you need to do offline installation of the FRC\ |reg| Control System software.
 
@@ -9,31 +8,25 @@ This article contains instructions/links to components you will want to gather i
 
 .. note:: The order in which these tools are installed does not matter for Java and C++ teams.  LabVIEW should be installed before the FRC Game Tools or 3rd Party Libraries.
 
-Documentation
--------------
+## Documentation
 
-This documentation can be downloaded for offline viewing. The link to download the PDF can be found `here <https://buildmedia.readthedocs.org/media/pdf/frc-docs/stable/frc-docs.pdf>`__.
+This documentation can be downloaded for offline viewing. The link to download the PDF can be found [here](https://buildmedia.readthedocs.org/media/pdf/frc-docs/stable/frc-docs.pdf).
 
-Installers
-----------
+## Installers
 
-All Teams
-^^^^^^^^^
+### All Teams
 
--  `2023 FRC Game Tools <https://www.ni.com/en-us/support/downloads/drivers/download.frc-game-tools.html#479842>`__ (Note: Click on link for "Individual Offline Installers")
+-  [2024 FRC Game Tools](https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html#500107) (Note: Click on link for "Individual Offline Installers")
 
--  `2023 FRC Radio Configuration Utility <https://firstfrc.blob.core.windows.net/frc2023/Radio/FRC_Radio_Configuration_23_0_2.zip>`__ or `2023 FRC Radio Configuration Utility Israel Version <https://firstfrc.blob.core.windows.net/frc2023/Radio/FRC_Radio_Configuration_23_0_2_IL.zip>`__
--  (Optional - Veterans Only!) `Classmate/Acer PC Image <https://frc-events.firstinspires.org/services/DSImages/>`__
+-  [2024 FRC Radio Configuration Utility](https://firstfrc.blob.core.windows.net/frc2024/Radio/FRC_Radio_Configuration_24_0_1.zip) or [2024 FRC Radio Configuration Utility Israel Version](https://firstfrc.blob.core.windows.net/frc2024/Radio/FRC_Radio_Configuration_24_0_1_IL.zip)
 
-LabVIEW Teams
-^^^^^^^^^^^^^
+### LabVIEW Teams
 
--  LabVIEW USB (from *FIRST*\ |reg| Choice) or `Download <https://www.ni.com/en-us/support/downloads/drivers/download.labview-software-for-frc.html>`__ (Note: Click on link for "Individual Offline Installers")
+-  [LabVIEW Base Installer](https://www.ni.com/en-us/support/downloads/drivers/download.labview-software-for-frc.html) (Note: Click on link for "Individual Offline Installers")
 
-Java/C++ Teams
-^^^^^^^^^^^^^^
+### Java/C++ Teams
 
--  `Java/C++ WPILib Installer <https://github.com/wpilibsuite/allwpilib/releases/latest>`__
+-  [Java/C++ WPILib Installer](https://github.com/wpilibsuite/allwpilib/releases/latest)
 
 Once on the GitHub releases page, scroll to the download section in the middle of the page.
 
@@ -44,7 +37,6 @@ Then click on the correct binary for your OS and architecture to begin the downl
 
 .. note:: After downloading the Java/C++ WPILib installer, run it once while connected to the internet and select :guilabel:`Install for this User` then :guilabel:`Create VS Code zip to share with other computers/OSes for offline install` and save the downloaded VS Code zip file for future offline installations.
 
-3rd Party Libraries/Software
-----------------------------
+## 3rd Party Libraries/Software
 
 A directory of available 3rd party software that plugs in to WPILib can be found on :ref:`docs/software/vscode-overview/3rd-party-libraries:3rd Party Libraries`.
diff --git a/source/docs/zero-to-robot/step-2/python-setup.rst b/source/docs/zero-to-robot/step-2/python-setup.rst
new file mode 100644
index 0000000000..104e756e0e
--- /dev/null
+++ b/source/docs/zero-to-robot/step-2/python-setup.rst
@@ -0,0 +1,193 @@
+# Python Installation Guide
+
+This guide is intended for Python teams. Java and C++ teams can skip to :doc:`wpilib-setup`. LabVIEW teams can skip to :doc:`labview-setup`.
+
+## Prerequisites
+
+You must install a supported version of Python on a supported operating system. We currently support Python 3.8/3.9/3.10/3.11/3.12, but only 3.12 is available for the roboRIO.
+
+Supported Operating Systems and Architectures:
+ * Windows 10 & 11, 64 bit only. 32 bit and Arm are not supported
+ * macOS 13.3 or higher
+ * Ubuntu 22.04 & 24.04, 64 bit. Other Linux distributions with glibc >= 2.35 may work, but are unsupported
+
+On Windows and macOS, we recommend using the official Python installers distributed by python.org.
+
+* [Python for Windows](https://www.python.org/downloads/windows/)
+* [Python for macOS](https://www.python.org/downloads/mac-osx/)
+
+## Install RobotPy
+
+Once you have installed Python, you can use pip to install RobotPy on your development computer.
+
+.. tab-set::
+
+   .. tab-item:: Windows
+      :sync: windows
+
+      .. note:: If you previously installed a pre-2024 or 2024 beta version of RobotPy, you should first uninstall RobotPy via ``py -m pip uninstall robotpy`` before upgrading.
+
+      .. warning:: On Windows, the [Visual Studio 2019 redistributable](https://support.microsoft.com/en-us/help/2977003/the-latest-supported-visual-c-downloads) package is required to be installed.
+
+      Run the following command from cmd or Powershell to install the core RobotPy packages:
+
+      ```sh
+      py -3 -m pip install robotpy
+      ```
+
+      To upgrade, you can run this:
+
+      ```sh
+      py -3 -m pip install --upgrade robotpy
+      ```
+
+      If you don't have administrative rights on your computer, either use [virtualenv/virtualenvwrapper-win](https://docs.python-guide.org/en/latest/dev/virtualenvs/), or or you can install to the user site-packages directory:
+
+      ```sh
+      py -3 -m pip install --user robotpy
+      ```
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      .. note:: If you previously installed a pre-2024 or 2024 beta version of RobotPy, you should first uninstall RobotPy via ``python3 -m pip uninstall robotpy`` before upgrading.
+
+      On a macOS system that has pip installed, just run the following command from the Terminal application (may require admin rights):
+
+      ```sh
+      python3 -m pip install robotpy
+      ```
+
+      To upgrade, you can run this:
+
+      ```sh
+      python3 -m pip install --upgrade robotpy
+      ```
+
+      If you don't have administrative rights on your computer, either use `virtualenv/virtualenvwrapper <http://docs.python-guide.org/en/latest/dev/virtualenvs/>`_, or you can install to the user site-packages directory:
+
+      ```sh
+      python3 -m pip install --user robotpy
+      ```
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      .. note:: If you previously installed a pre-2024 or 2024 beta version of RobotPy, you should first uninstall RobotPy via ``python3 -m pip uninstall robotpy`` before upgrading.
+
+      RobotPy distributes manylinux binary wheels on PyPI. However, installing these requires a distro that has glibc 2.35 or newer, and an installer that implements :pep:`600`, such as pip 20.3 or newer. You can check your version of pip with the following command:
+
+      ```sh
+      python3 -m pip --version
+      ```
+
+      If you need to upgrade your version of pip, it is highly recommended to use a [virtual environment](https://packaging.python.org/guides/installing-using-pip-and-virtual-environments/).
+
+      If you have a compatible version of pip, you can simply run:
+
+      ```sh
+      python3 -m pip install robotpy
+      ```
+
+      To upgrade, you can run this:
+
+      ```sh
+      python3 -m pip install --upgrade robotpy
+      ```
+
+      If you manage to install the packages and get the following error or something similar, your system is most likely not compatible with RobotPy::
+
+         OSError: /usr/lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.22' not found (required by /usr/local/lib/python3.7/dist-packages/wpiutil/lib/libwpiutil.so)
+
+   .. tab-item:: Linux ARM Coprocessor
+      :sync: linux-arm
+
+      We publish prebuilt wheels on artifactory, which can be downloaded by giving the ``--extra-index-url`` option to pip:
+
+      ```sh
+      python3 -m pip install --extra-index-url=https://wpilib.jfrog.io/artifactory/api/pypi/wpilib-python-release-2024/simple robotpy
+      ```
+
+      **source install**
+
+      Alternatively, if you have a C++20 compiler installed, you may be able to use pip to install RobotPy from source.
+
+      .. warning:: It may take a very long time to install!
+
+      .. warning:: Mixing our pre-built wheels with source installs may cause runtime errors. This is due to internal ABI incompatibility between compiler versions.
+
+         Our ARM wheels are built for Debian 11 with GCC 10.
+
+      If you need to build with a specific compiler version, you can specify them using the :envvar:`CC` and :envvar:`CXX` environment variables:
+
+      ```sh
+      export CC=gcc-12 CXX=g++-12
+      ```
+
+## Download RobotPy for roboRIO
+
+After installing the ``robotpy`` project on your computer, there are a variety of commands available that can be ran from the command line via the ``robotpy`` module.
+
+.. seealso:: :doc:`Documentation for robotpy subcommands </docs/software/python/subcommands/index>`
+
+If you already have a RobotPy robot project, you can use that to download the pieces needed to run on the roboRIO. If you don't have a project, running this command in an empty directory will initialize a new robot project:
+
+.. tab-set::
+
+   .. tab-item:: Windows
+      :sync: windows
+
+      ```sh
+      py -3 -m robotpy init
+      ```
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ```sh
+      python3 -m robotpy init
+      ```
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ```sh
+      python3 -m robotpy init
+      ```
+
+This will create a ``robot.py`` and ``pyproject.toml`` file. The ``pyproject.toml`` file should be customized and details the requirements needed to run your robot code, among other things.
+
+.. seealso:: The default ``pyproject.toml`` created for you only contains the version of RobotPy installed on your computer. If you want to enable vendor packages or install other python packages from PyPI, see our :doc:`pyproject.toml documentation </docs/software/python/pyproject_toml>`
+
+Next run the ``robotpy sync`` subcommand, which will:
+
+* Download Python compiled for roboRIO
+* Download roboRIO compatible python packages as specified by your ``pyproject.toml``
+* Install the packages specified by your ``pyproject.toml`` into your local environment
+
+.. note:: If you aren't using a virtualenv and don't have administrative privileges, the ``robotpy sync`` command accepts a ``--user`` argument to install to the user-specific site-packages directory.
+
+.. tab-set::
+
+   .. tab-item:: Windows
+      :sync: windows
+
+      ```sh
+      py -3 -m robotpy sync
+      ```
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ```sh
+      python3 -m robotpy sync
+      ```
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ```sh
+      python3 -m robotpy sync
+      ```
+
+When you deploy your code to the roboRIO, :doc:`the deploy subcommand </docs/software/python/subcommands/deploy>` will automatically install Python (if needed) and your robot project requirements on the roboRIO as part of the deploy process.
diff --git a/source/docs/zero-to-robot/step-2/step-2-next-steps.rst b/source/docs/zero-to-robot/step-2/step-2-next-steps.rst
index c8c6230c13..f76c490281 100644
--- a/source/docs/zero-to-robot/step-2/step-2-next-steps.rst
+++ b/source/docs/zero-to-robot/step-2/step-2-next-steps.rst
@@ -1,5 +1,4 @@
-Next Steps
-==========
+# Next Steps
 
 Congratulations! You have completed step 2 and should now have a working software development environment! Step 3 of this tutorial covers updating the hardware so that you can program it, while Step 4 showcases programming a robot in the VS Code Integrated Development Environment (IDE). For further information you can read through the :ref:`VS Code section <docs/software/vscode-overview/index:VS Code Overview>` to familiarize yourself with the IDE.
 
diff --git a/source/docs/zero-to-robot/step-2/wpilib-setup.rst b/source/docs/zero-to-robot/step-2/wpilib-setup.rst
index d527066c6d..d53d49a9a2 100644
--- a/source/docs/zero-to-robot/step-2/wpilib-setup.rst
+++ b/source/docs/zero-to-robot/step-2/wpilib-setup.rst
@@ -1,26 +1,25 @@
-WPILib Installation Guide
-=========================
+# WPILib Installation Guide
 
-This guide is intended for Java and C++ teams. LabVIEW teams can skip to :doc:`labview-setup`. Additionally, the below tutorial shows Windows 10, but the steps are identical for all operating systems. Notes differentiating operating systems will be shown.
+This guide is intended for Java and C++ teams. LabVIEW teams can skip to :doc:`labview-setup`. Python teams can skip to :doc:`python-setup`. Additionally, the below tutorial shows Windows 10, but the steps are identical for all operating systems. Notes differentiating operating systems will be shown.
 
-Prerequisites
--------------
+## Prerequisites
 
 Supported Operating Systems and Architectures:
  * Windows 10 & 11, 64 bit only. 32 bit and Arm are not supported
- * Ubuntu 22.04, 64 bit. Other Linux distributions with glibc >= 2.34 may work, but are unsupported
- * macOS 11 or higher, both Intel and Arm for Java. C++ requires macOS 12 or higher with Xcode 14.
+ * Ubuntu 22.04 & 24.04, 64 bit. Other Linux distributions with glibc >= 2.34 may work, but are unsupported
+ * macOS 13.3 or higher, both Intel and Arm.
 
-.. warning:: The following OSes are no longer supported: macOS 10.15, Ubuntu 18.04 & 20.04, Windows 7, Windows 8.1, and any 32-bit Windows.
+.. warning:: The following OSes are no longer supported: macOS 12 or earlier, Ubuntu 18.04 & 20.04, Windows 7, Windows 8.1, and any 32-bit Windows.
+
+.. note:: [Windows 10 support from Microsoft will end in October 2025](https://www.microsoft.com/en-us/windows/end-of-support). We intend to continue supporting Windows 10 through the 2026 season, but may have to drop support in 2027. Teams should start planning their upgrade path to Windows 11.
 
 WPILib is designed to install to different folders for different years, so that it is not necessary to uninstall a previous version before installing this year's WPILib.
 
-Downloading
------------
+## Downloading
 
-.. wpilibrelease:: v2024.1.1-beta-2
+.. wpilibrelease:: v2024.3.2
 
-`You can download the latest release of the installer from GitHub <https://github.com/wpilibsuite/allwpilib/releases/latest/>`__.
+[You can download the latest release of the installer from GitHub](https://github.com/wpilibsuite/allwpilib/releases/latest/).
 
 Once on the GitHub releases page, scroll to the Downloads section.
 
@@ -29,8 +28,7 @@ Once on the GitHub releases page, scroll to the Downloads section.
 
 Then click on the correct binary for your OS and architecture to begin the download.
 
-Extracting the Installer
-------------------------
+## Extracting the Installer
 
 When you download the WPILib installer, it is distributed as a disk image file ``.iso`` for Windows, ``.tar.gz`` for Linux, and distributed as a ``DMG`` for MacOS.
 
@@ -46,7 +44,7 @@ When you download the WPILib installer, it is distributed as a disk image file `
 
       .. note:: Other installed programs may associate with iso files and the :guilabel:`mount` option may not appear. If that software does not give the option to mount or extract the iso file, then follow the directions below.
 
-      You can use `7-zip <https://www.7-zip.org/>`__ to extract the disk image by right-clicking, selecting :guilabel:`7-Zip` and selecting :guilabel:`Extract to...`. Windows 11 users may need to select :guilabel:`Show more options` at the bottom of the context menu.
+      You can use [7-zip](https://www.7-zip.org/) to extract the disk image by right-clicking, selecting :guilabel:`7-Zip` and selecting :guilabel:`Extract to...`. Windows 11 users may need to select :guilabel:`Show more options` at the bottom of the context menu.
 
       .. image:: images/wpilib-setup/extract-windows-7.png
          :alt: After right clicking on the .iso file go to "7-Zip" then "Extract to....".
@@ -70,14 +68,13 @@ When you download the WPILib installer, it is distributed as a disk image file `
 
       Linux users should extract the downloaded ``.tar.gz`` and then launch ``WPILibInstaller``. Ubuntu treats executables in the file explorer as shared libraries, so double-clicking won't run them. Run the following commands in a terminal instead with ``<version>`` replaced with the version you're installing.
 
-      .. code-block:: console
-
-          $ tar -xf WPILib_Linux-<version>.tar.gz
-          $ cd WPILib_Linux-<version>/
-          $ ./WPILibInstaller
+      ```console
+      $ tar -xf WPILib_Linux-<version>.tar.gz
+      $ cd WPILib_Linux-<version>/
+      $ ./WPILibInstaller
+      ```
 
-Running the Installer
----------------------
+## Running the Installer
 
 Upon opening the installer, you'll be presented with the below screen. Go ahead and press :guilabel:`Start`.
 
@@ -89,7 +86,7 @@ Upon opening the installer, you'll be presented with the below screen. Go ahead
 
 This showcases a list of options included with the WPILib installation.
 
-- :guilabel:`Tools Only` installs just the WPILib tools (Pathweaver, Shuffleboard, RobotBuilder, SysID, Glass, and OutlineViewer) and JDK.
+- :guilabel:`Tools Only` installs just the WPILib tools (Pathweaver, Shuffleboard, RobotBuilder, SysId, Glass, and OutlineViewer) and JDK.
 - :guilabel:`Everything` installs the full development environment (VS Code, extensions, all dependencies), WPILib tools, and JDK.
 
 You will notice two buttons, :guilabel:`Install for this User` and :guilabel:`Install for all Users`. :guilabel:`Install for this User` only installs it on the current user account, and does not require administrator privileges. However, :guilabel:`Install for all Users` installs the tools for all system accounts and *will* require administrator access. :guilabel:`Install for all Users` is not an option for macOS and Linux.
@@ -133,8 +130,7 @@ After installation is complete, you will be presented with the finished screen.
 
 Congratulations, the WPILib development environment and tooling is now installed on your computer! Press Finish to exit the installer.
 
-Post-Installation
------------------
+## Post-Installation
 
 Some operating systems require some final action to complete installation.
 
@@ -149,25 +145,30 @@ Some operating systems require some final action to complete installation.
    .. tab-item:: Linux
       :sync: linux
 
-      Some versions of Linux (e.g. Ubuntu 20.04) require you to give the desktop shortcut the ability to launch. Right click on the desktop icon and select Allow Launching.
+      Some versions of Linux (e.g. Ubuntu 22.04 and later) require you to give the desktop shortcut the ability to launch. Right click on the desktop icon and select Allow Launching.
 
       .. image:: images/wpilib-setup/linux-enable-launching.png
          :alt: Menu that pops up after right click the desktop icon in Linux.
 
+      Ubuntu 23.10 and later [disable the kernel user namespaces feature for unknown applications](https://ubuntu.com/blog/ubuntu-23-10-restricted-unprivileged-user-namespaces). This means that the [sandboxing feature](https://code.visualstudio.com/blogs/2022/11/28/vscode-sandbox) won't work on the WPILib VS Code. To enable sandboxing for the WPILib applications, AppArmor profiles are provided, and can be installed using the command below.
+
+      ```console
+      $ sudo cp ~/wpilib/YEAR/frccode/AppArmor/* /etc/apparmor.d/
+      $ sudo systemctl reload apparmor.service
+      ```
+
 .. note:: Installing desktop tools and rebooting will create a folder on the desktop called ``YYYY WPILib Tools``, where ``YYYY`` is the current year. Desktop tool shortcuts are not available on Linux and macOS.
 
-Additional C++ Installation for Simulation
-------------------------------------------
+## Additional C++ Installation for Simulation
 
-C++ robot simulation requires that a native compiler to be installed. For Windows, this would be `Visual Studio 2022 <https://visualstudio.microsoft.com/vs/>`__ (**not** VS Code), macOS requires `Xcode 14 or later <https://apps.apple.com/us/app/xcode/id497799835>`__, and Linux (Ubuntu) requires the ``build-essential`` package.
+C++ robot simulation requires that a native compiler to be installed. For Windows, this would be [Visual Studio 2022 version 17.9 or later](https://visualstudio.microsoft.com/vs/) (**not** VS Code), macOS requires [Xcode 14 or later](https://apps.apple.com/us/app/xcode/id497799835), and Linux (Ubuntu) requires the ``build-essential`` package.
 
 Ensure the :guilabel:`Desktop Development with C++` option is checked in the Visual Studio installer for simulation support.
 
 .. image:: /docs/software/wpilib-tools/robot-simulation/images/vs-build-tools.png
    :alt: Screenshot of the Visual Studio build tools option
 
-What is Installed?
-------------------
+## What is Installed?
 
 The Offline Installer installs the following components:
 
@@ -179,14 +180,15 @@ The Offline Installer installs the following components:
 
 - **Java JDK/JRE** - A specific version of the Java JDK/JRE that is used to build Java robot code and to run any of the Java based Tools (Dashboards, etc.). This exists side by side with any existing JDK installs and does not overwrite the JAVA_HOME variable
 
-- **WPILib Tools** - SmartDashboard, Shuffleboard, RobotBuilder, Outline Viewer, Pathweaver, Glass, SysID
+- **WPILib Tools** - SmartDashboard, Shuffleboard, RobotBuilder, OutlineViewer, PathWeaver, Glass, SysId, Data Log Tool, roboRIO Team Number Setter, AdvantageScope
 
 - **WPILib Dependencies** - OpenCV, etc.
 
-- **VS Code Extensions** - WPILib extensions for robot code development in VS Code
+- **VS Code Extensions** - WPILib and Java/C++/Python extensions for robot code development in VS Code
+
+- **Documentation** - Offline copies of this frc-docs documentation and Java/C++/Python APIs
 
-Uninstalling
-------------
+## Uninstalling
 
 WPILib is designed to install to different folders for different years, so that it is not necessary to uninstall a previous version before installing this year's WPILib. However, the following instructions can be used to uninstall WPILib if desired.
 
@@ -205,7 +207,6 @@ WPILib is designed to install to different folders for different years, so that
 
      1. Delete the appropriate wpilib folder (``~/wpilib/YYYY`` where ``YYYY`` is the year to uninstall). eg ``rm -rf ~/wpilib/YYYY``
 
-Troubleshooting
----------------
+## Troubleshooting
 
-In case the installer fails, please open an issue on the installer repository. A link is available `here <https://github.com/wpilibsuite/wpilibinstaller-avalonia>`__. The installer should give a message on the cause of the error, please include this in the description of your issue.
+In case the installer fails, please open an issue on the installer repository. A link is available [here](https://github.com/wpilibsuite/wpilibinstaller-avalonia). The installer should give a message on the cause of the error, please include this in the description of your issue.
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diff --git a/source/docs/zero-to-robot/step-3/images/roborio2-imaging/teamnumber.png b/source/docs/zero-to-robot/step-3/images/roborio2-imaging/teamnumber.png
index 8c5385e1de..f5c7e84941 100644
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diff --git a/source/docs/zero-to-robot/step-3/imaging-your-roborio.rst b/source/docs/zero-to-robot/step-3/imaging-your-roborio.rst
index 3bacf97b54..699cae4426 100644
--- a/source/docs/zero-to-robot/step-3/imaging-your-roborio.rst
+++ b/source/docs/zero-to-robot/step-3/imaging-your-roborio.rst
@@ -1,19 +1,16 @@
 .. include:: <isonum.txt>
 
-Imaging your roboRIO 1
-======================
+# Imaging your roboRIO 1
 
 .. warning:: Before imaging your roboRIO, you must have completed installation of the :doc:`FRC Game Tools</docs/zero-to-robot/step-2/frc-game-tools>`. You also must have the roboRIO power properly wired to the Power Distribution Panel. Make sure the power wires to the roboRIO are secure and that the connector is secure firmly to the roboRIO (4 total screws to check).
 
-.. note:: The imaging instructions for the NI roboRIO 2.0 are :doc:`here<roborio2-imaging>`.
+.. note:: The roboRIO 2 uses different imaging instructions. The imaging instructions for the NI roboRIO 2.0 are :doc:`here<roborio2-imaging>`.
 
-Configuring the roboRIO
-^^^^^^^^^^^^^^^^^^^^^^^
+### Configuring the roboRIO
 
 The roboRIO Imaging Tool will be used to image your roboRIO with the latest software.
 
-USB Connection
-~~~~~~~~~~~~~~
+#### USB Connection
 
 .. image:: images/imaging-your-roborio/roborio-usb-client.svg
    :alt: Highlights the USB Type B input at the top of the roboRIO.
@@ -22,23 +19,20 @@ Connect a USB cable from the roboRIO USB Device port to the PC. This requires a
 
 .. note:: The roboRIO should only be imaged via the USB connection. It is not recommended to attempt imaging using the Ethernet connection.
 
-Driver Installation
-~~~~~~~~~~~~~~~~~~~
+#### Driver Installation
 
 The device driver should install automatically. If you see a "New Device" pop-up in the bottom right of the screen, wait for the driver install to complete before continuing.
 
-Launching the Imaging Tool
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Launching the Imaging Tool
 
 .. image:: images/imaging-your-roborio/launching-the-imaging-tool.png
    :alt: The roboRIO Imaging Tool desktop shortcut.
 
 The roboRIO imaging tool and latest image are installed with the NI FRC\ |reg| Game Tools. Launch the imaging tool by double clicking on the shortcut on the Desktop. If you have difficulties imaging your roboRIO, you may need to try right-clicking on the icon and selecting Run as Administrator instead.
 
-.. note:: The roboRIO imaging tool is also located at ``C:\Program Files (x86)\National Instruments\LabVIEW 2020\project\roboRIO Tool``
+.. note:: The roboRIO imaging tool is also located at ``C:\Program Files (x86)\National Instruments\LabVIEW 2023\project\roboRIO Tool``
 
-roboRIO Imaging Tool
-^^^^^^^^^^^^^^^^^^^^
+### roboRIO Imaging Tool
 
 .. image:: images/imaging-your-roborio/roborio-imaging-tool.png
    :alt: The roboRIO Imaging Tool main screen.
@@ -49,52 +43,55 @@ After launching, the roboRIO Imaging Tool will scan for available roboRIOs and i
 - **Format Target** - This option is used when you want to load a new image on the roboRIO (or reflash the existing image). This is the most common option.
 - **Update Firmware** - This option is used to update the roboRIO firmware. For this season, the imaging tool will require roboRIO firmware to be version 5.0 or greater.
 
-Updating Firmware
-~~~~~~~~~~~~~~~~~
+#### Updating Firmware
+
+.. warning:: It is only necessary to update the firmware on a brand new roboRIO. It is not recommended to update the firmware unless it doesn't meet the conditions below.
 
 .. image:: images/imaging-your-roborio/updating-firmware.png
    :alt: Numbers identifying the different parts of the Imaging Tool main screen for changing firmware.
 
 roboRIO firmware must be at least v5.0 to work with the 2019 or later image. If your roboRIO is at least version 5.0 (as shown in the bottom left of the imaging tool) you do not need to update.
 
+.. note:: roboRIO firmware has had different version numbering schemes over the years. It isn't necessary to update the firmware if it has version 5, 6, 8, 22.5, 23.5 or variations of those version numbers (e.g. 8.8.0f0 is a variation of 8). The firmware is only utilized in :doc:`safe mode </docs/software/roborio-info/recovering-a-roborio-using-safe-mode>`, it is not used in normal operations.
+
 To update roboRIO firmware:
 
 1. Make sure your roboRIO is selected in the top left pane.
-2. Select Update Firmware in the top right pane
-3. Enter a team number in the Team Number box
+2. Select :guilabel:`Update Firmware` in the top right pane
+3. Enter a team number in the :guilabel:`Team Number` box
 4. Select the latest firmware file in the bottom right
-5. Click the **Update** button
+5. Click the :guilabel:`Update` button
+
+### Imaging the roboRIO
 
-Imaging the roboRIO
-^^^^^^^^^^^^^^^^^^^
+.. warning:: The roboRIO image is different then the firmware, and must be updated yearly.
 
 .. image:: images/imaging-your-roborio/imaging-the-roborio.png
    :alt: Numbers identifying the different parts of the Imaging Tool main screen for formatting the target.
 
+.. note:: The available image versions will not show until you select :guilabel:`Format Target` per step 2 below.
+
 1. Make sure the roboRIO is selected in the top left pane
-2. Select Format Target in the right pane
-3. Enter your team number in the box
+2. Select :guilabel:`Format Target` in the right pane
+3. Enter a team number in the :guilabel:`Team Number` box
 4. Select the latest image version in the box.
-5. Click Reformat to begin the imaging process.
+5. Click :guilabel:`Reformat` to begin the imaging process.
 
-Imaging Progress
-^^^^^^^^^^^^^^^^
+### Imaging Progress
 
 .. image:: images/imaging-your-roborio/imaging-progress.png
    :alt: Progress Bar along the bottom shows how long till completion.
 
 The imaging process will take approximately 3-10 minutes. A progress bar in the bottom left of the window will indicate progress.
 
-Imaging Complete
-^^^^^^^^^^^^^^^^
+### Imaging Complete
 
 .. image:: images/imaging-your-roborio/imaging-complete.png
    :alt: Dialog that pops up when imaging is complete listing IP address and DNS name.
 
-When the imaging completes you should see the dialog above. Click Ok, then click the Close button at the bottom right to close the imaging tool. Reboot the roboRIO using the Reset button to have the new team number take effect.
+When the imaging completes you should see the dialog above. Click :guilabel:`Ok`, then click the :guilabel`Close` button at the bottom right to close the imaging tool. Reboot the roboRIO using the Reset button to have the new team number take effect.
 
-Troubleshooting
-^^^^^^^^^^^^^^^
+### Troubleshooting
 
 If you are unable to image your roboRIO, troubleshooting steps include:
 
@@ -102,7 +99,14 @@ If you are unable to image your roboRIO, troubleshooting steps include:
 - Try accessing the roboRIO webpage with a web-browser at ``http://172.22.11.2/`` and/or verify that the NI network adapter appears in your list of Network Adapters in the Control Panel. If not, try re-installing the NI FRC Game Tools or try a different PC.
 - :ref:`Disable all other network adapters <docs/networking/networking-introduction/roborio-network-troubleshooting:Disabling Network Adapters>`
 - Make sure your firewall is turned off.
-- Some teams have experienced an issue where imaging fails if the device name of the computer you're using has a dash (``-``) in it. Try renaming the computer (or using a different PC).
+- Some teams have experienced an issue where imaging fails if the device name of the computer you're using has a special character (e.g. dash ``-``), or number in it, or the name is too long. Try renaming the computer (or using a different PC). On Windows 11, to rename the PC, go to  Settings > System > About and click :guilabel:`Rename this PC`
 - Try booting the roboRIO into Safe Mode by pressing and holding the reset button for at least 5 seconds.
 - Try a different USB Cable
 - Try a different PC
+- If the status LED is constantly flashing, and imaging in safe mode failed, follow the [roboRIO recovery instructions](https://knowledge.ni.com/KnowledgeArticleDetails?id=kA03q000000kOHkCAM&l=en-US)
+
+If the correct roboRIO image version isn't available:
+
+- Ensure you've selected :guilabel:`Format Target`
+- If an older version is shown, ensure you've installed the latest :doc:`FRC Game Tools</docs/zero-to-robot/step-2/frc-game-tools>`
+- If the wrong version still shown after installing Game Tools, :ref:`Uninstall Game Tools <docs/zero-to-robot/step-2/frc-game-tools:Uninstall Old Versions (Recommended)>` and then re-install.
diff --git a/source/docs/zero-to-robot/step-3/index.rst b/source/docs/zero-to-robot/step-3/index.rst
index d1ad0a6573..0161b6294b 100644
--- a/source/docs/zero-to-robot/step-3/index.rst
+++ b/source/docs/zero-to-robot/step-3/index.rst
@@ -1,5 +1,4 @@
-Step 3: Preparing Your Robot
-============================
+# Step 3: Preparing Your Robot
 
 .. toctree::
    :maxdepth: 1
diff --git a/source/docs/zero-to-robot/step-3/radio-programming.rst b/source/docs/zero-to-robot/step-3/radio-programming.rst
index 801343c32f..404f9bbb6e 100644
--- a/source/docs/zero-to-robot/step-3/radio-programming.rst
+++ b/source/docs/zero-to-robot/step-3/radio-programming.rst
@@ -1,24 +1,22 @@
 .. include:: <isonum.txt>
 
-Programming your Radio
-======================
+# Programming your Radio
 
 This guide will show you how to use the FRC\ |reg| Radio Configuration Utility software to configure your robot's wireless bridge for use outside of FRC events.
 
-Prerequisites
--------------
+## Prerequisites
 
 The FRC Radio Configuration Utility requires administrator privileges to configure the network settings on your machine. The program should request the necessary privileges automatically (may require a password if run from a non-administrator account), but if you are having trouble, try running it from an administrator account.
 
 Download the latest FRC Radio Configuration Utility Installer from the following links:
 
-`FRC Radio Configuration 23.0.2 <https://firstfrc.blob.core.windows.net/frc2023/Radio/FRC_Radio_Configuration_23_0_2.zip>`_
+[FRC Radio Configuration 24.0.1](https://firstfrc.blob.core.windows.net/frc2024/Radio/FRC_Radio_Configuration_24_0_1.zip)
 
-`FRC Radio Configuration 23.0.2 Israel Version <https://firstfrc.blob.core.windows.net/frc2023/Radio/FRC_Radio_Configuration_23_0_2_IL.zip>`_
+[FRC Radio Configuration 24.0.1 Israel Version](https://firstfrc.blob.core.windows.net/frc2024/Radio/FRC_Radio_Configuration_24_0_1_IL.zip)
 
 .. note:: The _IL version is for Israel teams and contains a version of the OM5PAC firmware with restricted channels for use in Israel.
 
-.. note::. Teams planning on using the radio tool on a machine without the WPILib suite installed, will need a copy of Java installed. This can be downloaded `here <https://adoptium.net/temurin/releases/?version=17>`__.
+.. note::. Teams planning on using the radio tool on a machine without the WPILib suite installed, will need a copy of Java installed. This can be downloaded [here](https://adoptium.net/temurin/releases/?version=17).
 
 Before you begin using the software:
 
@@ -27,15 +25,13 @@ Before you begin using the software:
 
 .. warning:: The OM5P-AN and AC use the same power plug as the D-Link DAP1522, however they are 12V radios. Wire the radio to the 12V 2A terminals on the VRM (center-pin positive).
 
-Application Notes
------------------
+## Application Notes
 
 By default, the Radio Configuration Utility will program the radio to enforce the 4Mbps bandwidth limit on traffic exiting the radio over the wireless interface. In the home configuration (AP mode) this is a total, not a per client limit. This means that streaming video to multiple clients is not recommended.
 
 The Utility has been tested on Windows 7, 8 and 10. It may work on other operating systems, but has not been tested.
 
-Programmed Configuration
-^^^^^^^^^^^^^^^^^^^^^^^^
+### Programmed Configuration
 
 .. image:: /docs/hardware/hardware-basics/images/status-lights/openmesh-radio-status-lights.png
   :alt: Lists the names of each of the status lights on the two legal radios.
@@ -53,7 +49,7 @@ The Radio Configuration Utility programs a number of configuration settings into
   - Robot TCP & :term:`NetworkTables` (TCP ``1735``, ``1740``)
   - Bulk (All other traffic). (disabled if BW limit is disabled)
 
-- DHCP server enabled. Serves out:
+- :term:`DHCP` server enabled. Serves out:
 
   - ``10.TE.AM.11`` - ``10.TE.AM.111`` on the wired side
   - ``10.TE.AM.138`` - ``10.TE.AM.237`` on the wireless side
@@ -69,8 +65,7 @@ At home only:
 
 .. warning:: It is not possible to modify the configuration manually.
 
-Install the Software
---------------------
+## Install the Software
 
 .. image:: images/radio-programming/radio-installer.png
   :alt: The radio configuration installer .exe file in windows explorer.
@@ -79,8 +74,7 @@ Double click on ``FRC_Radio_Configuration_VERSION.exe`` to launch the installer.
 
 Part of the installation prompts will include installing Npcap if it is not already present. The Npcap installer contains a number of checkboxes to configure the install. You should leave the options as the defaults.
 
-Launch the software
--------------------
+## Launch the software
 
 .. image:: images/radio-programming/radio-launch.png
   :alt: The FRC Radio Configuration Utility in the start menu.
@@ -89,16 +83,14 @@ Use the Start menu or desktop shortcut to launch the program.
 
 .. note:: If you need to locate the program, it is installed to ``C:\Program Files (x86)\FRC Radio Configuration Utility``. For 32-bit machines the path is ``C:\Program Files\FRC Radio Configuration Utility``
 
-Allow the program to make changes, if prompted
-----------------------------------------------
+## Allow the program to make changes, if prompted
 
 .. image:: images/radio-programming/allow-changes.png
   :alt: User Account Control dialog that pops up when running the config utility.
 
 A prompt may appear about allowing the configuration utility to make changes to the computer. Click :guilabel:`Yes` if the prompt appears.
 
-Select the network interface
-----------------------------
+## Select the network interface
 
 .. image:: images/radio-programming/select-network-connection.png
   :alt: Each of the Parts of the Network Interfaces selection pop up.
@@ -109,17 +101,15 @@ Use the pop-up window to select the which ethernet interface the configuration u
 2. Select the interface you want to use from the drop-down list.
 3. Click :guilabel:`OK`.
 
-Open Mesh Firmware Note
------------------------
+## Open Mesh Firmware Note
 
 For the FRC Radio Configuration Utility to program the OM5P-AN and OM5P-AC radio, the radio must be running an FRC specific build of the OpenWRT firmware.
 
 If you do not need to update or re-load the firmware, skip the next step.
 
-.. warning:: Radios used in 2019/2020/2021/2022 **do not** need to be updated before configuring, the 2023 tool uses the same 2019 firmware.
+.. warning:: Radios used in 2019-2023 **do not** need to be updated before configuring, the 2024 tool uses the same 2019 firmware.
 
-Loading FRC Firmware to Open Mesh Radio
----------------------------------------
+## Loading FRC Firmware to Open Mesh Radio
 
 .. image:: images/radio-programming/openmesh-firmware.png
   :alt: Highlighting the radio dropdown and the Load Firmware button on the main configuration utility screen.
@@ -135,10 +125,9 @@ If you need to load the FRC firmware (or reset the radio), you can do so using t
 
 .. warning:: If you see an error about NPF name, try disabling all adapters other than the one being used to program the radio. If only one adapter is found, the tool should attempt to use that one. See the steps in :ref:`Disabling Network Adapters <docs/networking/networking-introduction/roborio-network-troubleshooting:Disabling Network Adapters>` for more info.
 
-   Teams may also see this error with Operating Systems configured for languages other than US English. If you experience issues loading firmware or programming on a foreign language OS, try using an English OS, such as on the KOP provided PC or setting the Locale setting to "en_us" as described on `this page <https://www.java.com/en/download/help/locale.xml>`_.
+   Teams may also see this error with Operating Systems configured for languages other than US English. If you experience issues loading firmware or programming on a foreign language OS, try using an English OS, such as on the KOP provided PC or setting the Locale setting to "en_us" as described on [this page](https://www.java.com/en/download/help/locale.html).
 
-Select Radio and Operating Mode
--------------------------------
+## Select Radio and Operating Mode
 
 .. image:: images/radio-programming/select-bridge-model-mode.png
   :alt: Highlights the Radio and Mode dropdown boxes.
@@ -146,8 +135,7 @@ Select Radio and Operating Mode
 1. Select which radio you are configuring using the drop-down list.
 2. Select which operating mode you want to configure. For most cases, the default selection of 2.4GHz Access Point will be sufficient. If your computers support it, the 5GHz AP mode is recommended, as 5GHz is less congested in many environments.
 
-Select Options
---------------
+## Select Options
 
 .. image:: images/radio-programming/select-options.png
   :alt: Setting the robot name will change the SSID.  The checkboxes make the radio more similar to competition operation.
@@ -162,16 +150,14 @@ The default values of the options have been selected to match the use case of mo
 
 .. warning:: The "Firewall" option configures the radio to emulate the field firewall. This means that you will not be able to deploy code wirelessly with this option enabled. This is useful for simulating blocked ports that may exist at competitions.
 
-Starting the Configuration Process
-----------------------------------
+## Starting the Configuration Process
 
 .. image:: images/radio-programming/start-config.png
   :alt: At the bottom of the screen is instructions for completing the configuration process.
 
 Follow the on-screen instructions for preparing your wireless bridge, entering the settings the bridge will be configured with, and starting the configuration process. These on-screen instructions update to match the bridge model and operating mode chosen.
 
-Configuration Progress
-----------------------
+## Configuration Progress
 
 .. image:: images/radio-programming/config-in-progress.png
   :alt: The progress bar dialog while the configuration is working.
@@ -182,8 +168,7 @@ Throughout the configuration process, the window will indicate:
 2. The overall progress of the configuration process.
 3. All steps executed so far.
 
-Configuration Completed
------------------------
+## Configuration Completed
 
 .. image:: images/radio-programming/config-completed.png
   :alt: A pop up dialog indicating the programming was successful.
@@ -193,16 +178,14 @@ Once the configuration is complete:
 1. Press :guilabel:`OK` on the dialog window.
 2. Press :guilabel:`OK` on the main window to return to the settings screen.
 
-Configuration Errors
---------------------
+## Configuration Errors
 
 .. image:: images/radio-programming/config-errors.png
   :alt: A error dialog pop up.
 
 If an error occurs during the configuration process, follow the instructions in the error message to correct the problem.
 
-Troubleshooting
----------------
+## Troubleshooting
 
 - :ref:`Disable all other network adapters <docs/networking/networking-introduction/roborio-network-troubleshooting:Disabling Network Adapters>`.
 - Make sure you wait long enough that the power light has stayed solid for 10 seconds.
@@ -210,6 +193,7 @@ Troubleshooting
 - Make sure your firewall is turned off.
 - Plug directly from your computer into the wireless bridge and make sure no other devices are connected to your computer via ethernet.
 - Ensure the ethernet is plugged into the port closest to the power jack on the wireless bridge.
-- If using an Operating System configured for languages other than US English, try using an English OS, such as on the KOP provided PC or setting the Locale setting to "en_us" as described on `this page <https://www.java.com/en/download/help/locale.xml>`_.
-- Some users have reported success after installing `npcap 1.60 <https://npcap.com/>`__. If this doesn't resolve the issue, it's recommended to uninstall npcap and the radio tool and then reinstall the radio tool in order to get back to a known configuration.
+- If using an Operating System configured for languages other than US English, try using an English OS, such as on the KOP provided PC or setting the Locale setting to "en_us" as described on [this page](https://www.java.com/en/download/help/locale.html).
+- Due to Unicode incompatibilities, non-US Teams may face a configuration failure because of incorrect network interface reading. In that case, change the network adapter name to another name in English and retry.
+- Some users have reported success after installing [npcap 1.60](https://npcap.com/). If this doesn't resolve the issue, it's recommended to uninstall npcap and the radio tool and then reinstall the radio tool in order to get back to a known configuration.
 - If all else fails, try a different computer.
diff --git a/source/docs/zero-to-robot/step-3/roborio2-imaging.rst b/source/docs/zero-to-robot/step-3/roborio2-imaging.rst
index 607b1f4cc1..fa1f5b37af 100644
--- a/source/docs/zero-to-robot/step-3/roborio2-imaging.rst
+++ b/source/docs/zero-to-robot/step-3/roborio2-imaging.rst
@@ -1,5 +1,4 @@
-Imaging your roboRIO 2
-======================
+# Imaging your roboRIO 2
 
 .. note:: The imaging instructions for the NI roboRIO 1.0 are :ref:`here <docs/zero-to-robot/step-3/imaging-your-roborio:Imaging your roboRIO 1>`.
 
@@ -7,13 +6,15 @@ The NI roboRIO 2.0 boots from a microSD card configured with an appropriate boot
 
 .. important:: Imaging the roboRIO 2 directly with the roboRIO Imaging Tool is not supported.
 
-microSD Requirements
---------------------
+.. raw:: html
+
+ <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;"> <iframe src="https://www.youtube-nocookie.com/embed/jvd-Pxaqy9I" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe> </div>
+
+## microSD Requirements
 
 The NI roboRIO 2.0 supports all microSD cards.  It is recommended to use a card with 2GB or more of capacity.
 
-Operation Tips
---------------
+## Operation Tips
 
 The NI roboRIO 2.0 requires a fully inserted microSD card containing a valid image in order to boot and operate as intended.
 
@@ -23,8 +24,7 @@ No damage will result from microSD card removal or insertion while powered, but
 
 .. warning:: Before imaging your roboRIO, you must have completed installation of the :doc:`FRC Game Tools</docs/zero-to-robot/step-2/frc-game-tools>`. You also must have the roboRIO power properly wired to the CTRE Power Distribution Panel or REV Power Distribution Hub. Make sure the power wires to the roboRIO are secure and that the connector is secure firmly to the roboRIO (4 total screws to check).
 
-Imaging Directly to the microSD Card
-------------------------------------
+## Imaging Directly to the microSD Card
 
 The image will be transferred to the microSD card using a specialized writing utility, sometimes called a burner. Several utilities are listed below, but most tools that can write arbitrary images for booting a Raspberry Pi or similar dev boards will also produce a bootable SD card for roboRIO 2.0.
 
@@ -35,23 +35,21 @@ If using a non Windows OS you will need to copy this image file to that computer
 .. figure:: images/roborio2-imaging/sd_button.png
    :alt: Click the SD folder icon will bring up the location of the images in windows explorer.
 
-A `microSD to USB dongle <https://www.amazon.com/gp/product/B0779V61XB>`__ works well for writing to microSD cards.
+A [microSD to USB dongle](https://www.amazon.com/gp/product/B0779V61XB) works well for writing to microSD cards.
 
 .. note:: Raspberry Pi images will not boot on a roboRIO because the OS and drivers are incompatible. Similarly, a roboRIO image is not compatible with Raspberry Pi controller boards.
 
-Writing the image with balenaEtcher
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Writing the image with balenaEtcher
 
-- Download and install `balenaEtcher <https://www.balena.io/etcher/>`__.
+- Download and install [balenaEtcher](https://www.balena.io/etcher/).
 - Launch
 - :guilabel:`Flash from file` -> locate the image file you want to copy to the microSD card
 - :guilabel:`Select target` -> select the destination microSD device
 - Press :guilabel:`Flash`
 
-Writing the image with Raspberry Pi Imager
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Writing the image with Raspberry Pi Imager
 
-- Download and install from `Raspberry Pi Imager <https://www.raspberrypi.com/software/>`__.
+- Download and install from [Raspberry Pi Imager](https://www.raspberrypi.com/software/).
 - Launch
 - :guilabel:`Choose OS` -> :guilabel:`Use Custom` -> select the image file you want to copy to the microSD card
 - :guilabel:`Choose Storage` -> select the destination microSD device
@@ -59,8 +57,7 @@ Writing the image with Raspberry Pi Imager
 
 .. warning:: After writing the image, Windows may prompt to format the drive. Do not reformat, or else you will need to write the image again.
 
-Setting the roboRIO Team Number
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Setting the roboRIO Team Number
 
 The image writing process above does not set a team number.  To fix this teams will need to insert the microSD card  in the robRIO and connect to the robot.  With the roboRIO Imaging Tool go to :guilabel:`Edit Startup Settings`.  Next, fill out the :guilabel:`Team Number` box and hit :guilabel:`Apply`.
 
diff --git a/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst b/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst
index 5566d8362f..1d1364c769 100644
--- a/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst
+++ b/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst
@@ -1,12 +1,15 @@
-Creating your Test Drivetrain Program (Java/C++/Python)
-=======================================================
+# Creating your Test Drivetrain Program (Java/C++/Python)
 
 Once everything is installed, we're ready to create a robot program.  WPILib comes with several templates for robot programs.  Use of these templates is highly recommended for new users; however, advanced users are free to write their own robot code from scratch. This article walks through creating a project from one of the provided examples which has some code already written to drive a basic robot.
 
-.. important:: This guide includes code examples that involve vendor hardware for the convenience of the user. In this document, PWM refers to the motor controller included in the KOP. The CTRE tab references the Talon FX motor controller (Falcon 500 motor), but usage is similar for TalonSRX and VictorSPX. The REV tab references the CAN SPARK MAX controlling a brushless motor, but it's similar for brushed motor. There is an assumption that the user has already installed the required :doc:`vendordeps </docs/software/vscode-overview/3rd-party-libraries>`  and configured the device(s) (update firmware, assign CAN IDs, etc) according to the manufacturer documentation (`CTRE <https://docs.ctr-electronics.com/>`__ `REV <https://docs.revrobotics.com/sparkmax/gs-sm>`__).
+* :ref:`create_java_cpp_project`
+* :ref:`create_python_project`
 
-Creating a New WPILib Project (Java/C++)
-----------------------------------------
+.. important:: This guide includes code examples that involve vendor hardware for the convenience of the user. In this document, :term:`PWM` refers to the motor controller included in the KOP. The CTRE tab references the Talon FX motor controller (Falcon 500 motor), but usage is similar for TalonSRX and VictorSPX. The REV tab references the CAN SPARK MAX controlling a brushless motor, but it's similar for brushed motor. There is an assumption that the user has already installed the required :doc:`vendordeps </docs/software/vscode-overview/3rd-party-libraries>` and configured the device(s) (update firmware, assign CAN IDs, etc) according to the manufacturer documentation ([CTRE](https://docs.ctr-electronics.com/) [REV](https://docs.revrobotics.com/sparkmax/gs-sm)).
+
+.. _create_java_cpp_project:
+
+## Creating a New WPILib Project (Java/C++)
 
 Bring up the Visual Studio Code command palette with :kbd:`Ctrl+Shift+P`. Then, type "WPILib" into the prompt.  Since all WPILib commands start with "WPILib", this will bring up the list of WPILib-specific VS Code commands. Now, select the "Create a new project" command:
 
@@ -35,8 +38,7 @@ Once all the above have been configured, click "Generate Project" and the robot
 
 .. warning:: Creating projects on OneDrive is not supported as OneDrive's caching interferes with the build system. Some Windows installations put the Documents and Desktop folders on OneDrive by default.
 
-Opening The New Project
------------------------
+## Opening The New Project
 
 .. image:: /docs/software/vscode-overview/images/importing-previous-project/opening-project.png
    :alt: Open Project Dialog in VS Code
@@ -53,28 +55,63 @@ Once opened we will see the project hierarchy on the left. Double clicking on th
 .. image:: /docs/software/vscode-overview/images/creating-robot-program/opened-robot-project.png
     :alt: The robot.java code shown after opening a new project.
 
-C++ Configurations (C++ Only)
------------------------------
+## C++ Configurations (C++ Only)
 
 For C++ projects, there is one more step to set up IntelliSense.  Whenever we open a project, we should get a pop-up in the bottom right corner asking to refresh C++ configurations.  Click "Yes" to set up IntelliSense.
 
 .. image:: /docs/software/vscode-overview/images/importing-previous-project/cpp-configurations.png
     :alt: You must choose "Yes" to refresh the C++ configurations.
 
-Basic Drivetrain example
-------------------------
+.. _create_python_project:
+
+## Creating a New WPILib Project (Python)
+
+Running the ``robotpy init`` command will initialize a new robot project:
+
+.. tab-set::
+
+   .. tab-item:: Windows
+      :sync: windows
+
+      ```sh
+      py -3 -m robotpy init
+      ```
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ```sh
+      python3 -m robotpy init
+      ```
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ```sh
+      python3 -m robotpy init
+      ```
+
+This will create a ``robot.py`` and ``pyproject.toml`` file, but will not overwrite an existing file.
+
+* The ``pyproject.toml`` file contains the requirements for your project, which are downloaded and installed via the ``robotpy sync`` command.
+* The ``robot.py`` file is where you will put the your Robot class.
+
+.. seealso:: :ref:`docs/zero-to-robot/step-2/python-setup:Download RobotPy for roboRIO`
+
+
+## Basic Drivetrain example
 
 First, here is what a simple code can look like for a Drivetrain with PWM controlled motors (such as SparkMax).
 
-.. note:: the Python example below is from `<https://github.com/robotpy/examples/tree/main/getting-started>`__
+.. note:: the Python example below is from `<https://github.com/robotpy/examples/tree/main/GettingStarted>`__
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
       :language: java
       :linenos:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
       :language: c++
       :linenos:
 
@@ -84,8 +121,7 @@ First, here is what a simple code can look like for a Drivetrain with PWM contro
 
 Now let's look at various parts of the code.
 
-Imports/Includes
-----------------
+## Imports/Includes
 
 .. tab-set::
 
@@ -97,96 +133,117 @@ Imports/Includes
          .. tab-item:: Java
             :sync: java
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
                :language: java
-               :lines: 7-11
+               :lines: 7-12
                :linenos:
-               :lineno-start: 7
 
          .. tab-item:: C++
-            :sync: cpp
+            :sync: c++
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
-               :lines: 5-10
+               :lines: 5-9
                :linenos:
                :lineno-start: 5
 
          .. tab-item:: Python
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2023.4.3.0/getting-started/robot.py
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/GettingStarted/robot.py
                :language: python
                :lines: 8-9
                :linenos:
                :lineno-start: 8
 
-   .. tab-item:: CTRE
-      :sync: ctre
+   .. tab-item:: CTRE-Phoenix6
+      :sync: ctre6
 
 
       .. tab-set-code::
 
 
-         .. code-block:: java
+         ```java
+         import edu.wpi.first.wpilibj.TimedRobot;
+         import edu.wpi.first.wpilibj.Timer;
+         import edu.wpi.first.wpilibj.XboxController;
+         import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+         import com.ctre.phoenix6.hardware.TalonFX;
+         ```
+
+         ```c++
+         #include <frc/TimedRobot.h>
+         #include <frc/Timer.h>
+         #include <frc/XboxController.h>
+         #include <frc/drive/DifferentialDrive.h>
+         #include <ctre/phoenix6/TalonFX.hpp>
+         ```
+
+         ```python
+         import wpilib               # Used to get the joysticks
+         import wpilib.drive         # Used for the DifferentialDrive class
+         import phoenix6             # CTRE library
+         ```
+
+   .. tab-item:: REV
+
+         .. tab-set-code::
 
-            import edu.wpi.first.wpilibj.Joystick;
+            ```java
+            import com.revrobotics.CANSparkMax;
+            import com.revrobotics.CANSparkLowLevel.MotorType;
             import edu.wpi.first.wpilibj.TimedRobot;
             import edu.wpi.first.wpilibj.Timer;
+            import edu.wpi.first.wpilibj.XboxController;
             import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-            import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+            ```
 
-
-         .. code-block:: cpp
-
-            #include <frc/Joystick.h>
+            ```c++
             #include <frc/TimedRobot.h>
             #include <frc/Timer.h>
+            #include <frc/XboxController.h>
             #include <frc/drive/DifferentialDrive.h>
-            #include <ctre/phoenix/motorcontrol/can/WPI_TalonFX.h>
-
-
-         .. code-block:: python
+            #include <frc/motorcontrol/PWMSparkMax.h>
+            #include <rev/CANSparkMax.h>
+            ```
 
+            ```python
             import wpilib           # Used to get the joysticks
             import wpilib.drive     # Used for the DifferentialDrive class
-            import ctre             # CTRE library
-
-   .. tab-item:: REV
-
-         .. tab-set-code::
-
-            .. code-block:: java
-
-               import com.revrobotics.CANSparkMax;
-               import com.revrobotics.CANSparkMaxLowLevel.MotorType;
-
-               import edu.wpi.first.wpilibj.TimedRobot;
-               import edu.wpi.first.wpilibj.Timer;
-               import edu.wpi.first.wpilibj.XboxController;
-               import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+            import rev              # REV library
+            ```
 
+   .. tab-item:: CTRE-Phoenix5
+      :sync: ctre5
 
-            .. code-block:: cpp
 
-               #include <frc/TimedRobot.h>
-               #include <frc/Timer.h>
-               #include <frc/XboxController.h>
-               #include <frc/drive/DifferentialDrive.h>
-               #include <frc/motorcontrol/PWMSparkMax.h>
+      .. tab-set-code::
 
-               #include <rev/CANSparkMax.h>
 
+         ```java
+         import edu.wpi.first.wpilibj.TimedRobot;
+         import edu.wpi.first.wpilibj.Timer;
+         import edu.wpi.first.wpilibj.XboxController;
+         import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+         import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+         ```
 
-            .. code-block:: python
+         ```c++
+         #include <frc/TimedRobot.h>
+         #include <frc/Timer.h>
+         #include <frc/XboxController.h>
+         #include <frc/drive/DifferentialDrive.h>
+         #include <ctre/phoenix/motorcontrol/can/WPI_TalonSRX.h>
+         ```
 
-               import wpilib           # Used to get the joysticks
-               import wpilib.drive     # Used for the DifferentialDrive class
-               import rev              # REV library
+         ```python
+         import wpilib           # Used to get the joysticks
+         import wpilib.drive     # Used for the DifferentialDrive class
+         import ctre             # CTRE library
+         ```
 
-Our code needs to reference the components of WPILib that are used. In C++ this is accomplished using ``#include`` statements; in Java it is done with ``import`` statements. The program references classes for ``Joystick`` (for driving), ``PWMSparkMax`` / ``WPI_TalonFX`` / ``CANSparkMax (for controlling motors), ``TimedRobot`` (the base class used for the example), ``Timer`` (used for autonomous), and ``DifferentialDrive`` (for connecting the joystick control to the motors).
+Our code needs to reference the components of WPILib that are used. In C++ this is accomplished using ``#include`` statements; in Java and Python it is done with ``import`` statements. The program references classes for ``XBoxController`` (for driving), ``PWMSparkMax`` / ``TalonFX`` / ``CANSparkMax`` / ``WPI_TalonSRX`` (for controlling motors), ``TimedRobot`` (the base class used for the example), ``Timer`` (used for autonomous), and ``DifferentialDrive`` (for connecting the Xbox  controller to the motors).
 
-Defining the variables for our sample robot
--------------------------------------------
+## Defining the variables for our sample robot
 
 .. tab-set::
 
@@ -198,176 +255,272 @@ Defining the variables for our sample robot
          .. tab-item:: Java
             :sync: java
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
                :language: java
-               :lines: 19-36
+               :lines: 20-26
                :linenos:
-               :lineno-start: 19
+               :lineno-start: 20
 
          .. tab-item:: C++
-            :sync: cpp
+            :sync: c++
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
-               :lines: 12-20
+               :lines: 12-13
                :linenos:
                :lineno-start: 12
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
-               :lines: 47-55
+               :lines: 17-23
+               :linenos:
+               :lineno-start: 17
+
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+               :language: c++
+               :lines: 50-60
                :linenos:
                :lineno-start: 50
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/c616f00ad7c316ecb21428118a2aefb8a5b104ad/getting-started/robot.py
+         .. tab-item:: Python
+            :sync: python
+
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/c6d0540b01e138725fad7366ff4e317e9994b78b/GettingStarted/robot.py
                :language: python
                :linenos:
                :lines: 12-29
                :lineno-start: 12
 
-   .. tab-item:: CTRE
-      :sync: ctre
+   .. tab-item:: CTRE-Phoenix6
+      :sync: ctre6
 
       .. tab-set::
 
          .. tab-item:: Java
             :sync: java
 
-            .. code-block:: java
-
-               public class Robot extends TimedRobot {
-                  private final WPI_TalonFX m_leftDrive = new WPI_TalonFX(1);
-                  private final WPI_TalonFX m_rightDrive = new WPI_TalonFX(2);
-                  private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftDrive, m_rightDrive);
-                  private final Joystick m_stick = new Joystick(0);
-                  private final Timer m_timer = new Timer();
+            ```java
+            public class Robot extends TimedRobot {
+               private final TalonFX m_leftDrive = new TalonFX(1);
+               private final TalonFX m_rightDrive = new TalonFX(2);
+               private final DifferentialDrive m_robotDrive =
+                 new DifferentialDrive(m_leftDrive::set, m_rightDrive::set);
+               private final XboxController m_controller = new XboxController(0);
+               private final Timer m_timer = new Timer();
+            ```
 
          .. tab-item:: C++
-            :sync: cpp
+            :sync: c++
+
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+               :language: c++
+               :lines: 12-13
+               :linenos:
+               :lineno-start: 12
 
-            .. code-block:: cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+               :language: c++
+               :lines: 17-23
+               :linenos:
+               :lineno-start: 17
+
+            ```c++
+            private:
+             // Robot drive system
+             ctre::phoenix6::hardware::TalonFX m_left{1};
+             ctre::phoenix6::hardware::TalonFX m_right{2};
+             frc::DifferentialDrive m_robotDrive{
+               [&](double output) { m_left.Set(output); },
+               [&](double output) { m_right.Set(output); }};
+             frc::XboxController m_controller{0};
+             frc::Timer m_timer;
+            ```
 
-               public:
-                Robot() {
-                   m_right.SetInverted(true);
-                   m_robotDrive.SetExpiration(100_ms);
-                   // We need to invert one side of the drivetrain so that positive voltages
-                   // result in both sides moving forward. Depending on how your robot's
-                   // gearbox is constructed, you might have to invert the left side instead.
-                   m_timer.Start();
-                }
+         .. tab-item:: Python
+            :sync: python
+
+            ```python
+            class MyRobot(wpilib.TimedRobot):
+              def robotInit(self):
+                 """
+                 This function is called upon program startup and
+                 should be used for any initialization code.
+                 """
+                 self.leftDrive = phoenix6.hardware.TalonFX(1)
+                 self.rightDrive = phoenix6.hardware.TalonFX(2)
+                 self.robotDrive = wpilib.drive.DifferentialDrive(
+                     self.leftDrive, self.rightDrive
+                 )
+                 self.controller = wpilib.XboxController(0)
+                 self.timer = wpilib.Timer()
+                 # We need to invert one side of the drivetrain so that positive voltages
+                 # result in both sides moving forward. Depending on how your robot's
+                 # gearbox is constructed, you might have to invert the left side instead.
+                 self.rightDrive.setInverted(True)
+            ```
 
-            .. code-block:: cpp
+   .. tab-item:: REV
+      :sync: rev
 
-               private:
-                // Robot drive system
-                ctre::phoenix::motorcontrol::can::WPI_TalonFX m_left{1};
-                ctre::phoenix::motorcontrol::can::WPI_TalonFX m_right{2};
-                frc::DifferentialDrive m_robotDrive{m_left, m_right};
+      .. tab-set::
 
-                frc::Joystick m_stick{0};
-                frc::Timer m_timer;
+         .. tab-item:: Java
+            :sync: java
 
+            ```java
+            public class Robot extends TimedRobot {
+              private final CANSparkMax m_leftDrive = new CANSparkMax(1, MotorType.kBrushless);
+              private final CANSparkMax m_rightDrive = new CANSparkMax(2, MotorType.kBrushless);
+              private final DifferentialDrive m_robotDrive =
+                new DifferentialDrive(m_leftDrive::set, m_rightDrive::set);
+              private final XboxController m_controller = new XboxController(0);
+              private final Timer m_timer = new Timer();
+            ```
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/robotpy-ctre/5b8d33f/examples/getting-started/robot.py
+         .. tab-item:: C++
+            :sync: c++
+
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+               :language: c++
+               :lines: 12-13
+               :linenos:
+               :lineno-start: 12
+
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+               :language: c++
+               :lines: 17-23
+               :linenos:
+               :lineno-start: 17
+
+            ```c++
+            private:
+             // Robot drive system
+             rev::CANSparkMax m_left{1, rev::CANSparkMax::MotorType::kBrushless};
+             rev::CANSparkMax m_right{2, rev::CANSparkMax::MotorType::kBrushless};
+             frc::DifferentialDrive m_robotDrive{
+               [&](double output) { m_left.Set(output); },
+               [&](double output) { m_right.Set(output); }};
+             frc::XboxController m_controller{0};
+             frc::Timer m_timer;
+            ```
+
+         .. tab-item:: Python
+            :sync: python
+
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/robotpy-rev/bc3ebc4/examples/getting-started/robot.py
                :language: python
                :linenos:
                :lines: 13-30
                :lineno-start: 13
 
-   .. tab-item:: REV
-      :sync: rev
+   .. tab-item:: CTRE-Phoenix5
+      :sync: ctre5
 
       .. tab-set::
 
          .. tab-item:: Java
             :sync: java
 
-            .. code-block:: java
-
-               public class Robot extends TimedRobot {
-                 private final CANSparkMax m_leftDrive = new CANSparkMax(1, MotorType.kBrushless);
-                 private final CANSparkMax m_rightDrive = new CANSparkMax(2, MotorType.kBrushless);
-                 private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftDrive, m_rightDrive);
-                 private final XboxController m_controller = new XboxController(0);
-                 private final Timer m_timer = new Timer();
+            ```java
+            public class Robot extends TimedRobot {
+               private final WPI_TalonSRX m_leftDrive = new WPI_TalonSRX(1);
+               private final WPI_TalonSRX m_rightDrive = new WPI_TalonSRX(2);
+               private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftDrive1::set, m_rightDrive2::set);
+               private final XboxController m_controller = new XboxController(0);
+               private final Timer m_timer = new Timer();
+            ```
 
          .. tab-item:: C++
-            :sync: cpp
-
-            .. code-block:: cpp
-
-               Robot() {
-                 // We need to invert one side of the drivetrain so that positive voltages
-                 // result in both sides moving forward. Depending on how your robot's
-                 // gearbox is constructed, you might have to invert the left side instead.
-                 m_right.SetInverted(true);
-                 m_robotDrive.SetExpiration(100_ms);
-                 m_timer.Start();
-               }
+            :sync: c++
 
-            .. code-block:: cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+               :language: c++
+               :lines: 12-13
+               :linenos:
+               :lineno-start: 12
 
-               private:
-                // Robot drive system
-                rev::CANSparkMax m_left{1, rev::CANSparkMax::MotorType::kBrushless};
-                rev::CANSparkMax m_right{2, rev::CANSparkMax::MotorType::kBrushless};
-                frc::DifferentialDrive m_robotDrive{m_left, m_right};
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+               :language: c++
+               :lines: 17-23
+               :linenos:
+               :lineno-start: 17
+
+            ```c++
+            private:
+             // Robot drive system
+             ctre::phoenix::motorcontrol::can::WPI_TalonSRX m_left{1};
+             ctre::phoenix::motorcontrol::can::WPI_TalonSRX m_right{2};
+             frc::DifferentialDrive m_robotDrive{
+               [&](double output) { m_left.Set(output); },
+               [&](double output) { m_right.Set(output); }};
+             frc::XboxController m_controller{0};
+             frc::Timer m_timer;
+            ```
 
-                frc::XboxController m_controller{0};
-                frc::Timer m_timer;
+         .. tab-item:: Python
+            :sync: python
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/robotpy-rev/bc3ebc4/examples/getting-started/robot.py
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/robotpy-ctre/5b8d33f/examples/getting-started/robot.py
                :language: python
                :linenos:
                :lines: 13-30
                :lineno-start: 13
 
-The sample robot in our examples will have a joystick on USB port 0 for arcade drive and two motors on PWM ports 0 and 1 (Vendor examples use CAN with IDs 1 and 2). Here we create objects of type DifferentialDrive (m_robotDrive), Joystick (m_stick) and Timer (m_timer). This section of the code does three things:
+The sample robot in our examples will have an Xbox Controller on USB port 0 for arcade drive and two motors on PWM ports 0 and 1 (Vendor examples use CAN with IDs 1 and 2). Here we create objects of type ``DifferentialDrive`` (m_robotDrive), ``XboxController`` (m_controller) and ``Timer`` (m_timer). This section of the code does three things:
 
 1. Defines the variables as members of our Robot class.
 2. Initializes the variables.
 
 .. note:: The variable initializations for C++ are in the ``private`` section at the bottom of the program. This means they are private to the class (``Robot``). The C++ code also sets the Motor Safety expiration to 0.1 seconds (the drive will shut off if we don't give it a command every .1 seconds) and starts the ``Timer`` used for autonomous.
 
-Robot Initialization
---------------------
+## Robot Initialization
 
-.. tab-set-code::
+.. tab-set::
 
-    .. code-block:: java
+   .. tab-item:: Java
+      :sync: java
 
-          @Override
-          public void robotInit() {}
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+         :language: java
+         :lines: 37-43
+         :linenos:
+         :lineno-start: 37
 
-    .. code-block:: c++
+   .. tab-item:: C++
+      :sync: c++
 
-        void RobotInit() {}
+      ```c++
+      void RobotInit() {}
+      ```
 
-    .. code-block:: python
+   .. tab-item:: Python
+      :sync: python
 
-       def robotInit(self):
+      ```python
+      def robotInit(self):
+      ```
 
-The ``RobotInit`` method is run when the robot program is starting up, but after the constructor. The ``RobotInit`` for our sample program doesn't do anything. If we wanted to run something here we could provide the code above to override the default).
+The ``RobotInit`` method is run when the robot program is starting up, but after the constructor. The ``RobotInit`` for our sample program inverts the right side of the drivetrain. Depending on your drive setup, you might need to invert the left side instead.
 
-Simple Autonomous Example
--------------------------
+.. note:: In C++, the drive inversion is handled in the ``Robot()`` constructor above.
+
+## Simple Autonomous Example
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
       :language: java
-      :lines: 38-54
+      :lines: 45-61
       :linenos:
-      :lineno-start: 38
+      :lineno-start: 45
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
       :language: c++
-      :lines: 22-33
+      :lines: 25-36
       :linenos:
-      :lineno-start: 22
+      :lineno-start: 25
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2023.4.3.0/getting-started/robot.py
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/GettingStarted/robot.py
       :language: python
       :lines: 31-43
       :linenos:
@@ -377,49 +530,47 @@ The ``AutonomousInit`` method is run once each time the robot transitions to aut
 
 ``AutonomousPeriodic`` is run once every period while the robot is in autonomous mode. In the ``TimedRobot`` class the period is a fixed time, which defaults to 20ms. In this example, the periodic code checks if the timer is less than 2 seconds and if so, drives forward at half speed using the ``ArcadeDrive`` method of the ``DifferentialDrive`` class. If more than 2 seconds has elapsed, the code stops the robot drive.
 
-Joystick Control for Teleoperation
-----------------------------------
+## Joystick Control for Teleoperation
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
       :language: java
-      :lines: 56-64
+      :lines: 63-71
       :linenos:
-      :lineno-start: 56
+      :lineno-start: 63
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
       :language: c++
-      :lines: 35-41
+      :lines: 38-45
       :linenos:
-      :lineno-start: 35
+      :lineno-start: 38
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2023.4.3.0/getting-started/robot.py
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/GettingStarted/robot.py
       :language: python
       :lines: 45-52
       :linenos:
       :lineno-start: 45
 
-Like in Autonomous, the Teleop mode has a ``TeleopInit`` and ``TeleopPeriodic`` function. In this example we don't have anything to do in ``TeleopInit``, it is provided for illustration purposes only. In ``TeleopPeriodic``, the code uses the ``ArcadeDrive`` method to map the Y-axis of the ``Joystick`` to forward/back motion of the drive motors and the X-axis to turning motion.
+Like in Autonomous, the Teleop mode has a ``TeleopInit`` and ``TeleopPeriodic`` function. In this example we don't have anything to do in ``TeleopInit``, it is provided for illustration purposes only. In ``TeleopPeriodic``, the code uses the ``ArcadeDrive`` method to map the Y-axis of the left thumbstick of the ``XBoxController`` to forward/back motion of the drive motors and the X-axis to turning motion.
 
-Test Mode
----------
+## Test Mode
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
       :language: java
-      :lines: 66-72
+      :lines: 73-79
       :linenos:
-      :lineno-start: 66
+      :lineno-start: 73
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
       :language: c++
-      :lines: 43-45
+      :lines: 45-48
       :linenos:
-      :lineno-start: 43
+      :lineno-start: 45
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2023.4.3.0/getting-started/robot.py
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/GettingStarted/robot.py
       :language: python
       :lines: 54-58
       :linenos:
@@ -427,7 +578,7 @@ Test Mode
 
 Test Mode is used for testing robot functionality. Similar to ``TeleopInit``, the ``TestInit`` and ``TestPeriodic`` methods are provided here for illustrative purposes only.
 
-Deploying the Project to a Robot
---------------------------------
+## Deploying the Project to a Robot
 
-Please see the instructions :ref:`here <docs/software/vscode-overview/deploying-robot-code:Building and Deploying Robot Code>` for deploying the program onto a robot.
+* :ref:`Deploy Java/C++ code <docs/software/vscode-overview/deploying-robot-code:Building and Deploying Robot Code>`
+* :doc:`Deploy Python code </docs/software/python/subcommands/deploy>`
diff --git a/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-labview.rst b/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-labview.rst
index f8fc7f97f3..64247b18ac 100644
--- a/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-labview.rst
+++ b/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-labview.rst
@@ -1,20 +1,17 @@
 .. include:: <isonum.txt>
 
-Creating your Test Drivetrain Program (LabVIEW)
-===============================================
+# Creating your Test Drivetrain Program (LabVIEW)
 
 .. note:: This document covers how to create, build and load a basic FRC\ |reg| LabVIEW program for a drivetrain onto a roboRIO. Before beginning, make sure that you have installed LabVIEW for FRC and the FRC Game Tools and that you have configured and imaged your roboRIO as described in the :ref:`Zero-to-Robot tutorial <docs/zero-to-robot/introduction:Introduction>`.
 
-Creating a Project
-------------------
+## Creating a Project
 
 .. image:: images/creating-test-program-labview/creating-a-project.png
    :alt: Creating a new roboRIO project from the LabVIEW home screen.
 
 Launch LabVIEW and click the FRC roboRIO Robot Project link to display the Create New FRC Robot Project dialog box.
 
-Configuring Project
--------------------
+## Configuring Project
 
 .. image:: images/creating-test-program-labview/configuring-project.png
    :alt: The different sections of the dialog for configuring a new LabVIEW project.
@@ -27,8 +24,7 @@ Fill in the Create New FRC Project Dialog:
 4. Select a project type. If unsure, select :guilabel:`Arcade Drive`.
 5. Click :guilabel:`Finish`
 
-Running the Program
--------------------
+## Running the Program
 
 .. image:: images/creating-test-program-labview/running-the-program.png
    :alt: Robot Main in the project window with its corresponding front panel open.
@@ -42,8 +38,7 @@ Running the Program
 5. Move the joysticks and observe how the robot responds.
 6. Click the Abort button of the Robot Main VI. Notice that the VI stops. When you deploy a program with the Run button, the program runs on the roboRIO, but you can manipulate the front panel objects of the program from the host computer.
 
-Deploying the Program
----------------------
+## Deploying the Program
 
 .. image:: images/creating-test-program-labview/deploying-the-program.png
    :alt: Right clicking on the robot build specification and choosing "build".  Then right clicking again and choosing "Run as startup".
diff --git a/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/configuring-project.png b/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/configuring-project.png
index f82c2e5b75..6055d02b97 100644
Binary files a/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/configuring-project.png and b/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/configuring-project.png differ
diff --git a/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/creating-a-project.png b/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/creating-a-project.png
index 08c7145cf5..743f90d6de 100644
Binary files a/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/creating-a-project.png and b/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/creating-a-project.png differ
diff --git a/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/deploying-the-program.png b/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/deploying-the-program.png
index c263701e9b..f7a8617eba 100644
Binary files a/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/deploying-the-program.png and b/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/deploying-the-program.png differ
diff --git a/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/running-the-program.png b/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/running-the-program.png
index 9707d263ff..b04baea65a 100644
Binary files a/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/running-the-program.png and b/source/docs/zero-to-robot/step-4/images/creating-test-program-labview/running-the-program.png differ
diff --git a/source/docs/zero-to-robot/step-4/images/run-test-program/confirm-connectivity-tethered.png b/source/docs/zero-to-robot/step-4/images/run-test-program/confirm-connectivity-tethered.png
index feb25bc310..3069c064cf 100644
Binary files a/source/docs/zero-to-robot/step-4/images/run-test-program/confirm-connectivity-tethered.png and b/source/docs/zero-to-robot/step-4/images/run-test-program/confirm-connectivity-tethered.png differ
diff --git a/source/docs/zero-to-robot/step-4/images/run-test-program/confirm-connectivity-wireless.png b/source/docs/zero-to-robot/step-4/images/run-test-program/confirm-connectivity-wireless.png
index add796a435..eb4ccf4773 100644
Binary files a/source/docs/zero-to-robot/step-4/images/run-test-program/confirm-connectivity-wireless.png and b/source/docs/zero-to-robot/step-4/images/run-test-program/confirm-connectivity-wireless.png differ
diff --git a/source/docs/zero-to-robot/step-4/images/run-test-program/run-robot.png b/source/docs/zero-to-robot/step-4/images/run-test-program/run-robot.png
index db3adb5c94..a22452294f 100644
Binary files a/source/docs/zero-to-robot/step-4/images/run-test-program/run-robot.png and b/source/docs/zero-to-robot/step-4/images/run-test-program/run-robot.png differ
diff --git a/source/docs/zero-to-robot/step-4/index.rst b/source/docs/zero-to-robot/step-4/index.rst
index a07ab75866..bf8f6ed6f9 100644
--- a/source/docs/zero-to-robot/step-4/index.rst
+++ b/source/docs/zero-to-robot/step-4/index.rst
@@ -1,5 +1,4 @@
-Step 4: Programming your Robot
-==============================
+# Step 4: Programming your Robot
 
 .. toctree::
     :maxdepth: 1
diff --git a/source/docs/zero-to-robot/step-4/running-test-program.rst b/source/docs/zero-to-robot/step-4/running-test-program.rst
index bcd11c8be1..40ad35caa1 100644
--- a/source/docs/zero-to-robot/step-4/running-test-program.rst
+++ b/source/docs/zero-to-robot/step-4/running-test-program.rst
@@ -1,10 +1,8 @@
 .. include:: <isonum.txt>
 
-Running your Test Program
-=========================
+# Running your Test Program
 
-Overview
---------
+## Overview
 
 You should create and download a Test Program as described for your programming language:
 
@@ -12,34 +10,30 @@ You should create and download a Test Program as described for your programming
 
 :doc:`LabVIEW </docs/zero-to-robot/step-4/creating-test-drivetrain-program-labview>`
 
-Tethered Operation
-------------------
+## Tethered Operation
 
 Running your test program while tethered to the Driver Station via ethernet or USB cable will confirm the program was successfully deployed and that the driver station and roboRIO are properly configured.
 
 The roboRIO should be powered on and connected to the PC over Ethernet or USB.
 
-Starting the FRC Driver Station
--------------------------------
+## Starting the FRC Driver Station
 
 .. image:: /docs/software/driverstation/images/driver-station/ds-icon.png
     :alt: The Driver Station icon found on the desktop.
 
 The FRC\ |reg| Driver Station can be launched by double-clicking the icon on the Desktop or by selecting Start->All Programs->FRC Driver Station.
 
-Setting Up the Driver Station
------------------------------
+## Setting Up the Driver Station
 
 .. image:: /docs/software/driverstation/images/driver-station/ds-setup.png
     :alt: Using the 3rd tab with the gear of the Driver Station to set the team number.
 
 The DS must be set to your team number in order to connect to your robot. In order to do this click the Setup tab then enter your team number in the team number box. Press return or click outside the box for the setting to take effect.
 
-PCs will typically have the correct network settings for the DS to connect to the robot already, but if not, make sure your Network adapter is set to DHCP.
+PCs will typically have the correct network settings for the DS to connect to the robot already, but if not, make sure your Network adapter is set to :term:`DHCP`.
 
 
-Confirm Connectivity
---------------------
+## Confirm Connectivity
 
 .. figure:: images/run-test-program/confirm-connectivity-tethered.png
 
@@ -51,8 +45,7 @@ Confirm Connectivity
 
 Using the Driver Station software, click Diagnostics and confirm that the Enet Link (or Robot Radio led, if operating wirelessly) and Robot leds are green.
 
-Operate the Robot
------------------
+## Operate the Robot
 
 .. image:: images/run-test-program/run-robot.png
     :alt: Highlights the different sections of the Drive Tab (1st)
@@ -65,13 +58,11 @@ Click the Operation Tab
 4. Click Enable. Move the joysticks and observe how the robot responds.
 5. Click Disable
 
-Wireless Operation
-------------------
+## Wireless Operation
 
 Before attempting wireless operation, tethered operation should have been confirmed as described in `Tethered Operation`_. Running your test program while connected to the Driver Station via WiFi will confirm that the access point is properly configured.
 
-Configuring the Access Point
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+### Configuring the Access Point
 
 See the article :ref:`Programming your radio <docs/zero-to-robot/step-3/radio-programming:Programming your Radio>` for details on configuring the robot radio for use as an access point.
 
diff --git a/source/index.rst b/source/index.rst
index 9b8ab8938e..eb57531446 100644
--- a/source/index.rst
+++ b/source/index.rst
@@ -8,8 +8,7 @@
 .. meta::
    :google-site-verification: POR_nG8b56eXGxmUIutST7jcA_Vl58ypSdJTzJ1g0zg
 
-FIRST Robotics Competition Control System
-=========================================
+# FIRST Robotics Competition Control System
 
 Welcome to the *FIRST*\ |reg| Robotics Competition Control System Documentation! This site contains everything you need to know for programming a competition robot!
 
@@ -25,7 +24,7 @@ Community translations can be found in a variety of languages in the bottom-left
 
       ^^^
 
-      If you are a returning team, please check out the overview of changes from 2023 to 2024 and the known issues.
+      If you are a returning team, please check out the overview of changes from 2023 to 2024, known issues, and quick start guide for updating.
 
       +++
 
@@ -48,6 +47,15 @@ Community translations can be found in a variety of languages in the bottom-left
 
          Known Issues
 
+      .. button-ref:: /docs/yearly-overview/returning-quickstart
+         :color: primary
+         :shadow:
+         :align: center
+         :expand:
+         :outline:
+
+         Quick Start
+
    .. grid-item-card::
       :class-header: sd-bg-info sd-text-white
 
@@ -209,9 +217,9 @@ Community translations can be found in a variety of languages in the bottom-left
 
       ^^^
 
-      Java and C++ class documentation.
+      Java, C++, and Python class documentation.
 
-      .. button-link:: https://github.wpilib.org/allwpilib/docs/beta/java/index.html
+      .. button-link:: https://github.wpilib.org/allwpilib/docs/development/java/index.html
          :color: primary
          :shadow:
          :align: center
@@ -220,7 +228,7 @@ Community translations can be found in a variety of languages in the bottom-left
 
          Java
 
-      .. button-link:: https://github.wpilib.org/allwpilib/docs/beta/cpp/index.html
+      .. button-link:: https://github.wpilib.org/allwpilib/docs/development/cpp/index.html
          :color: primary
          :shadow:
          :align: center
@@ -229,6 +237,15 @@ Community translations can be found in a variety of languages in the bottom-left
 
          C++
 
+      .. button-link:: https://robotpy.readthedocs.io/projects/robotpy/en/stable/
+         :color: primary
+         :shadow:
+         :align: center
+         :expand:
+         :outline:
+
+         Python
+
    .. grid-item-card::
       :class-header: sd-bg-info sd-text-white
 
@@ -309,15 +326,6 @@ Community translations can be found in a variety of languages in the bottom-left
 
          View article
 
-.. toctree::
-   :maxdepth: 1
-   :titlesonly:
-   :caption: FRC Beta Test
-   :hidden:
-
-   docs/beta/beta-getting-started/index
-   docs/beta/tasks/index
-
 .. toctree::
    :maxdepth: 1
    :titlesonly:
@@ -349,6 +357,7 @@ Community translations can be found in a variety of languages in the bottom-left
    docs/software/dashboards/index
    docs/software/telemetry/index
    docs/software/labview/index
+   docs/software/python/index
    docs/software/hardware-apis/index
    docs/software/can-devices/index
    docs/software/basic-programming/index
@@ -360,8 +369,9 @@ Community translations can be found in a variety of languages in the bottom-left
    :caption: API Docs
    :hidden:
 
-   WPILib Java API Docs <https://github.wpilib.org/allwpilib/docs/beta/java/index.html>
-   WPILib C++ API Docs <https://github.wpilib.org/allwpilib/docs/beta/cpp/index.html>
+   WPILib Java API Docs <https://github.wpilib.org/allwpilib/docs/development/java/index.html>
+   WPILib C++ API Docs <https://github.wpilib.org/allwpilib/docs/development/cpp/index.html>
+   WPILib Python API Docs <https://robotpy.readthedocs.io/projects/robotpy/en/stable/>
 
 .. toctree::
    :maxdepth: 1
@@ -372,6 +382,7 @@ Community translations can be found in a variety of languages in the bottom-left
    docs/software/wpilib-tools/robotbuilder/index
    docs/software/wpilib-tools/robot-simulation/index
    docs/software/wpilib-tools/outlineviewer/index
+   docs/software/wpilib-tools/roborio-team-number-setter/index
 
 .. toctree::
    :maxdepth: 1
@@ -429,11 +440,18 @@ Community translations can be found in a variety of languages in the bottom-left
    docs/contributing/frc-docs/index
    docs/contributing/wpilib/index
 
+.. toctree::
+   :maxdepth: 1
+   :caption: Legal
+   :hidden:
+
+   docs/legal/privacy-policy
+
 .. toctree::
    :maxdepth: 1
    :caption: Issues
    :hidden:
 
-   Report an Issue <https://github.com/wpilibsuite/frc-docs/issues>
+   Report a Documentation Issue <https://github.com/wpilibsuite/frc-docs/issues>
 
 .. todolist::
diff --git a/source/redirects.txt b/source/redirects.txt
index bdfcc6e077..d2e39b61b0 100644
--- a/source/redirects.txt
+++ b/source/redirects.txt
@@ -282,4 +282,30 @@
 "docs/software/commandbased/command-based-changes.rst" "docs/software/commandbased/index.rst"
 "docs/software/hardware-apis/pneumatics/pneumatics.rst" "docs/software/hardware-apis/pneumatics/index.rst"
 "docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java.rst" "docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst"
+"docs/software/driverstation/imaging-your-classmate.rst" "docs/software/driverstation/index.rst"
+"docs/software/pathplanning/system-identification/analyzing-feedback.rst" "docs/software/advanced-controls/system-identification/analyzing-gains.rst"
+"docs/software/pathplanning/system-identification/analyzing-data.rst" "docs/software/advanced-controls/system-identification/analyzing-gains.rst"
+"docs/software/pathplanning/system-identification/introduction.rst" "docs/software/advanced-controls/system-identification/introduction.rst"
+"docs/software/pathplanning/system-identification/viewing-diagnostics.rst" "docs/software/advanced-controls/system-identification/viewing-diagnostics.rst"
+"docs/software/pathplanning/system-identification/additional-utils.rst" "docs/software/advanced-controls/system-identification/additional-utils.rst"
+"docs/software/pathplanning/system-identification/index.rst" "docs/software/advanced-controls/system-identification/index.rst"
+"docs/software/pathplanning/system-identification/configuring-project.rst" "docs/software/advanced-controls/system-identification/creating-routine.rst"
+"docs/software/pathplanning/system-identification/identification-routine.rst" "docs/software/advanced-controls/system-identification/running-routine.rst"
+"docs/software/advanced-controls/geometry/coordinate-systems.rst" "docs/software/basic-programming/coordinate-system.rst"
+"docs/software/vscode-overview/importing-gradle-project.rst" "docs/software/vscode-overview/importing-last-years-robot-code.rst"
+"docs/software/dashboards/labview-dashboard/troubleshooting-dashboard-connectivity.rst" "docs/software/dashboards/troubleshooting-dashboard-connectivity.rst"
+"docs/software/vision-processing/grip/generating-code-from-grip.rst" "docs/software/vision-processing/index.rst"
+"docs/software/vision-processing/grip/index.rst" "docs/software/vision-processing/index.rst"
+"docs/software/vision-processing/grip/introduction-to-grip.rst" "docs/software/vision-processing/index.rst"
+"docs/software/vision-processing/grip/using-generated-code-in-a-robot-program.rst" "docs/software/vision-processing/index.rst"
+"docs/software/vision-processing/grip/using-grip-with-a-kangaroo-computer.rst" "docs/software/vision-processing/index.rst"
+"docs/software/wpilib-tools/axon/create-a-dataset-with-open-images.rst" "docs/software/vision-processing/index.rst"
+"docs/software/wpilib-tools/axon/inferencing-on-a-raspberry-pi.rst" "docs/software/vision-processing/index.rst"
+"docs/software/wpilib-tools/axon/introduction.rst" "docs/software/vision-processing/index.rst"
+"docs/software/wpilib-tools/axon/labeling-a-dataset-with-supervisely.rst" "docs/software/vision-processing/index.rst"
+"docs/software/wpilib-tools/axon/machine-learning.rst" "docs/software/vision-processing/index.rst"
+"docs/software/wpilib-tools/axon/retraining-mobilenet.rst" "docs/software/vision-processing/index.rst"
+"docs/software/wpilib-tools/axon/using-on-a-robot.rst" "docs/software/vision-processing/index.rst"
+"docs/software/wpilib-tools/axon/viewing-datasets.rst" "docs/software/vision-processing/index.rst"
+"docs/software/vision-processing/introduction/2017-vision-examples.rst" "docs/software/vision-processing/index.rst"
 
diff --git a/source/requirements.txt b/source/requirements.txt
index 07b8628f36..fa98e56e7d 100644
--- a/source/requirements.txt
+++ b/source/requirements.txt
@@ -1,105 +1,107 @@
-alabaster==0.7.13 ; python_version >= "3.9" and python_version < "3.12"
-apeye-core==1.1.4 ; python_version >= "3.9" and python_version < "3.12"
-apeye==1.4.1 ; python_version >= "3.9" and python_version < "3.12"
-autodocsumm==0.2.11 ; python_version >= "3.9" and python_version < "3.12"
-babel==2.13.1 ; python_version >= "3.9" and python_version < "3.12"
-beautifulsoup4==4.12.2 ; python_version >= "3.9" and python_version < "3.12"
-black==23.1.0 ; python_version >= "3.9" and python_version < "3.12"
-brotli==1.1.0 ; platform_python_implementation == "CPython" and python_version >= "3.9" and python_version < "3.12"
-brotlicffi==1.1.0.0 ; platform_python_implementation != "CPython" and python_version >= "3.9" and python_version < "3.12"
-cachecontrol[filecache]==0.13.1 ; python_version >= "3.9" and python_version < "3.12"
-certifi==2023.7.22 ; python_version >= "3.9" and python_version < "3.12"
-cffi==1.16.0 ; platform_python_implementation != "CPython" and python_version >= "3.9" and python_version < "3.12"
-charset-normalizer==3.3.2 ; python_version >= "3.9" and python_version < "3.12"
-click==8.1.7 ; python_version >= "3.9" and python_version < "3.12"
-colorama==0.4.6 ; python_version >= "3.9" and python_version < "3.12" and (sys_platform == "win32" or platform_system == "Windows")
-contourpy==1.2.0 ; python_version >= "3.9" and python_version < "3.12"
-cssutils==2.9.0 ; python_version >= "3.9" and python_version < "3.12"
-cycler==0.12.1 ; python_version >= "3.9" and python_version < "3.12"
-data==0.4 ; python_version >= "3.9" and python_version < "3.12"
-decorator==5.1.1 ; python_version >= "3.9" and python_version < "3.12"
-dict2css==0.3.0 ; python_version >= "3.9" and python_version < "3.12"
-doc8==0.11.2 ; python_version >= "3.9" and python_version < "3.12"
-docutils==0.18.1 ; python_version >= "3.9" and python_version < "3.12"
-domdf-python-tools==3.7.0 ; python_version >= "3.9" and python_version < "3.12"
-filelock==3.13.1 ; python_version >= "3.9" and python_version < "3.12"
-fonttools==4.33.3 ; python_version >= "3.9" and python_version < "3.12"
-fonttools[woff]==4.33.3 ; python_version >= "3.9" and python_version < "3.12"
-frccontrol==2023.28 ; python_version >= "3.9" and python_version < "3.12"
-funcsigs==1.0.2 ; python_version >= "3.9" and python_version < "3.12"
-future==0.18.3 ; python_version >= "3.9" and python_version < "3.12"
-gitdb==4.0.11 ; python_version >= "3.9" and python_version < "3.12"
-gitpython==3.1.40 ; python_version >= "3.9" and python_version < "3.12"
-html5lib==1.1 ; python_version >= "3.9" and python_version < "3.12"
-idna==3.4 ; python_version >= "3.9" and python_version < "3.12"
-imagesize==1.4.1 ; python_version >= "3.9" and python_version < "3.12"
+alabaster==0.7.13 ; python_version >= "3.9" and python_version < "3.13"
+apeye-core==1.1.4 ; python_version >= "3.9" and python_version < "3.13"
+apeye==1.4.1 ; python_version >= "3.9" and python_version < "3.13"
+autodocsumm==0.2.11 ; python_version >= "3.9" and python_version < "3.13"
+babel==2.13.1 ; python_version >= "3.9" and python_version < "3.13"
+beautifulsoup4==4.12.2 ; python_version >= "3.9" and python_version < "3.13"
+black==24.4.2 ; python_version >= "3.9" and python_version < "3.13"
+brotli==1.1.0 ; platform_python_implementation == "CPython" and python_version >= "3.9" and python_version < "3.13"
+brotlicffi==1.1.0.0 ; platform_python_implementation != "CPython" and python_version >= "3.9" and python_version < "3.13"
+cachecontrol[filecache]==0.13.1 ; python_version >= "3.9" and python_version < "3.13"
+certifi==2024.7.4 ; python_version >= "3.9" and python_version < "3.13"
+cffi==1.16.0 ; platform_python_implementation != "CPython" and python_version >= "3.9" and python_version < "3.13"
+charset-normalizer==3.3.2 ; python_version >= "3.9" and python_version < "3.13"
+click==8.1.7 ; python_version >= "3.9" and python_version < "3.13"
+colorama==0.4.6 ; python_version >= "3.9" and python_version < "3.13" and (sys_platform == "win32" or platform_system == "Windows")
+contourpy==1.2.0 ; python_version >= "3.9" and python_version < "3.13"
+cssutils==2.9.0 ; python_version >= "3.9" and python_version < "3.13"
+cycler==0.12.1 ; python_version >= "3.9" and python_version < "3.13"
+data==0.4 ; python_version >= "3.9" and python_version < "3.13"
+decorator==5.1.1 ; python_version >= "3.9" and python_version < "3.13"
+dict2css==0.3.0 ; python_version >= "3.9" and python_version < "3.13"
+doc8==0.11.2 ; python_version >= "3.9" and python_version < "3.13"
+docutils==0.18.1 ; python_version >= "3.9" and python_version < "3.13"
+domdf-python-tools==3.7.0 ; python_version >= "3.9" and python_version < "3.13"
+filelock==3.13.1 ; python_version >= "3.9" and python_version < "3.13"
+fonttools==4.43.0 ; python_version >= "3.9" and python_version < "3.13"
+fonttools[woff]==4.43.0 ; python_version >= "3.9" and python_version < "3.13"
+frccontrol==2023.28 ; python_version >= "3.9" and python_version < "3.13"
+funcsigs==1.0.2 ; python_version >= "3.9" and python_version < "3.13"
+future==0.18.3 ; python_version >= "3.9" and python_version < "3.13"
+gitdb==4.0.11 ; python_version >= "3.9" and python_version < "3.13"
+gitpython==3.1.41 ; python_version >= "3.9" and python_version < "3.13"
+html5lib==1.1 ; python_version >= "3.9" and python_version < "3.13"
+idna==3.7 ; python_version >= "3.9" and python_version < "3.13"
+imagesize==1.4.1 ; python_version >= "3.9" and python_version < "3.13"
 importlib-metadata==6.8.0 ; python_version >= "3.9" and python_version < "3.10"
 importlib-resources==6.1.1 ; python_version >= "3.9" and python_version < "3.10"
-jinja2==3.1.2 ; python_version >= "3.9" and python_version < "3.12"
-jsmin==3.0.1 ; python_version >= "3.9" and python_version < "3.12"
-kiwisolver==1.4.5 ; python_version >= "3.9" and python_version < "3.12"
-latex==0.7.0 ; python_version >= "3.9" and python_version < "3.12"
-markdown2==2.4.6 ; python_version >= "3.9" and python_version < "3.12"
-markupsafe==2.1.3 ; python_version >= "3.9" and python_version < "3.12"
-matplotlib==3.8.1 ; python_version >= "3.9" and python_version < "3.12"
-modern-sphinx-version-warning==1.1.4 ; python_version >= "3.9" and python_version < "3.12"
-msgpack==1.0.7 ; python_version >= "3.9" and python_version < "3.12"
-mypy-extensions==1.0.0 ; python_version >= "3.9" and python_version < "3.12"
-natsort==8.4.0 ; python_version >= "3.9" and python_version < "3.12"
-numpy==1.26.2 ; python_version >= "3.9" and python_version < "3.12"
-packaging==22.0 ; python_version >= "3.9" and python_version < "3.12"
-pathspec==0.11.2 ; python_version >= "3.9" and python_version < "3.12"
-pbr==6.0.0 ; python_version >= "3.9" and python_version < "3.12"
-pillow==10.1.0 ; python_version >= "3.9" and python_version < "3.12"
-platformdirs==4.0.0 ; python_version >= "3.9" and python_version < "3.12"
-pycparser==2.21 ; python_version >= "3.9" and platform_python_implementation != "CPython" and python_version < "3.12"
-pygments==2.16.1 ; python_version >= "3.9" and python_version < "3.12"
-pyparsing==3.1.1 ; python_version >= "3.9" and python_version < "3.12"
-python-dateutil==2.8.2 ; python_version >= "3.9" and python_version < "3.12"
-requests==2.31.0 ; python_version >= "3.9" and python_version < "3.12"
-restructuredtext-lint==1.4.0 ; python_version >= "3.9" and python_version < "3.12"
-ruamel-yaml-clib==0.2.8 ; platform_python_implementation == "CPython" and python_version < "3.12" and python_version >= "3.9"
-ruamel-yaml==0.18.5 ; python_version >= "3.9" and python_version < "3.12"
-scipy==1.11.3 ; python_version >= "3.9" and python_version < "3.12"
-shutilwhich==1.1.0 ; python_version >= "3.9" and python_version < "3.12"
-six==1.16.0 ; python_version >= "3.9" and python_version < "3.12"
-smmap==5.0.1 ; python_version >= "3.9" and python_version < "3.12"
-snowballstemmer==2.2.0 ; python_version >= "3.9" and python_version < "3.12"
-soupsieve==2.5 ; python_version >= "3.9" and python_version < "3.12"
-sphinx-autodoc-typehints==1.25.2 ; python_version >= "3.9" and python_version < "3.12"
-sphinx-design==0.5.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinx-hoverxref==1.3.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinx-jinja2-compat==0.2.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinx-notfound-page==1.0.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinx-prompt==1.8.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinx-rtd-theme==2.0.0rc2 ; python_version >= "3.9" and python_version < "3.12"
-sphinx-tabs==3.4.4 ; python_version >= "3.9" and python_version < "3.12"
-sphinx-toolbox==3.5.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinx==7.2.6 ; python_version >= "3.9" and python_version < "3.12"
-sphinxcontrib-applehelp==1.0.7 ; python_version >= "3.9" and python_version < "3.12"
-sphinxcontrib-devhelp==1.0.5 ; python_version >= "3.9" and python_version < "3.12"
-sphinxcontrib-htmlhelp==2.0.4 ; python_version >= "3.9" and python_version < "3.12"
-sphinxcontrib-jquery==4.1 ; python_version >= "3.9" and python_version < "3.12"
-sphinxcontrib-jsmath==1.0.1 ; python_version >= "3.9" and python_version < "3.12"
-sphinxcontrib-qthelp==1.0.6 ; python_version >= "3.9" and python_version < "3.12"
-sphinxcontrib-serializinghtml==1.1.9 ; python_version >= "3.9" and python_version < "3.12"
-sphinxcontrib-svg2pdfconverter==1.2.2 ; python_version >= "3.9" and python_version < "3.12"
-sphinxext-delta==0.2.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinxext-linkcheckdiff==0.1.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinxext-mimic==0.1.1 ; python_version >= "3.9" and python_version < "3.12"
-sphinxext-opengraph==0.9.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinxext-photofinish==0.1.9 ; python_version >= "3.9" and python_version < "3.12"
-sphinxext-presentations==0.2.2 ; python_version >= "3.9" and python_version < "3.12"
-sphinxext-rediraffe==0.2.7 ; python_version >= "3.9" and python_version < "3.12"
-sphinxext-remoteliteralinclude==0.4.0 ; python_version >= "3.9" and python_version < "3.12"
-sphinxext-toptranslators==0.1.3 ; python_version >= "3.9" and python_version < "3.12"
-stevedore==5.1.0 ; python_version >= "3.9" and python_version < "3.12"
-tabulate==0.9.0 ; python_version >= "3.9" and python_version < "3.12"
-tempdir==0.7.1 ; python_version >= "3.9" and python_version < "3.12"
-tinycss2==1.2.1 ; python_version >= "3.9" and python_version < "3.12"
+jinja2==3.1.4 ; python_version >= "3.9" and python_version < "3.13"
+jsmin==3.0.1 ; python_version >= "3.9" and python_version < "3.13"
+kiwisolver==1.4.5 ; python_version >= "3.9" and python_version < "3.13"
+latex==0.7.0 ; python_version >= "3.9" and python_version < "3.13"
+markdown2==2.4.6 ; python_version >= "3.9" and python_version < "3.13"
+markupsafe==2.1.3 ; python_version >= "3.9" and python_version < "3.13"
+matplotlib==3.8.1 ; python_version >= "3.9" and python_version < "3.13"
+modern-sphinx-version-warning==1.1.6 ; python_version >= "3.9" and python_version < "3.13"
+msgpack==1.0.7 ; python_version >= "3.9" and python_version < "3.13"
+mypy-extensions==1.0.0 ; python_version >= "3.9" and python_version < "3.13"
+natsort==8.4.0 ; python_version >= "3.9" and python_version < "3.13"
+numpy==1.26.2 ; python_version >= "3.9" and python_version < "3.13"
+packaging==22.0 ; python_version >= "3.9" and python_version < "3.13"
+pathspec==0.11.2 ; python_version >= "3.9" and python_version < "3.13"
+pbr==6.0.0 ; python_version >= "3.9" and python_version < "3.13"
+pillow==10.3.0 ; python_version >= "3.9" and python_version < "3.13"
+platformdirs==4.0.0 ; python_version >= "3.9" and python_version < "3.13"
+pycparser==2.21 ; python_version >= "3.9" and platform_python_implementation != "CPython" and python_version < "3.13"
+pygments==2.16.1 ; python_version >= "3.9" and python_version < "3.13"
+pyparsing==3.1.1 ; python_version >= "3.9" and python_version < "3.13"
+python-dateutil==2.8.2 ; python_version >= "3.9" and python_version < "3.13"
+requests==2.32.3 ; python_version >= "3.9" and python_version < "3.13"
+restructuredtext-lint==1.4.0 ; python_version >= "3.9" and python_version < "3.13"
+ruamel-yaml-clib==0.2.8 ; platform_python_implementation == "CPython" and python_version < "3.13" and python_version >= "3.9"
+ruamel-yaml==0.18.5 ; python_version >= "3.9" and python_version < "3.13"
+scipy==1.11.3 ; python_version >= "3.9" and python_version < "3.13"
+setuptools==72.1.0 ; python_version >= "3.12" and python_version < "3.13"
+shutilwhich==1.1.0 ; python_version >= "3.9" and python_version < "3.13"
+six==1.16.0 ; python_version >= "3.9" and python_version < "3.13"
+smmap==5.0.1 ; python_version >= "3.9" and python_version < "3.13"
+snowballstemmer==2.2.0 ; python_version >= "3.9" and python_version < "3.13"
+soupsieve==2.5 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-autodoc-typehints==1.25.2 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-copybutton==0.5.2 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-design==0.5.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-hoverxref==1.3.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-jinja2-compat==0.2.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-notfound-page==1.0.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-prompt==1.8.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-rtd-theme==2.0.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-tabs==3.4.4 ; python_version >= "3.9" and python_version < "3.13"
+sphinx-toolbox==3.5.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinx==7.2.6 ; python_version >= "3.9" and python_version < "3.13"
+sphinxcontrib-applehelp==1.0.7 ; python_version >= "3.9" and python_version < "3.13"
+sphinxcontrib-devhelp==1.0.5 ; python_version >= "3.9" and python_version < "3.13"
+sphinxcontrib-htmlhelp==2.0.4 ; python_version >= "3.9" and python_version < "3.13"
+sphinxcontrib-jquery==4.1 ; python_version >= "3.9" and python_version < "3.13"
+sphinxcontrib-jsmath==1.0.1 ; python_version >= "3.9" and python_version < "3.13"
+sphinxcontrib-qthelp==1.0.6 ; python_version >= "3.9" and python_version < "3.13"
+sphinxcontrib-serializinghtml==1.1.9 ; python_version >= "3.9" and python_version < "3.13"
+sphinxcontrib-svg2pdfconverter==1.2.2 ; python_version >= "3.9" and python_version < "3.13"
+sphinxext-delta==0.2.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinxext-linkcheckdiff==0.1.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinxext-mimic==0.1.1 ; python_version >= "3.9" and python_version < "3.13"
+sphinxext-opengraph==0.9.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinxext-photofinish==0.1.11 ; python_version >= "3.9" and python_version < "3.13"
+sphinxext-presentations==0.2.2 ; python_version >= "3.9" and python_version < "3.13"
+sphinxext-rediraffe==0.2.7 ; python_version >= "3.9" and python_version < "3.13"
+sphinxext-remoteliteralinclude==0.4.0 ; python_version >= "3.9" and python_version < "3.13"
+sphinxext-toptranslators==0.1.3 ; python_version >= "3.9" and python_version < "3.13"
+stevedore==5.1.0 ; python_version >= "3.9" and python_version < "3.13"
+tabulate==0.9.0 ; python_version >= "3.9" and python_version < "3.13"
+tempdir==0.7.1 ; python_version >= "3.9" and python_version < "3.13"
+tinycss2==1.2.1 ; python_version >= "3.9" and python_version < "3.13"
 tomli==2.0.1 ; python_version >= "3.9" and python_version < "3.11"
-typing-extensions==4.8.0 ; python_version >= "3.9" and python_version < "3.12"
-urllib3==1.26.18 ; python_version >= "3.9" and python_version < "3.12"
-webencodings==0.5.1 ; python_version >= "3.9" and python_version < "3.12"
-zipp==3.17.0 ; python_version >= "3.9" and python_version < "3.10"
-zopfli==0.2.3 ; python_version >= "3.9" and python_version < "3.12"
+typing-extensions==4.8.0 ; python_version >= "3.9" and python_version < "3.13"
+urllib3==1.26.19 ; python_version >= "3.9" and python_version < "3.13"
+webencodings==0.5.1 ; python_version >= "3.9" and python_version < "3.13"
+zipp==3.19.2 ; python_version >= "3.9" and python_version < "3.10"
+zopfli==0.2.3 ; python_version >= "3.9" and python_version < "3.13"
diff --git a/source/stubs/advanced-programming-stub.rst b/source/stubs/advanced-programming-stub.rst
index cc45a1bfdd..149bb2cdf6 100644
--- a/source/stubs/advanced-programming-stub.rst
+++ b/source/stubs/advanced-programming-stub.rst
@@ -1,7 +1,6 @@
 :orphan:
 
-Advanced Programming
-====================
+# Advanced Programming
 
 Documentation that is suited toward veteran teams. This includes content such as Path Planning and Kinematics.
 
diff --git a/source/stubs/api-docs-stub.rst b/source/stubs/api-docs-stub.rst
index 97fc2d6602..7606761cd8 100644
--- a/source/stubs/api-docs-stub.rst
+++ b/source/stubs/api-docs-stub.rst
@@ -1,7 +1,6 @@
 :orphan:
 
-API Documentation
-=================
+# API Documentation
 
 Java and CSS class documentation.
 
@@ -9,5 +8,6 @@ Java and CSS class documentation.
    :maxdepth: 1
    :hidden:
 
-   WPILib Java API Docs <https://github.wpilib.org/allwpilib/docs/beta/java/index.html>
-   WPILib C++ API Docs <https://github.wpilib.org/allwpilib/docs/beta/cpp/index.html>
+   WPILib Java API Docs <https://github.wpilib.org/allwpilib/docs/development/java/index.html>
+   WPILib C++ API Docs <https://github.wpilib.org/allwpilib/docs/development/cpp/index.html>
+   WPILib Python API Docs <https://robotpy.readthedocs.io/projects/robotpy/en/stable/api.html>
diff --git a/source/stubs/hardware-stub.rst b/source/stubs/hardware-stub.rst
index 9f8ea5f9b4..ef0da42766 100644
--- a/source/stubs/hardware-stub.rst
+++ b/source/stubs/hardware-stub.rst
@@ -1,7 +1,6 @@
 :orphan:
 
-Hardware
-========
+# Hardware
 
 Hardware tutorials and content available for teams.
 
diff --git a/source/stubs/programming-basics-stub.rst b/source/stubs/programming-basics-stub.rst
index fc02ca5e77..cd599c033a 100644
--- a/source/stubs/programming-basics-stub.rst
+++ b/source/stubs/programming-basics-stub.rst
@@ -1,7 +1,6 @@
 :orphan:
 
-Programming Basics
-==================
+# Programming Basics
 
 Documentation that is useful throughout a team’s programming process.
 
diff --git a/source/stubs/software-tools-stub.rst b/source/stubs/software-tools-stub.rst
index bf7af7ee6d..a1c68d8558 100644
--- a/source/stubs/software-tools-stub.rst
+++ b/source/stubs/software-tools-stub.rst
@@ -1,7 +1,6 @@
 :orphan:
 
-Software Tools
-==============
+# Software Tools
 
 Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool and more.