diff --git a/.github/labeler.yml b/.github/labeler.yml
new file mode 100644
index 0000000000..561dceaa18
--- /dev/null
+++ b/.github/labeler.yml
@@ -0,0 +1,2 @@
+'2027':
+- base-branch: '2027'
diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 09fba980b5..6af37f9502 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -7,25 +7,23 @@ env:
 
 jobs:
   build-pdf:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
     - uses: actions/setup-python@v5
       with:
-        python-version: 3.9
-        cache: 'pip'
-    - name: Install Python Dependencies
-      run: |
-        pip install -r source/requirements.txt
+        python-version: "3.10"
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
     - name: Install LaTeX
       run: |
-        sudo apt-fast -y update
-        sudo apt-fast 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
+        sudo apt-get -y update
+        sudo apt-get 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
     - name: Build PDF
       run: |
-        make latexpdf
+        uv run make latexpdf
     - name: Archive PDF
       uses: actions/upload-artifact@v4
       with:
@@ -34,25 +32,23 @@ jobs:
         if-no-files-found: error
         
   build-html:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
     - uses: actions/setup-python@v5
       with:
-        python-version: 3.9
-        cache: 'pip'
-    - name: Install Python Dependencies
-      run: |
-        pip install -r source/requirements.txt
+        python-version: "3.10"
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
     - name: Install librsvg2
       run: |
-        sudo apt-fast -y update
-        sudo apt-fast install -y librsvg2-bin
+        sudo apt-get -y update
+        sudo apt-get install -y librsvg2-bin
     - name: Build HTML
       run: |
-        make html
+        uv run make html
     - name: Archive HTML
       uses: actions/upload-artifact@v4
       with:
@@ -61,7 +57,7 @@ jobs:
         if-no-files-found: error
         
   build-html-translation:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
       with:
@@ -75,24 +71,22 @@ jobs:
         fetch-depth: 0
     - uses: actions/setup-python@v5
       with:
-        python-version: 3.9
-        cache: 'pip'
-    - name: Install Python Dependencies
-      run: |
-        pip install -r frc-docs/source/requirements.txt
+        python-version: "3.10"
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
     - name: Install librsvg2
       run: |
-        sudo apt-fast -y update
-        sudo apt-fast install -y librsvg2-bin
+        sudo apt-get -y update
+        sudo apt-get install -y librsvg2-bin
     - name: Build HTML
       run: |
-        sphinx-build -D language=es -b html . _build/html
+        uv run --project frc-docs sphinx-build -D language=es -b html . _build/html
 
   #link-check-diff:
   #  # This job is sourced from https://github.com/aiven/devportal/blob/main/.github/workflows/linkcheck-changed-files.yaml
   #  # It is CC 4.0 I licensed: https://creativecommons.org/licenses/by/4.0/
   #  # Changes have been made.
-  #  runs-on: ubuntu-22.04
+  #  runs-on: ubuntu-24.04
   #  steps:
   #    - uses: actions/checkout@v4
   #      with:
@@ -102,7 +96,7 @@ jobs:
   #      uses: tj-actions/changed-files@v41
   #    - uses: actions/setup-python@v5
   #      with:
-  #        python-version: 3.9
+  #        python-version: "3.10"
   #    - name: Install Dependencies
   #      run: pip install -r source/requirements.txt
   #    - name: Run linkcheck on .rst files
@@ -121,35 +115,39 @@ jobs:
   #        fi
         
   check-linting:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
-        python-version: 3.9
+        python-version: "3.10"
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
     - name: Install Dependencies
       run: |
-        pip install -r source/requirements.txt
+        uv sync
     - name: Check Lint
       run: |
-        make lint
+        uv run make lint
         
   check-image-size:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
-        python-version: 3.9
+        python-version: "3.10"
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
     - name: Install Dependencies
       run: |
-        pip install -r source/requirements.txt
+        uv sync
     - name: Check Image Size
       run: |
-        make sizecheck
+        uv run make sizecheck
         
   check-spelling:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - name: misspell
@@ -158,9 +156,11 @@ jobs:
           locale: "US"
           reporter: "github-check"
           fail_level: "error"
+          exclude: | 
+            **/*.svg
           
   check-redirects:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
     - name: Checkout main
@@ -168,27 +168,50 @@ jobs:
         git fetch origin main --depth=1
     - uses: actions/setup-python@v5
       with:
-        python-version: 3.9
+        python-version: "3.10"
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
     - name: Install Dependencies
       run: |
-        pip install -r source/requirements.txt
+        uv sync
     - name: Check redirects
       run: |
-        make rediraffecheckdiff
+        uv run make rediraffecheckdiff
     - name: Check redirects format
       run: |
         [[ $(<source/redirects.txt) == $(git show origin/main:source/redirects.txt)* ]] || { echo "Error: redirects.txt can only be appended to. Lines cannot be modified or deleted."; exit 1; }
         
   check-formatting:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
-        python-version: 3.9
-    - name: Install Python Dependencies
-      run: |
-        pip install -r source/requirements.txt
+        python-version: "3.10"
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
     - name: Format
       run: |
-        black --check .
+        uv run black --check .
+        
+  check-dependencies:
+    runs-on: ubuntu-24.04
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: "3.10"
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
+    - name: Check lockfile
+      run: |
+        uv lock --check
+    - name: Export requirements
+      run: |
+        uv export --frozen --no-dev --no-editable -o source/requirements.txt
+    - name: Check for changes
+      run: |
+        if ! git diff --exit-code source/requirements.txt; then
+          echo "Error: source/requirements.txt is out of date. Please run 'uv export --frozen --no-dev --no-editable -o source/requirements.txt' and commit the changes."
+          exit 1
+        fi
diff --git a/.github/workflows/inspector.json b/.github/workflows/inspector.json
index 99302ce2d6..1449f6c7b9 100644
--- a/.github/workflows/inspector.json
+++ b/.github/workflows/inspector.json
@@ -3,12 +3,12 @@
     {
       "baseUrl": "https://raw.githubusercontent.com/wpilibsuite/allwpilib/",
       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion": "v2025.3.2"
+      "latestVersion": "v2026.2.1"
     },
     {
       "baseUrl": "https://github.com/wpilibsuite/allwpilib/raw/",
       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion": "v2025.3.2"
+      "latestVersion": "v2026.2.1"
     },
     {
       "baseUrl": "https://raw.githubusercontent.com/robotpy/examples/",
@@ -18,7 +18,7 @@
     {
       "baseUrl": "https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/",
       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion": "v2025.3.1"
+      "latestVersion": "v2026.2.1"
     },
     {
       "baseUrl": "https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/",
diff --git a/.github/workflows/labeler.yml b/.github/workflows/labeler.yml
new file mode 100644
index 0000000000..ee9eac27ad
--- /dev/null
+++ b/.github/workflows/labeler.yml
@@ -0,0 +1,15 @@
+name: "Pull Request Labeler"
+on:
+  - pull_request_target
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+      issues: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v5
+        with:
+          sync-labels: true
diff --git a/.github/workflows/link-check-2027.yml b/.github/workflows/link-check-2027.yml
new file mode 100644
index 0000000000..1f9bfde575
--- /dev/null
+++ b/.github/workflows/link-check-2027.yml
@@ -0,0 +1,26 @@
+name: Link Check 2027
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron:  '0 8 * * *'
+
+env:
+  GITHUB_TOKEN: ${{ github.token }}
+
+jobs:
+  check-links-2027:
+    if: github.repository_owner == 'wpilibsuite'
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+        ref: 2027
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.11
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
+    - name: Check Links
+      run: uv run make linkcheck
diff --git a/.github/workflows/link-check.yml b/.github/workflows/link-check.yml
index 251cec2aad..d497756d00 100644
--- a/.github/workflows/link-check.yml
+++ b/.github/workflows/link-check.yml
@@ -19,7 +19,7 @@ jobs:
     - uses: actions/setup-python@v5
       with:
         python-version: 3.11
-    - name: Install Dependencies
-      run: pip install -r source/requirements.txt
+    - name: Install uv
+      uses: astral-sh/setup-uv@v7
     - name: Check Links
-      run: make linkcheck
+      run: uv run make linkcheck
diff --git a/.github/workflows/update-rli-commands.yml b/.github/workflows/update-rli-commands.yml
index a2e171398a..fb6234e949 100644
--- a/.github/workflows/update-rli-commands.yml
+++ b/.github/workflows/update-rli-commands.yml
@@ -20,17 +20,6 @@ jobs:
         env:
           GITHUB_TOKEN: '${{ secrets.GITHUB_TOKEN }}'
 
-      # Run Inspector autofix only on files changed by the PR
-      - name: Trigger-Diff
-        uses: shanegenschaw/pull-request-comment-trigger@v3.0.0
-        id: trigger-diff
-        with:
-          trigger: '\inspector fix diff'
-          prefix_only: true
-          reaction: rocket
-        env:
-          GITHUB_TOKEN: '${{ secrets.GITHUB_TOKEN }}'
-
       # Run Inspector autofix on everything
       - name: Trigger-All
         uses: shanegenschaw/pull-request-comment-trigger@v3.0.0
@@ -44,7 +33,7 @@ jobs:
 
       # If this is a comment without a command, exit.
       - name: Quick exit
-        if: ${{ !steps.trigger-all.outputs.triggered && !steps.trigger-check-all.outputs.triggered && !steps.trigger-diff.outputs.triggered }}
+        if: ${{ !steps.trigger-all.outputs.triggered && !steps.trigger-check-all.outputs.triggered }}
         run: exit 1
 
       - name: Checkout [Common]
@@ -56,46 +45,24 @@ jobs:
           GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
 
-      # ---- Common - Run ----
-      # Remove unchanged files, unless explicitly triggered on everything
-      - name: Remove unchanged files
-        if: steps.trigger-all.outputs.triggered == 'false' && steps.trigger-check-all.outputs.triggered == 'false'
-        run: |
-          # Fetch upstream
-          git remote add upstream https://github.com/wpilibsuite/frc-docs.git
-          git fetch upstream
-          # Delete unchanged files
-          git ls-files -- *.rst | xargs rm
-          git diff upstream/main..HEAD --name-only --diff-filter=M -- *.rst | xargs -I{} git restore {}
-          # Make sure we still have the .github directory
-          git restore .github
-
       # Run Inspector
       - name: Inspect RLIs
-        uses: docker://ghcr.io/starlight220/inspector:v1.9
+        uses: docker://ghcr.io/starlight220/inspector:v1.12
         id: inspector
         with:
           root: ${{ github.workspace }}
         env:
           INSPECTOR_CONFIG: '.github/workflows/inspector.json'
 
-      # If diff-autofix is triggered, restore temporarily deleted files
-      - name: Restore unchanged files
-        # No point in restoring if we're not using them
-        if: steps.trigger-diff.outputs.triggered == 'true'
-        run: |
-          git diff --name-only --diff-filter=D | xargs -I{} git restore {}
-
       # If autofix is triggered, commit changes
       - name: Commit
-        if: steps.trigger-all.outputs.triggered == 'true' || steps.trigger-diff.outputs.triggered == 'true'
+        if: steps.trigger-all.outputs.triggered == 'true'
         run: |
           # Set credentials
           git config user.name github-actions
           git config user.email github-actions@github.com
-          git diff --name-only --diff-filter=Md | xargs -I{} git add {}
           # Commit
-          git commit -m "Autofix RLIs"
+          git commit -am "Autofix RLIs"
           git push
 
       # ---- Common - Post Report ----
diff --git a/make.bat b/make.bat
index c25d923213..b6564ca128 100644
--- a/make.bat
+++ b/make.bat
@@ -43,7 +43,7 @@ goto end
 goto end
 
 :lint
-%LINTER% %LINTEROPTS%
+%LINTER% %LINTEROPTS% %SOURCEDIR%
 goto end
 
 :sizecheck
diff --git a/miktex-packages.txt b/miktex-packages.txt
index ef1978b13d..ddb386e5b5 100644
--- a/miktex-packages.txt
+++ b/miktex-packages.txt
@@ -257,3 +257,7 @@ zerohyph
 zhmetrics
 colortbl
 letltxmacro
+fontawesome5
+pict2e
+ellipse
+booktabs
diff --git a/poetry.lock b/poetry.lock
deleted file mode 100644
index 2c1a441014..0000000000
--- a/poetry.lock
+++ /dev/null
@@ -1,2577 +0,0 @@
-# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
-
-[[package]]
-name = "alabaster"
-version = "0.7.16"
-description = "A light, configurable Sphinx theme"
-optional = false
-python-versions = ">=3.9"
-files = [
-    {file = "alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92"},
-    {file = "alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65"},
-]
-
-[[package]]
-name = "apeye"
-version = "1.4.1"
-description = "Handy tools for working with URLs and APIs."
-optional = false
-python-versions = ">=3.6.1"
-files = [
-    {file = "apeye-1.4.1-py3-none-any.whl", hash = "sha256:44e58a9104ec189bf42e76b3a7fe91e2b2879d96d48e9a77e5e32ff699c9204e"},
-    {file = "apeye-1.4.1.tar.gz", hash = "sha256:14ea542fad689e3bfdbda2189a354a4908e90aee4bf84c15ab75d68453d76a36"},
-]
-
-[package.dependencies]
-apeye-core = ">=1.0.0b2"
-domdf-python-tools = ">=2.6.0"
-platformdirs = ">=2.3.0"
-requests = ">=2.24.0"
-
-[package.extras]
-all = ["cachecontrol[filecache] (>=0.12.6)", "lockfile (>=0.12.2)"]
-limiter = ["cachecontrol[filecache] (>=0.12.6)", "lockfile (>=0.12.2)"]
-
-[[package]]
-name = "apeye-core"
-version = "1.1.5"
-description = "Core (offline) functionality for the apeye library."
-optional = false
-python-versions = ">=3.6.1"
-files = [
-    {file = "apeye_core-1.1.5-py3-none-any.whl", hash = "sha256:dc27a93f8c9e246b3b238c5ea51edf6115ab2618ef029b9f2d9a190ec8228fbf"},
-    {file = "apeye_core-1.1.5.tar.gz", hash = "sha256:5de72ed3d00cc9b20fea55e54b7ab8f5ef8500eb33a5368bc162a5585e238a55"},
-]
-
-[package.dependencies]
-domdf-python-tools = ">=2.6.0"
-idna = ">=2.5"
-
-[[package]]
-name = "autodocsumm"
-version = "0.2.13"
-description = "Extended sphinx autodoc including automatic autosummaries"
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "autodocsumm-0.2.13-py3-none-any.whl", hash = "sha256:bf4d82ea7acb3e7d9a3ad8c135e097eca1d3f0bd00800d7804127e848e66741d"},
-    {file = "autodocsumm-0.2.13.tar.gz", hash = "sha256:ac5f0cf1adbe957acb136fe0d9e16c38fb74fcaefb45c148204aba26dbb12ee2"},
-]
-
-[package.dependencies]
-Sphinx = ">=2.2,<9.0"
-
-[[package]]
-name = "babel"
-version = "2.16.0"
-description = "Internationalization utilities"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "babel-2.16.0-py3-none-any.whl", hash = "sha256:368b5b98b37c06b7daf6696391c3240c938b37767d4584413e8438c5c435fa8b"},
-    {file = "babel-2.16.0.tar.gz", hash = "sha256:d1f3554ca26605fe173f3de0c65f750f5a42f924499bf134de6423582298e316"},
-]
-
-[package.extras]
-dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
-
-[[package]]
-name = "beautifulsoup4"
-version = "4.12.3"
-description = "Screen-scraping library"
-optional = false
-python-versions = ">=3.6.0"
-files = [
-    {file = "beautifulsoup4-4.12.3-py3-none-any.whl", hash = "sha256:b80878c9f40111313e55da8ba20bdba06d8fa3969fc68304167741bbf9e082ed"},
-    {file = "beautifulsoup4-4.12.3.tar.gz", hash = "sha256:74e3d1928edc070d21748185c46e3fb33490f22f52a3addee9aee0f4f7781051"},
-]
-
-[package.dependencies]
-soupsieve = ">1.2"
-
-[package.extras]
-cchardet = ["cchardet"]
-chardet = ["chardet"]
-charset-normalizer = ["charset-normalizer"]
-html5lib = ["html5lib"]
-lxml = ["lxml"]
-
-[[package]]
-name = "black"
-version = "24.4.2"
-description = "The uncompromising code formatter."
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "black-24.4.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:dd1b5a14e417189db4c7b64a6540f31730713d173f0b63e55fabd52d61d8fdce"},
-    {file = "black-24.4.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:8e537d281831ad0e71007dcdcbe50a71470b978c453fa41ce77186bbe0ed6021"},
-    {file = "black-24.4.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eaea3008c281f1038edb473c1aa8ed8143a5535ff18f978a318f10302b254063"},
-    {file = "black-24.4.2-cp310-cp310-win_amd64.whl", hash = "sha256:7768a0dbf16a39aa5e9a3ded568bb545c8c2727396d063bbaf847df05b08cd96"},
-    {file = "black-24.4.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:257d724c2c9b1660f353b36c802ccece186a30accc7742c176d29c146df6e474"},
-    {file = "black-24.4.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:bdde6f877a18f24844e381d45e9947a49e97933573ac9d4345399be37621e26c"},
-    {file = "black-24.4.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e151054aa00bad1f4e1f04919542885f89f5f7d086b8a59e5000e6c616896ffb"},
-    {file = "black-24.4.2-cp311-cp311-win_amd64.whl", hash = "sha256:7e122b1c4fb252fd85df3ca93578732b4749d9be076593076ef4d07a0233c3e1"},
-    {file = "black-24.4.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:accf49e151c8ed2c0cdc528691838afd217c50412534e876a19270fea1e28e2d"},
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-    {file = "zopfli-0.2.3.zip", hash = "sha256:dbc9841bedd736041eb5e6982cd92da93bee145745f5422f3795f6f258cdc6ef"},
-]
-
-[package.extras]
-test = ["pytest"]
-
-[metadata]
-lock-version = "2.0"
-python-versions = ">=3.9,<3.13"
-content-hash = "c11a9e04c9e655b199e0ead1a7b28f9d5feafba829e5fe76c8f79ff9dbac0768"
diff --git a/pyproject.toml b/pyproject.toml
index 8a2d5f13ed..ec9d7c679e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,48 +1,40 @@
-[tool.poetry]
+[project]
 name = "frc-docs"
 version = "9999"
 description = ""
 authors = []
+requires-python = ">=3.10,<3.14"
+dependencies = [
+    "black>=25.0.0,<26.0.0",
+    "doc8==2.0.0",
+    "docutils==0.21.2",
+    "fonttools[woff]==4.60.2",
+    "jsmin==3.0.1",
+    "markdown2==2.5.4",
+    "sphinx==7.4.7",
+    "sphinx_design==0.6.1",
+    "sphinx_copybutton==0.5.2",
+    "sphinx-hoverxref==1.4.2",
+    "sphinx-last-updated-by-git==0.3.8",
+    "sphinx-notfound-page==1.1.0",
+    "sphinx-rtd-theme==3.0.2",
+    "sphinx-tabs==3.4.5",
+    "sphinx-toolbox==3.10.0",
+    "modern-sphinx-version-warning==1.1.6",
+    "sphinxcontrib-htmlhelp==2.1.0",
+    "sphinxcontrib-serializinghtml==2.0.0",
+    "sphinxcontrib-svg2pdfconverter==1.3.0",
+    "sphinxcontrib-video==0.4.1",
+    "sphinx_contributors==0.2.7",
+    "sphinxext-delta==0.3.1",
+    "sphinxext-mimic==0.1.1",
+    "sphinxext-opengraph==0.13.0",
+    "sphinxext-photofinish==0.1.12",
+    "sphinxext-rediraffe==0.2.7",
+    "sphinxext-remoteliteralinclude==0.6.0",
+    "sphinxext-toptranslators==0.1.3",
+    "frccontrol==2025.6",
+]
 
-[tool.poetry.dependencies]
-black = "==24.4.2"
-python = ">=3.9,<3.13"
-doc8 = "==1.1.2"
-docutils = "==0.21.2"
-fonttools = {version = "==4.43.0", extras = ["woff"]}
-jsmin = "==3.0.1"
-latex = "==0.7.0"
-markdown2 = "==2.4.6"
-numpy = ">=1.26.2, <2.0.0"
-scipy = ">=1.9.0, <2.0.0"
-sphinx = "==7.4.7"
-sphinx_design= "==0.6.1"
-sphinx_copybutton = "==0.5.2"
-sphinx-hoverxref = "==1.4.0"
-sphinx-last-updated-by-git = "==0.3.8"
-sphinx-notfound-page = "==1.0.4"
-sphinx-rtd-theme = "==3.0.2"
-sphinx-tabs = "==3.4.5"
-sphinx-toolbox = "==3.8.0"
-modern-sphinx-version-warning = "==1.1.6"
-sphinxcontrib-htmlhelp = "==2.1.0"
-sphinxcontrib-serializinghtml = "==2.0.0"
-sphinxcontrib-svg2pdfconverter = "==1.2.2"
-sphinxcontrib-video = "==0.4.1"
-sphinx_contributors = "==0.2.7"
-sphinxext-delta = "==0.3.1"
-sphinxext-mimic = "==0.1.1"
-sphinxext-opengraph = "==0.10.0"
-sphinxext-photofinish = "==0.1.11"
-sphinxext-presentations = "==0.3.1"
-sphinxext-rediraffe = "==0.2.7"
-sphinxext-remoteliteralinclude = "==0.6.0"
-sphinxext-toptranslators = "==0.1.3"
-urllib3 = ">=1.26.6, <2.0.0"
-frccontrol = "==2023.28"
-
-[tool.poetry.dev-dependencies]
-
-[build-system]
-requires = ["poetry-core>=1.0.0"]
-build-backend = "poetry.core.masonry.api"
+[tool.uv]
+fork-strategy = "fewest"
diff --git a/readthedocs.yml b/readthedocs.yml
index 284b967e21..db72c49005 100644
--- a/readthedocs.yml
+++ b/readthedocs.yml
@@ -6,19 +6,29 @@ sphinx:
   fail_on_warning: true
 
 build:
-  os: ubuntu-20.04
+  os: ubuntu-24.04
   tools:
-    python: "3.9"
+    python: "3.13"
   apt_packages:
     - librsvg2-bin
   jobs:
     post_checkout:
       - git fetch --unshallow || true
- 
+    pre_create_environment:
+      - asdf plugin add uv
+      - asdf install uv latest
+      - asdf global uv latest
+    create_environment:
+      - uv venv "${READTHEDOCS_VIRTUALENV_PATH}"
+    install:
+      - UV_PROJECT_ENVIRONMENT="${READTHEDOCS_VIRTUALENV_PATH}" uv sync --frozen
+    build:
+      htmlzip:
+        - mkdir --parents _readthedocs/htmlzip
+        # Output to an intermediate directory because RTD doesn't like extra content in the directory. $READTHEDOCS_PROJECT is chosen to so that frc-docs-latest is the root directory of the zip
+        - python -m sphinx -T -W --keep-going -b readthedocssinglehtmllocalmedia -d _build/doctrees -D language=$READTHEDOCS_LANGUAGE source $READTHEDOCS_OUTPUT/$READTHEDOCS_PROJECT
+        - cd $READTHEDOCS_OUTPUT ; zip --recurse-path --symlinks htmlzip/$READTHEDOCS_PROJECT.zip $READTHEDOCS_PROJECT
+
 formats:
   - htmlzip
   - pdf
-
-python:
-  install:
-  - requirements: source/requirements.txt
diff --git a/source/_extensions/controls_js_sim/__init__.py b/source/_extensions/controls_js_sim/__init__.py
index 477022b118..7caa355ec5 100644
--- a/source/_extensions/controls_js_sim/__init__.py
+++ b/source/_extensions/controls_js_sim/__init__.py
@@ -1,9 +1,10 @@
 from pathlib import Path
+from textwrap import dedent
 from typing import Any, Dict
 
-import os, glob
 from jsmin import jsmin
 from sphinx.application import Sphinx
+from sphinx.util import logging
 
 # Handle custom javascript
 # Groups, sorts, merges, and minifies the JS files associated with
@@ -25,74 +26,102 @@
     ".",
 ]
 
+LOGGER = logging.getLogger("controls_js_sim")
 
-def mergeAndMinify(out_folder):
-    if not os.path.isdir(out_folder):
-        os.makedirs(out_folder)
-
-    outputFile = os.path.join(out_folder, "pid-tune.js")
-
-    with open(outputFile, "w") as outf:
-        for folder in FOLDER_INCS:
-            jsRoot = os.path.dirname(__file__)
-            # find all js files in the specific folder
-            inFileNames = glob.glob(os.path.join(jsRoot, folder, "*.js"))
-
-            # sort file names alphabetically
-            # this allows a within-folder sort by number prefix if needed.
-            inFileNames.sort()
-
-            for inFileName in inFileNames:
-                with open(inFileName, "r") as inf:
-                    if not debugJS:
-                        # Minify each file independently - again, low bar solution for now
-                        minified = jsmin(inf.read())
-                        outf.write(minified)
-                        outf.write("\n")
-                    else:
-                        # Verbose, no minify, and add debug markers.
-                        outf.write("\n\n\n")
-                        outf.write(
-                            "//*******************************************************\n"
-                        )
-                        outf.write(
-                            "//*******************************************************\n"
-                        )
-                        outf.write("//**    {}\n".format(inFileName))
-                        outf.write(
-                            "//*******************************************************\n"
-                        )
-                        outf.write(
-                            "//*******************************************************\n"
-                        )
-                        outf.write("\n")
-                        outf.write(inf.read())
-                        outf.write("\n")
-
-    return outputFile
+STATIC_DIR = Path(__file__).parent / "_static"
+OUTPUT_FILE = STATIC_DIR / "pid-tune.js"
 
 
-def setup(app: Sphinx) -> Dict[str, Any]:
-    print("Generating and adding controls javascript...")
+def get_source_files():
+    """Get the list of source JavaScript files to be merged and minified."""
 
-    # Perform controls js setup
-    static_dir = Path(__file__).parent / "_static"
+    js_files = []
+    js_root = Path(__file__).parent
+
+    for folder in FOLDER_INCS:
+        # find all js files in the specific folder
+        folder_path = js_root / folder
+        # sort file names alphabetically
+        # this allows a within-folder sort by number prefix if needed.
+        in_file_names = sorted(folder_path.glob("*.js"))
+        js_files.extend(in_file_names)
+
+    return js_files
+
+
+def should_rebuild():
+    """Check if JavaScript needs to be rebuilt based on source file timestamps."""
+
+    # If output doesn't exist, must rebuild
+    if not OUTPUT_FILE.exists():
+        return True
+
+    output_mtime = OUTPUT_FILE.stat().st_mtime
+    source_files = get_source_files()
+
+    # Check if any source file is newer than output
+    for source_file in source_files:
+        if source_file.stat().st_mtime > output_mtime:
+            return True
+
+    return False
+
+
+def merge_and_minify():
+    """Merge and minify the JavaScript source files into a single output file."""
 
+    source_files = get_source_files()
+    output_content = ""
+
+    for source_file in source_files:
+        with source_file.open("r") as source:
+            source_content = source.read()
+            if not debugJS:
+                # Minify each file independently - again, low bar solution for now
+                output_content += jsmin(source_content)
+            else:
+                # Verbose, no minify, and add debug markers.
+                output_content += dedent(
+                    f"""
+
+
+                    //*******************************************************
+                    //*******************************************************
+                    //**    {source_file}
+                    //*******************************************************
+                    //*******************************************************
+
+                    """
+                )
+                output_content += source_content
+            output_content += "\n"
+
+    OUTPUT_FILE.write_text(output_content)
+
+
+def generate_js_if_needed(app: Sphinx):
+    if should_rebuild():
+        LOGGER.info("Generating controls javascript...")
+        merge_and_minify()
+        LOGGER.info("Done.")
+    else:
+        LOGGER.debug("Controls javascript is up to date, skipping rebuild.")
+
+
+def setup(app: Sphinx) -> Dict[str, Any]:
+    # Perform controls js setup
     # everything written to this new static folder in this `setup` will be copied to the build static folder as is
     app.connect(
         "builder-inited",
-        (lambda app: app.config.html_static_path.append(static_dir.as_posix())),
+        (lambda app: app.config.html_static_path.append(STATIC_DIR.as_posix())),
     )
 
-    # Generate merged/minified PID tuning source
-    mergeAndMinify(static_dir)
+    app.connect("builder-inited", generate_js_if_needed)
 
     # Add interactive PID tuning
     app.add_js_file("pid-tune.js")
     app.add_css_file("pid-tune.css")
 
-    print("Done.")
-
     return {
         "parallel_read_safe": True,
         "parallel_write_safe": True,
diff --git a/source/_extensions/controls_js_sim/dynamic-shooting.js b/source/_extensions/controls_js_sim/dynamic-shooting.js
new file mode 100644
index 0000000000..6a18b68a30
--- /dev/null
+++ b/source/_extensions/controls_js_sim/dynamic-shooting.js
@@ -0,0 +1,361 @@
+class DynamicShootingWidget {
+  constructor(divIdPrefix) {
+    this.divIdPrefix = divIdPrefix;
+    
+    this.containerDiv = document.getElementById(divIdPrefix + "_container");
+    this.visualizationDrawDiv = document.getElementById(divIdPrefix + "_viz");
+    this.controlDrawDiv = document.getElementById(divIdPrefix + "_ctrls");
+    
+    if (!this.containerDiv || !this.visualizationDrawDiv || !this.controlDrawDiv) {
+      console.error('[DynamicShootingWidget] Missing required DOM elements!');
+      return;
+    }
+    
+    // Initialize visualization
+    this.visualization = new DynamicShootingVisualization(this.visualizationDrawDiv);
+    
+    // Default values
+    this.robotVelocityX = 0.0;
+    this.robotVelocityY = 0.0;
+    this.numIterations = 10;  // Number of iterations to compute and display
+    this.currentIteration = 1;  // Which iteration to highlight (simulation) / envelope N (fractal)
+    this.projectileSpeed = 3.5; // m/s
+    this.convergenceTolerance = 0.1; // meters
+    this.mode = "simulation";  // "simulation" | "fractal"
+    
+    // Set initial values on visualization
+    this.visualization.setNumIterations(this.numIterations);
+    this.visualization.setProjectileSpeed(this.projectileSpeed);
+    this.visualization.setConvergenceTolerance(this.convergenceTolerance);
+    
+    // Build control table
+    this.buildControlTable(divIdPrefix);
+    
+    // Make container square immediately
+    if (this.containerDiv) {
+      const width = this.containerDiv.offsetWidth || this.containerDiv.clientWidth;
+      if (width > 0) {
+        this.containerDiv.style.height = width + "px";
+      }
+    }
+    
+    // Initial update - synchronous
+    this.update();
+  }
+  
+  buildControlTable(divIdPrefix) {
+    this.controlDrawDiv.innerHTML = "";
+    this.controlDrawDiv.style.display = "flex";
+    this.controlDrawDiv.style.flexDirection = "column";
+    this.controlDrawDiv.style.alignItems = "center";
+    this.controlDrawDiv.style.gap = "6px";
+    this.controlDrawDiv.style.padding = "6px 5px";
+    this.controlDrawDiv.style.backgroundColor = "#f5f5f5";
+    this.controlDrawDiv.style.borderTop = "1px solid #ddd";
+    this.controlDrawDiv.style.width = "100%";
+    this.controlDrawDiv.style.flexShrink = "0";
+    this.controlDrawDiv.style.boxSizing = "border-box";
+    this.controlDrawDiv.style.position = "relative";
+    this.controlDrawDiv.style.zIndex = "10";
+
+    // Row 1: Mode toggle (Simulation, Fractal iterations, Fractal stability)
+    const row1 = document.createElement("div");
+    row1.style.cssText = "display: flex; align-items: center; justify-content: center; gap: 6px;";
+    const simBtn = document.createElement("button");
+    simBtn.innerHTML = "Simulation";
+    simBtn.setAttribute("id", divIdPrefix + "_mode_sim");
+    simBtn.style.cssText = "padding: 2px 10px; font-size: 12px; cursor: pointer;";
+    simBtn.onclick = function() { this.setMode("simulation"); }.bind(this);
+    row1.appendChild(simBtn);
+    const fractIterBtn = document.createElement("button");
+    fractIterBtn.innerHTML = "Fractal (Iterations)";
+    fractIterBtn.setAttribute("id", divIdPrefix + "_mode_fractal_iter");
+    fractIterBtn.style.cssText = "padding: 2px 10px; font-size: 12px; cursor: pointer;";
+    fractIterBtn.onclick = function() {
+      this.visualization.setFractalVariant("convergence");
+      this.setMode("fractal");
+      this.refreshModeButtons();
+    }.bind(this);
+    row1.appendChild(fractIterBtn);
+    const fractInterBtn = document.createElement("button");
+    fractInterBtn.innerHTML = "Fractal (Stability)";
+    fractInterBtn.setAttribute("id", divIdPrefix + "_mode_fractal_inter");
+    fractInterBtn.style.cssText = "padding: 2px 10px; font-size: 12px; cursor: pointer;";
+    fractInterBtn.onclick = function() {
+      this.visualization.setFractalVariant("stability");
+      this.setMode("fractal");
+      this.refreshModeButtons();
+    }.bind(this);
+    row1.appendChild(fractInterBtn);
+    this.modeSimBtn = simBtn;
+    this.modeFractalIterBtn = fractIterBtn;
+    this.modeFractalInterBtn = fractInterBtn;
+    this.controlDrawDiv.appendChild(row1);
+
+    // Row 2: Iterations, speed, tolerance (same controls in both modes)
+    const row2 = document.createElement("div");
+    row2.style.cssText = "display: flex; align-items: center; justify-content: center; flex-wrap: nowrap; gap: 6px; font-size: 12px;";
+    const controlBar = row2;
+
+    const iterationLabel = document.createElement("label");
+    iterationLabel.innerHTML = "Iterations:";
+    iterationLabel.style.cssText = "font-size: 12px; margin-right: 5px;";
+    controlBar.appendChild(iterationLabel);
+    const prevButton = document.createElement("button");
+    prevButton.innerHTML = "◀";
+    prevButton.style.cssText = "padding: 2px 8px; font-size: 12px; cursor: pointer;";
+    prevButton.onclick = function() {
+      if (this.currentIteration > 1) {
+        this.currentIteration--;
+        if (this.iterationInput) this.iterationInput.value = this.currentIteration;
+        this.update();
+      }
+    }.bind(this);
+    controlBar.appendChild(prevButton);
+    const input = document.createElement("INPUT");
+    input.setAttribute("type", "number");
+    input.setAttribute("min", "1");
+    input.setAttribute("max", this.numIterations.toString());
+    input.setAttribute("step", "1");
+    input.setAttribute("value", "1");
+    input.setAttribute("id", divIdPrefix + "_iteration");
+    input.style.cssText = "width: 50px; padding: 2px; font-size: 12px; text-align: center;";
+    this.iterationInput = input;
+    input.onchange = function (event) {
+      let val = parseInt(event.target.value);
+      if (isNaN(val) || val < 1) val = 1;
+      if (val > this.numIterations) val = this.numIterations;
+      this.currentIteration = val;
+      event.target.value = val;
+      this.update();
+    }.bind(this);
+    input.oninput = function (event) {
+      let val = parseInt(event.target.value);
+      if (!isNaN(val) && val >= 1 && val <= this.numIterations) {
+        this.currentIteration = val;
+        this.update();
+      }
+    }.bind(this);
+    controlBar.appendChild(input);
+    const nextButton = document.createElement("button");
+    nextButton.innerHTML = "▶";
+    nextButton.style.cssText = "padding: 2px 8px; font-size: 12px; cursor: pointer;";
+    nextButton.onclick = function() {
+      if (this.currentIteration < this.numIterations) {
+        this.currentIteration++;
+        if (this.iterationInput) this.iterationInput.value = this.currentIteration;
+        this.update();
+      }
+    }.bind(this);
+    controlBar.appendChild(nextButton);
+
+    this.refreshModeButtons = function() {
+      const mode = this.mode;
+      const variant = this.visualization.fractalVariant || "convergence";
+      this.modeSimBtn.style.fontWeight = mode === "simulation" ? "bold" : "normal";
+      this.modeFractalIterBtn.style.fontWeight = (mode === "fractal" && variant === "convergence") ? "bold" : "normal";
+      this.modeFractalInterBtn.style.fontWeight = (mode === "fractal" && variant === "stability") ? "bold" : "normal";
+    }.bind(this);
+
+    this.setMode = function(mode) {
+      this.mode = mode;
+      this.visualization.setMode(mode);
+      this.refreshModeButtons();
+      this.update();
+    }.bind(this);
+
+    // Add separator
+    const separator = document.createElement("span");
+    separator.innerHTML = "|";
+    separator.style.cssText = "margin: 0 10px; color: #999; font-size: 12px;";
+    controlBar.appendChild(separator);
+    
+    // Projectile speed label
+    const speedLabel = document.createElement("label");
+    speedLabel.innerHTML = "Projectile Speed (m/s):";
+    speedLabel.style.cssText = "font-size: 12px; margin-right: 5px;";
+    controlBar.appendChild(speedLabel);
+    
+    // Projectile speed slider
+    const speedSlider = document.createElement("INPUT");
+    speedSlider.setAttribute("type", "range");
+    speedSlider.setAttribute("min", "0.1");
+    speedSlider.setAttribute("max", "20.0");
+    speedSlider.setAttribute("step", "0.1");
+    speedSlider.setAttribute("value", this.projectileSpeed.toString());
+    speedSlider.setAttribute("id", divIdPrefix + "_projectile_speed");
+    speedSlider.style.cssText = "width: 100px; height: 20px; margin: 0 3px; cursor: pointer;";
+    
+    // Value display
+    const speedValueDisplay = document.createElement("span");
+    speedValueDisplay.innerHTML = this.projectileSpeed.toFixed(1);
+    speedValueDisplay.style.cssText = "font-size: 12px; min-width: 35px; text-align: center; display: inline-block;";
+    
+    // Store references
+    this.speedSlider = speedSlider;
+    this.speedValueDisplay = speedValueDisplay;
+    
+    speedSlider.oninput = function (event) {
+      let val = parseFloat(event.target.value);
+      if (!isNaN(val) && val >= 0.1 && val <= 20.0) {
+        this.projectileSpeed = val;
+        this.speedValueDisplay.innerHTML = val.toFixed(1);
+        this.update();
+      }
+    }.bind(this);
+    
+    speedSlider.onchange = function (event) {
+      let val = parseFloat(event.target.value);
+      if (isNaN(val) || val < 0.1) val = 0.1;
+      if (val > 20.0) val = 20.0;
+      this.projectileSpeed = val;
+      this.speedValueDisplay.innerHTML = val.toFixed(1);
+      this.update();
+    }.bind(this);
+    
+    controlBar.appendChild(speedSlider);
+    controlBar.appendChild(speedValueDisplay);
+    
+    // Add separator
+    const separator2 = document.createElement("span");
+    separator2.innerHTML = "|";
+    separator2.style.cssText = "margin: 0 10px; color: #999; font-size: 12px;";
+    controlBar.appendChild(separator2);
+    
+    // Tolerance label
+    const toleranceLabel = document.createElement("label");
+    toleranceLabel.innerHTML = "Tolerance (m):";
+    toleranceLabel.style.cssText = "font-size: 12px; margin-right: 5px;";
+    controlBar.appendChild(toleranceLabel);
+    
+    // Tolerance slider
+    const toleranceSlider = document.createElement("INPUT");
+    toleranceSlider.setAttribute("type", "range");
+    toleranceSlider.setAttribute("min", "0.01");
+    toleranceSlider.setAttribute("max", "1.0");
+    toleranceSlider.setAttribute("step", "0.01");
+    toleranceSlider.setAttribute("value", this.convergenceTolerance.toString());
+    toleranceSlider.setAttribute("id", divIdPrefix + "_tolerance");
+    toleranceSlider.style.cssText = "width: 100px; height: 20px; margin: 0 3px; cursor: pointer;";
+    
+    // Value display
+    const toleranceValueDisplay = document.createElement("span");
+    toleranceValueDisplay.innerHTML = this.convergenceTolerance.toFixed(2);
+    toleranceValueDisplay.style.cssText = "font-size: 12px; min-width: 40px; text-align: center; display: inline-block;";
+    
+    // Store references
+    this.toleranceSlider = toleranceSlider;
+    this.toleranceValueDisplay = toleranceValueDisplay;
+    
+    toleranceSlider.oninput = function (event) {
+      let val = parseFloat(event.target.value);
+      if (!isNaN(val) && val >= 0.01 && val <= 1.0) {
+        this.convergenceTolerance = val;
+        this.toleranceValueDisplay.innerHTML = val.toFixed(2);
+        this.update();
+      }
+    }.bind(this);
+    
+    toleranceSlider.onchange = function (event) {
+      let val = parseFloat(event.target.value);
+      if (isNaN(val) || val < 0.01) val = 0.01;
+      if (val > 1.0) val = 1.0;
+      this.convergenceTolerance = val;
+      this.toleranceValueDisplay.innerHTML = val.toFixed(2);
+      this.update();
+    }.bind(this);
+    
+    controlBar.appendChild(toleranceSlider);
+    controlBar.appendChild(toleranceValueDisplay);
+
+    this.controlDrawDiv.appendChild(row2);
+    
+    // Control bar is already in the right place (controlDrawDiv is in the flex-grid)
+    // Make sure the visualization div doesn't expand into the control area
+    if (this.visualizationDrawDiv.parentNode) {
+      // Ensure the parent flex-grid uses column layout if needed
+      const flexGrid = this.visualizationDrawDiv.parentNode;
+      if (flexGrid.classList && flexGrid.classList.contains('flex-grid')) {
+        // Make flex-grid use column layout to stack vertically
+        flexGrid.style.flexDirection = "column";
+        flexGrid.style.alignItems = "stretch"; // Stretch children to full width
+        flexGrid.style.height = "100%"; // Fill container height
+        flexGrid.style.width = "100%"; // Fill container width
+        flexGrid.style.margin = "0"; // Remove default margin
+        flexGrid.style.padding = "0"; // Remove padding
+        flexGrid.style.boxSizing = "border-box"; // Include borders in size
+        
+        // Override the .col class constraints - let it grow to fill available space
+        this.visualizationDrawDiv.style.minHeight = "0"; // Remove min-height constraint
+        this.visualizationDrawDiv.style.maxHeight = "none"; // Remove max-height constraint
+        this.visualizationDrawDiv.style.height = "auto"; // Let it grow
+        this.visualizationDrawDiv.style.flex = "1 1 auto"; // Grow to fill available space
+        this.visualizationDrawDiv.style.overflow = "hidden"; // Prevent overflow
+        this.visualizationDrawDiv.style.position = "relative"; // Ensure proper positioning
+        this.visualizationDrawDiv.style.order = "1"; // Ensure it appears before controls
+        this.visualizationDrawDiv.style.width = "100%"; // Full width
+        this.visualizationDrawDiv.style.boxSizing = "border-box"; // Include padding in size
+        
+        // Ensure control div is properly positioned
+        this.controlDrawDiv.style.flex = "0 0 auto"; // Don't grow/shrink
+        this.controlDrawDiv.style.order = "2"; // Ensure it appears after visualization
+      }
+    }
+    
+    // Make the container div square based on its width
+    // This ensures the bounding box is square and the visualization can fill it
+    if (this.containerDiv) {
+      this.containerDiv.style.overflow = "hidden"; // Prevent container overflow
+      this.containerDiv.style.width = "100%"; // Full width
+      
+      // Make container square: set height to match width
+      const makeSquare = () => {
+        const width = this.containerDiv.offsetWidth || this.containerDiv.clientWidth;
+        if (width > 0) {
+          this.containerDiv.style.height = width + "px";
+          if (this.visualization) {
+            this.visualization.updateSize();
+            this.update();
+          }
+        }
+      };
+      
+      // Update on resize
+      window.addEventListener("resize", makeSquare);
+    }
+    
+    // Set up velocity callback for drag-to-update
+    this.visualization.setVelocityCallback((velX, velY) => {
+      this.robotVelocityX = velX;
+      this.robotVelocityY = velY;
+      this.update();
+    });
+  }
+  
+  update() {
+    this.visualization.setRobotVelocity(this.robotVelocityX, this.robotVelocityY);
+    this.visualization.setCurrentIteration(this.currentIteration);
+    this.visualization.setNumIterations(this.numIterations);
+    this.visualization.setProjectileSpeed(this.projectileSpeed);
+    this.visualization.setConvergenceTolerance(this.convergenceTolerance);
+    this.visualization.update();
+    if (this.iterationInput) {
+      this.iterationInput.value = this.currentIteration;
+    }
+    // Sync speed slider and value display
+    if (this.speedSlider) {
+      this.speedSlider.value = this.projectileSpeed.toString();
+    }
+    if (this.speedValueDisplay) {
+      this.speedValueDisplay.innerHTML = this.projectileSpeed.toFixed(1);
+    }
+    
+    // Sync tolerance slider and value display
+    if (this.toleranceSlider) {
+      this.toleranceSlider.value = this.convergenceTolerance.toString();
+    }
+    if (this.toleranceValueDisplay) {
+      this.toleranceValueDisplay.innerHTML = this.convergenceTolerance.toFixed(2);
+    }
+  }
+}
diff --git a/source/_extensions/controls_js_sim/newton-shooting.js b/source/_extensions/controls_js_sim/newton-shooting.js
new file mode 100644
index 0000000000..41bc3ce58b
--- /dev/null
+++ b/source/_extensions/controls_js_sim/newton-shooting.js
@@ -0,0 +1,395 @@
+class NewtonShootingWidget {
+  constructor(divIdPrefix) {
+    this.divIdPrefix = divIdPrefix;
+
+    this.containerDiv = document.getElementById(divIdPrefix + "_container");
+    this.visualizationDrawDiv = document.getElementById(divIdPrefix + "_viz");
+    this.controlDrawDiv = document.getElementById(divIdPrefix + "_ctrls");
+
+    if (!this.containerDiv || !this.visualizationDrawDiv || !this.controlDrawDiv) {
+      console.error("[NewtonShootingWidget] Missing required DOM elements!");
+      return;
+    }
+
+    // Use the Newton-capable visualization
+    this.visualization = new NewtonShootingVisualization(this.visualizationDrawDiv);
+
+    // Default values
+    this.robotVelocityX = 0.0;
+    this.robotVelocityY = 0.0;
+    this.numIterations = 10;
+    this.currentIteration = 1;
+    this.projectileSpeed = 3.5;
+    this.convergenceTolerance = 0.1;
+    this.activeMode = "newton"; // "newton" | "fixed-point" | "simulation"
+
+    this.visualization.setNumIterations(this.numIterations);
+    this.visualization.setProjectileSpeed(this.projectileSpeed);
+    this.visualization.setConvergenceTolerance(this.convergenceTolerance);
+
+    this.buildControlTable(divIdPrefix);
+
+    if (this.containerDiv) {
+      var width = this.containerDiv.offsetWidth || this.containerDiv.clientWidth;
+      if (width > 0) {
+        this.containerDiv.style.height = width + "px";
+      }
+    }
+
+    this.update();
+  }
+
+  buildControlTable(divIdPrefix) {
+    this.controlDrawDiv.innerHTML = "";
+    this.controlDrawDiv.style.display = "flex";
+    this.controlDrawDiv.style.flexDirection = "column";
+    this.controlDrawDiv.style.alignItems = "center";
+    this.controlDrawDiv.style.gap = "6px";
+    this.controlDrawDiv.style.padding = "6px 5px";
+    this.controlDrawDiv.style.backgroundColor = "#f5f5f5";
+    this.controlDrawDiv.style.borderTop = "1px solid #ddd";
+    this.controlDrawDiv.style.width = "100%";
+    this.controlDrawDiv.style.flexShrink = "0";
+    this.controlDrawDiv.style.boxSizing = "border-box";
+    this.controlDrawDiv.style.position = "relative";
+    this.controlDrawDiv.style.zIndex = "10";
+
+    // ── Row 1: Mode toggle ──────────────────────────────────────────────────
+    var row1 = document.createElement("div");
+    row1.style.cssText =
+      "display: flex; align-items: center; justify-content: center; gap: 6px;";
+
+    var simNewtonBtn = document.createElement("button");
+    simNewtonBtn.innerHTML = "Simulation (Newton)";
+    simNewtonBtn.style.cssText =
+      "padding: 2px 10px; font-size: 12px; cursor: pointer;";
+    simNewtonBtn.onclick = function () {
+      this.setActiveMode("sim-newton");
+    }.bind(this);
+    row1.appendChild(simNewtonBtn);
+
+    var simFixedBtn = document.createElement("button");
+    simFixedBtn.innerHTML = "Simulation (Fixed-Point)";
+    simFixedBtn.style.cssText =
+      "padding: 2px 10px; font-size: 12px; cursor: pointer;";
+    simFixedBtn.onclick = function () {
+      this.setActiveMode("sim-fixed");
+    }.bind(this);
+    row1.appendChild(simFixedBtn);
+
+    var newtonBtn = document.createElement("button");
+    newtonBtn.innerHTML = "Fractal (Newton)";
+    newtonBtn.style.cssText =
+      "padding: 2px 10px; font-size: 12px; cursor: pointer;";
+    newtonBtn.onclick = function () {
+      this.setActiveMode("newton");
+    }.bind(this);
+    row1.appendChild(newtonBtn);
+
+    var fixedBtn = document.createElement("button");
+    fixedBtn.innerHTML = "Fractal (Fixed-Point)";
+    fixedBtn.style.cssText =
+      "padding: 2px 10px; font-size: 12px; cursor: pointer;";
+    fixedBtn.onclick = function () {
+      this.setActiveMode("fixed-point");
+    }.bind(this);
+    row1.appendChild(fixedBtn);
+
+    this.simNewtonBtn = simNewtonBtn;
+    this.simFixedBtn = simFixedBtn;
+    this.newtonBtn = newtonBtn;
+    this.fixedBtn = fixedBtn;
+    this.controlDrawDiv.appendChild(row1);
+
+    // ── Row 2: Iterations · Speed · Tolerance ───────────────────────────────
+    var row2 = document.createElement("div");
+    row2.style.cssText =
+      "display: flex; align-items: center; justify-content: center; flex-wrap: nowrap; gap: 6px; font-size: 12px;";
+    var controlBar = row2;
+
+    // Iteration controls
+    var iterationLabel = document.createElement("label");
+    iterationLabel.innerHTML = "Iterations:";
+    iterationLabel.style.cssText = "font-size: 12px; margin-right: 5px;";
+    controlBar.appendChild(iterationLabel);
+
+    var prevButton = document.createElement("button");
+    prevButton.innerHTML = "◀";
+    prevButton.style.cssText =
+      "padding: 2px 8px; font-size: 12px; cursor: pointer;";
+    prevButton.onclick = function () {
+      if (this.currentIteration > 1) {
+        this.currentIteration--;
+        if (this.iterationInput)
+          this.iterationInput.value = this.currentIteration;
+        this.update();
+      }
+    }.bind(this);
+    controlBar.appendChild(prevButton);
+
+    var input = document.createElement("INPUT");
+    input.setAttribute("type", "number");
+    input.setAttribute("min", "1");
+    input.setAttribute("max", this.numIterations.toString());
+    input.setAttribute("step", "1");
+    input.setAttribute("value", "1");
+    input.style.cssText =
+      "width: 50px; padding: 2px; font-size: 12px; text-align: center;";
+    this.iterationInput = input;
+    input.onchange = function (event) {
+      var val = parseInt(event.target.value);
+      if (isNaN(val) || val < 1) val = 1;
+      if (val > this.numIterations) val = this.numIterations;
+      this.currentIteration = val;
+      event.target.value = val;
+      this.update();
+    }.bind(this);
+    input.oninput = function (event) {
+      var val = parseInt(event.target.value);
+      if (!isNaN(val) && val >= 1 && val <= this.numIterations) {
+        this.currentIteration = val;
+        this.update();
+      }
+    }.bind(this);
+    controlBar.appendChild(input);
+
+    var nextButton = document.createElement("button");
+    nextButton.innerHTML = "▶";
+    nextButton.style.cssText =
+      "padding: 2px 8px; font-size: 12px; cursor: pointer;";
+    nextButton.onclick = function () {
+      if (this.currentIteration < this.numIterations) {
+        this.currentIteration++;
+        if (this.iterationInput)
+          this.iterationInput.value = this.currentIteration;
+        this.update();
+      }
+    }.bind(this);
+    controlBar.appendChild(nextButton);
+
+    // Separator
+    var separator = document.createElement("span");
+    separator.innerHTML = "|";
+    separator.style.cssText =
+      "margin: 0 10px; color: #999; font-size: 12px;";
+    controlBar.appendChild(separator);
+
+    // Projectile speed
+    var speedLabel = document.createElement("label");
+    speedLabel.innerHTML = "Projectile Speed (m/s):";
+    speedLabel.style.cssText = "font-size: 12px; margin-right: 5px;";
+    controlBar.appendChild(speedLabel);
+
+    var speedSlider = document.createElement("INPUT");
+    speedSlider.setAttribute("type", "range");
+    speedSlider.setAttribute("min", "0.1");
+    speedSlider.setAttribute("max", "20.0");
+    speedSlider.setAttribute("step", "0.1");
+    speedSlider.setAttribute("value", this.projectileSpeed.toString());
+    speedSlider.style.cssText =
+      "width: 100px; height: 20px; margin: 0 3px; cursor: pointer;";
+
+    var speedValueDisplay = document.createElement("span");
+    speedValueDisplay.innerHTML = this.projectileSpeed.toFixed(1);
+    speedValueDisplay.style.cssText =
+      "font-size: 12px; min-width: 35px; text-align: center; display: inline-block;";
+
+    this.speedSlider = speedSlider;
+    this.speedValueDisplay = speedValueDisplay;
+
+    speedSlider.oninput = function (event) {
+      var val = parseFloat(event.target.value);
+      if (!isNaN(val) && val >= 0.1 && val <= 20.0) {
+        this.projectileSpeed = val;
+        this.speedValueDisplay.innerHTML = val.toFixed(1);
+        this.update();
+      }
+    }.bind(this);
+    speedSlider.onchange = function (event) {
+      var val = parseFloat(event.target.value);
+      if (isNaN(val) || val < 0.1) val = 0.1;
+      if (val > 20.0) val = 20.0;
+      this.projectileSpeed = val;
+      this.speedValueDisplay.innerHTML = val.toFixed(1);
+      this.update();
+    }.bind(this);
+
+    controlBar.appendChild(speedSlider);
+    controlBar.appendChild(speedValueDisplay);
+
+    // Separator
+    var separator2 = document.createElement("span");
+    separator2.innerHTML = "|";
+    separator2.style.cssText =
+      "margin: 0 10px; color: #999; font-size: 12px;";
+    controlBar.appendChild(separator2);
+
+    // Tolerance
+    var toleranceLabel = document.createElement("label");
+    toleranceLabel.innerHTML = "Tolerance (m):";
+    toleranceLabel.style.cssText = "font-size: 12px; margin-right: 5px;";
+    controlBar.appendChild(toleranceLabel);
+
+    var toleranceSlider = document.createElement("INPUT");
+    toleranceSlider.setAttribute("type", "range");
+    toleranceSlider.setAttribute("min", "0.01");
+    toleranceSlider.setAttribute("max", "1.0");
+    toleranceSlider.setAttribute("step", "0.01");
+    toleranceSlider.setAttribute(
+      "value",
+      this.convergenceTolerance.toString()
+    );
+    toleranceSlider.style.cssText =
+      "width: 100px; height: 20px; margin: 0 3px; cursor: pointer;";
+
+    var toleranceValueDisplay = document.createElement("span");
+    toleranceValueDisplay.innerHTML = this.convergenceTolerance.toFixed(2);
+    toleranceValueDisplay.style.cssText =
+      "font-size: 12px; min-width: 40px; text-align: center; display: inline-block;";
+
+    this.toleranceSlider = toleranceSlider;
+    this.toleranceValueDisplay = toleranceValueDisplay;
+
+    toleranceSlider.oninput = function (event) {
+      var val = parseFloat(event.target.value);
+      if (!isNaN(val) && val >= 0.01 && val <= 1.0) {
+        this.convergenceTolerance = val;
+        this.toleranceValueDisplay.innerHTML = val.toFixed(2);
+        this.update();
+      }
+    }.bind(this);
+    toleranceSlider.onchange = function (event) {
+      var val = parseFloat(event.target.value);
+      if (isNaN(val) || val < 0.01) val = 0.01;
+      if (val > 1.0) val = 1.0;
+      this.convergenceTolerance = val;
+      this.toleranceValueDisplay.innerHTML = val.toFixed(2);
+      this.update();
+    }.bind(this);
+
+    controlBar.appendChild(toleranceSlider);
+    controlBar.appendChild(toleranceValueDisplay);
+
+    this.controlDrawDiv.appendChild(row2);
+
+    // ── Flex layout (same as DynamicShootingWidget) ─────────────────────────
+    if (this.visualizationDrawDiv.parentNode) {
+      var flexGrid = this.visualizationDrawDiv.parentNode;
+      if (flexGrid.classList && flexGrid.classList.contains("flex-grid")) {
+        flexGrid.style.flexDirection = "column";
+        flexGrid.style.alignItems = "stretch";
+        flexGrid.style.height = "100%";
+        flexGrid.style.width = "100%";
+        flexGrid.style.margin = "0";
+        flexGrid.style.padding = "0";
+        flexGrid.style.boxSizing = "border-box";
+
+        this.visualizationDrawDiv.style.minHeight = "0";
+        this.visualizationDrawDiv.style.maxHeight = "none";
+        this.visualizationDrawDiv.style.height = "auto";
+        this.visualizationDrawDiv.style.flex = "1 1 auto";
+        this.visualizationDrawDiv.style.overflow = "hidden";
+        this.visualizationDrawDiv.style.position = "relative";
+        this.visualizationDrawDiv.style.order = "1";
+        this.visualizationDrawDiv.style.width = "100%";
+        this.visualizationDrawDiv.style.boxSizing = "border-box";
+
+        this.controlDrawDiv.style.flex = "0 0 auto";
+        this.controlDrawDiv.style.order = "2";
+      }
+    }
+
+    // Make container square
+    if (this.containerDiv) {
+      this.containerDiv.style.overflow = "hidden";
+      this.containerDiv.style.width = "100%";
+
+      var self = this;
+      var makeSquare = function () {
+        var w =
+          self.containerDiv.offsetWidth || self.containerDiv.clientWidth;
+        if (w > 0) {
+          self.containerDiv.style.height = w + "px";
+          if (self.visualization) {
+            self.visualization.updateSize();
+            self.update();
+          }
+        }
+      };
+
+      window.addEventListener("resize", makeSquare);
+    }
+
+    // Velocity callback for simulation-mode dragging
+    this.visualization.setVelocityCallback(
+      function (velX, velY) {
+        this.robotVelocityX = velX;
+        this.robotVelocityY = velY;
+        this.update();
+      }.bind(this)
+    );
+
+    // Set initial mode (matches first button)
+    this.setActiveMode("sim-newton");
+  }
+
+  setActiveMode(mode) {
+    this.activeMode = mode;
+
+    // Update button styles
+    this.simNewtonBtn.style.fontWeight =
+      mode === "sim-newton" ? "bold" : "normal";
+    this.simFixedBtn.style.fontWeight =
+      mode === "sim-fixed" ? "bold" : "normal";
+    this.newtonBtn.style.fontWeight = mode === "newton" ? "bold" : "normal";
+    this.fixedBtn.style.fontWeight =
+      mode === "fixed-point" ? "bold" : "normal";
+
+    // Update visualization mode and solver method
+    if (mode === "newton") {
+      this.visualization.setSolverMethod("newton");
+      this.visualization.setMode("fractal");
+    } else if (mode === "fixed-point") {
+      this.visualization.setSolverMethod("fixed-point");
+      this.visualization.setMode("fractal");
+    } else if (mode === "sim-fixed") {
+      this.visualization.setSolverMethod("fixed-point");
+      this.visualization.setMode("simulation");
+    } else {
+      // sim-newton (default)
+      this.visualization.setSolverMethod("newton");
+      this.visualization.setMode("simulation");
+    }
+
+    this.update();
+  }
+
+  update() {
+    this.visualization.setRobotVelocity(
+      this.robotVelocityX,
+      this.robotVelocityY
+    );
+    this.visualization.setCurrentIteration(this.currentIteration);
+    this.visualization.setNumIterations(this.numIterations);
+    this.visualization.setProjectileSpeed(this.projectileSpeed);
+    this.visualization.setConvergenceTolerance(this.convergenceTolerance);
+    this.visualization.update();
+
+    if (this.iterationInput) {
+      this.iterationInput.value = this.currentIteration;
+    }
+    if (this.speedSlider) {
+      this.speedSlider.value = this.projectileSpeed.toString();
+    }
+    if (this.speedValueDisplay) {
+      this.speedValueDisplay.innerHTML = this.projectileSpeed.toFixed(1);
+    }
+    if (this.toleranceSlider) {
+      this.toleranceSlider.value = this.convergenceTolerance.toString();
+    }
+    if (this.toleranceValueDisplay) {
+      this.toleranceValueDisplay.innerHTML =
+        this.convergenceTolerance.toFixed(2);
+    }
+  }
+}
diff --git a/source/_extensions/controls_js_sim/visualization/dynamic-shooting-visualization.js b/source/_extensions/controls_js_sim/visualization/dynamic-shooting-visualization.js
new file mode 100644
index 0000000000..66921f2f13
--- /dev/null
+++ b/source/_extensions/controls_js_sim/visualization/dynamic-shooting-visualization.js
@@ -0,0 +1,1516 @@
+// Unified coordinate conversion system
+class CoordinateConverter {
+  constructor(canvasWidth, canvasHeight, fieldWidth, fieldHeight) {
+    this.updateDimensions(canvasWidth, canvasHeight, fieldWidth, fieldHeight);
+  }
+  
+  updateDimensions(canvasWidth, canvasHeight, fieldWidth, fieldHeight) {
+    this.canvasWidth = canvasWidth;
+    this.canvasHeight = canvasHeight;
+    this.fieldWidth = fieldWidth;
+    this.fieldHeight = fieldHeight;
+    
+    // Calculate scale to fit field in canvas (maintains aspect ratio)
+    this.scale = Math.min(
+      this.canvasWidth / this.fieldWidth,
+      this.canvasHeight / this.fieldHeight
+    );
+    
+    // Calculate center of canvas
+    this.centerX = this.canvasWidth / 2;
+    this.centerY = this.canvasHeight / 2;
+    
+    // Field center in world coordinates
+    this.fieldCenterX = this.fieldWidth / 2;
+    this.fieldCenterY = this.fieldHeight / 2;
+  }
+  
+  // Convert world coordinates (meters) to canvas coordinates (pixels)
+  worldToCanvas(worldX, worldY) {
+    const canvasX = this.centerX + (worldX - this.fieldCenterX) * this.scale;
+    const canvasY = this.centerY - (worldY - this.fieldCenterY) * this.scale; // Flip Y axis
+    return { x: canvasX, y: canvasY };
+  }
+  
+  // Convert canvas coordinates (pixels) to world coordinates (meters)
+  canvasToWorld(canvasX, canvasY) {
+    const worldX = this.fieldCenterX + (canvasX - this.centerX) / this.scale;
+    const worldY = this.fieldCenterY - (canvasY - this.centerY) / this.scale; // Flip Y axis
+    return { x: worldX, y: worldY };
+  }
+  
+  // Convert world distance (meters) to canvas distance (pixels)
+  worldDistanceToPixels(worldDistance) {
+    return worldDistance * this.scale;
+  }
+  
+  // Convert canvas distance (pixels) to world distance (meters)
+  pixelsToWorldDistance(pixelDistance) {
+    return pixelDistance / this.scale;
+  }
+  
+  // Get the current scale factor
+  getScale() {
+    return this.scale;
+  }
+}
+
+// Drawing utilities for common operations
+class DrawingUtils {
+  // Draw a label with perpendicular offset from a line
+  static drawLabelAlongVector(ctx, startX, startY, endX, endY, text, 
+                              positionAlongVector = 0.5, perpendicularOffset = 20, 
+                              fontSize = "10px", fontFamily = "Arial", color = "#000000") {
+    const dx = endX - startX;
+    const dy = endY - startY;
+    const len = Math.sqrt(dx * dx + dy * dy);
+    
+    if (len === 0) return;
+    
+    // Calculate position along vector
+    const clampedPosition = Math.min(1.0, Math.max(0.0, positionAlongVector));
+    const labelX = startX + dx * clampedPosition;
+    const labelY = startY + dy * clampedPosition;
+    
+    // Calculate perpendicular offset
+    const perpX = -dy / len * perpendicularOffset;
+    const perpY = dx / len * perpendicularOffset;
+    
+    // Draw text
+    ctx.save();
+    ctx.fillStyle = color;
+    ctx.font = `${fontSize} ${fontFamily}`;
+    ctx.textAlign = "center";
+    ctx.fillText(text, labelX + perpX, labelY + perpY);
+    ctx.restore();
+  }
+  
+  // Draw a circle with optional label
+  static drawCircle(ctx, centerX, centerY, radius, fillColor = null, 
+                    strokeColor = "#000000", lineWidth = 2, label = null, labelOffset = 25) {
+    ctx.save();
+    
+    if (fillColor) {
+      ctx.fillStyle = fillColor;
+      ctx.beginPath();
+      ctx.arc(centerX, centerY, radius, 0, 2 * Math.PI);
+      ctx.fill();
+    }
+    
+    ctx.strokeStyle = strokeColor;
+    ctx.lineWidth = lineWidth;
+    ctx.beginPath();
+    ctx.arc(centerX, centerY, radius, 0, 2 * Math.PI);
+    ctx.stroke();
+    
+    if (label) {
+      ctx.fillStyle = strokeColor;
+      ctx.font = "10px Arial";
+      ctx.textAlign = "center";
+      ctx.fillText(label, centerX, centerY - labelOffset);
+    }
+    
+    ctx.restore();
+  }
+  
+  // Draw a line with optional arrowhead
+  static drawLine(ctx, startX, startY, endX, endY, color = "#000000", 
+                  lineWidth = 2, arrowhead = false, arrowheadLength = 10) {
+    ctx.save();
+    ctx.strokeStyle = color;
+    ctx.lineWidth = lineWidth;
+    ctx.beginPath();
+    ctx.moveTo(startX, startY);
+    ctx.lineTo(endX, endY);
+    ctx.stroke();
+    
+    if (arrowhead) {
+      const angle = Math.atan2(endY - startY, endX - startX);
+      ctx.beginPath();
+      ctx.moveTo(endX, endY);
+      ctx.lineTo(endX - arrowheadLength * Math.cos(angle - Math.PI/7),
+                 endY - arrowheadLength * Math.sin(angle - Math.PI/7));
+      ctx.lineTo(endX - arrowheadLength * Math.cos(angle + Math.PI/7),
+                 endY - arrowheadLength * Math.sin(angle + Math.PI/7));
+      ctx.lineTo(endX, endY);
+      ctx.lineTo(endX - arrowheadLength * Math.cos(angle - Math.PI/7),
+                 endY - arrowheadLength * Math.sin(angle - Math.PI/7));
+      ctx.stroke();
+    }
+    
+    ctx.restore();
+  }
+  
+  // Calculate iteration-based alpha (fade for previous iterations)
+  static getIterationAlpha(iterationIndex, currentIterationIndex, baseAlpha = 1.0, fadeFactor = 0.5) {
+    if (iterationIndex === currentIterationIndex) {
+      return baseAlpha;
+    }
+    const iterationsBack = currentIterationIndex - iterationIndex;
+    return baseAlpha * Math.pow(fadeFactor, iterationsBack);
+  }
+  
+  // Calculate iteration-based scale (shrinks for previous iterations)
+  static getIterationScale(iterationIndex, baseScale = 1.0, shrinkFactor = 0.7) {
+    return baseScale * Math.pow(shrinkFactor, iterationIndex);
+  }
+}
+
+class DynamicShootingVisualization extends BaseVisualization {
+  constructor(div_in) {
+    super(div_in);
+    
+    // Field dimensions (in meters, for top-down view)
+    this.fieldWidth = 15.0;  // meters
+    this.fieldHeight = 15.0; // meters
+    
+    // Initialize coordinate converter (will be updated in updateSize)
+    this.coords = new CoordinateConverter(600, 600, this.fieldWidth, this.fieldHeight);
+    
+    // Robot and target positions (in meters)
+    // In top-down view: x is horizontal (left-right), y is vertical (forward-backward)
+    // Centered in 15m x 15m field
+    this.robotPos = { x: 7.5, y: 4.0 };
+    this.targetPos = { x: 7.5, y: 11.0 };  // Vertically offset (y-direction in top-down view)
+    
+    // Robot velocity (horizontal, can be positive or negative)
+    this.robotVelocity = { x: 0.0, y: 0.0 };
+    
+    // Iteration data
+    this.currentIteration = 1;  // Which iteration to highlight/display (1 to numIterations)
+    this.numIterations = 10;  // Number of iterations to compute and display
+    this.iterations = [];  // Array of iteration data
+    
+    // Projectile speed for TOF calculation
+    this.projectileSpeed = 3.5; // m/s
+    
+    // Region of convergence data
+    // Stored as polar function: angle (degrees) -> max velocity (m/s) before convergence fails
+    // Recomputed whenever currentIteration or projectileSpeed changes
+    this.regionOfConvergence = null; // Array of {angle: degrees, maxVelocity: m/s}
+    
+    // Target/goal size for tolerance calculation
+    // Target is drawn with 30 pixel radius. We'll calculate the actual world size
+    // based on the canvas scale, but we need to wait until canvas is sized.
+    // For now, use a conservative estimate that will be updated in updateSize()
+    this.targetPixelRadius = 30; // pixels
+    this.targetRadius = null; // Will be calculated in world coordinates
+    this.convergenceTolerance = 0.1; // Default tolerance in meters (user-configurable)
+    
+    // Drag state for velocity vector
+    this.draggingVelocity = false;
+    this.velocityCallback = null; // Callback to update velocity in widget
+
+    // Mode: "simulation" (interactive velocity + shot) or "fractal" (heatmap + geodesic + envelope only)
+    this.mode = "simulation";
+    // Fractal/heatmap state (velocity-space view)
+    this.heatmapData = null;
+    this.fractalVariant = "convergence"; // "convergence" | "stability"
+    this.heatmapMaxVel = 20.0;
+    this.heatmapGrid = 200;
+    this.iterationCap = 1000;
+    this.heatmapVelocityScale = 1;
+    this.heatmapCenterX = 0;
+    this.heatmapCenterY = 0;
+    
+    // Add mouse event handlers for dragging velocity vector
+    this.animatedCanvas.addEventListener("mousedown", event => this.handleMouseDown(event));
+    this.animatedCanvas.addEventListener("mousemove", event => this.handleMouseMove(event));
+    this.animatedCanvas.addEventListener("mouseup", event => this.handleMouseUp(event));
+    
+    // Force initial size update and render
+    this.updateSize();
+    
+    // Compute region of convergence once at startup
+    this.computeRegionOfConvergence();
+  }
+  
+  setVelocityCallback(callback) {
+    this.velocityCallback = callback;
+  }
+
+  setMode(mode) {
+    if (this.mode === mode) return;
+    this.mode = mode;
+    if (this.mode === "fractal") {
+      this.computeRegionOfConvergence();
+      this.computeHeatmap();
+      this.drawStatic();
+      this.drawDynamic();
+    }
+  }
+
+  setFractalVariant(variant) {
+    if (this.fractalVariant === variant) return;
+    this.fractalVariant = variant;
+    if (this.mode === "fractal") {
+      this.scheduleFractalUpdate();
+    }
+  }
+
+  // Same scale as simulation: velocity space centered at robot, using reference TOF * field scale
+  velocityToCanvas(vx, vy) {
+    const robotCanvas = this.coords.worldToCanvas(this.robotPos.x, this.robotPos.y);
+    const velScale = this.getReferenceTOF() * this.coords.getScale();
+    return {
+      x: robotCanvas.x + vx * velScale,
+      y: robotCanvas.y - vy * velScale
+    };
+  }
+
+  // Dark green (few iterations) → white (many iterations / cap), logarithmic scaling
+  static iterationToColor(k, cap) {
+    if (k < 0) return null; // outside reachability: caller should use background
+    if (cap <= 1) return "rgb(0, 68, 27)";
+    const t = Math.log(Math.max(1, k)) / Math.log(cap); // 0 = 1 iteration, 1 = cap iterations
+    const r = Math.round(0 + t * 255);
+    const g = Math.round(68 + t * 187);
+    const b = Math.round(27 + t * 228);
+    return "rgb(" + r + "," + g + "," + b + ")";
+  }
+
+  // Orange heatmap: 0 (good, geodesic) → 1 (bad). value in [0, 1] or NaN for outside reachability.
+  static interactionToColor(value) {
+    if (value !== value || value < 0) return null; // NaN or outside reachability
+    const t = Math.max(0, Math.min(1, value));
+    const r = Math.round(140 + t * 115);
+    const g = Math.round(70 + t * 85);
+    const b = Math.round(0 + t * 50);
+    return "rgb(" + r + "," + g + "," + b + ")";
+  }
+
+  // Compute the visible velocity bounds from the canvas geometry
+  getVisibleVelocityBounds() {
+    const robotCanvas = this.coords.worldToCanvas(this.robotPos.x, this.robotPos.y);
+    const velScale = this.getReferenceTOF() * this.coords.getScale();
+    if (velScale <= 0) return { vxMin: -10, vxMax: 10, vyMin: -10, vyMax: 10 };
+    const vxMin = -(robotCanvas.x) / velScale;
+    const vxMax = (this.width - robotCanvas.x) / velScale;
+    const vyMin = -(this.height - robotCanvas.y) / velScale;
+    const vyMax = (robotCanvas.y) / velScale;
+    return { vxMin, vxMax, vyMin, vyMax };
+  }
+
+  computeHeatmap() {
+    if (!this.robotPos || !this.targetPos) return;
+    this.computeReachabilityBoundary();
+    const cap = this.iterationCap;
+    const n = this.heatmapGrid;
+    const bounds = this.getVisibleVelocityBounds();
+    this.heatmapBounds = bounds;
+    const stepX = (bounds.vxMax - bounds.vxMin) / n;
+    const stepY = (bounds.vyMax - bounds.vyMin) / n;
+    const data = [];
+    const variant = this.fractalVariant || "convergence";
+    for (let j = 0; j < n; j++) {
+      const row = [];
+      for (let i = 0; i < n; i++) {
+        const vx = bounds.vxMin + (i + 0.5) * stepX;
+        const vy = bounds.vyMax - (j + 0.5) * stepY;
+        if (!this.isInsideReachability(vx, vy)) {
+          row.push(variant === "stability" ? NaN : -1);
+          continue;
+        }
+        const vel = { x: vx, y: vy };
+        if (variant === "stability") {
+          const phi = this.getInteractionIndicator(vel);
+          row.push(phi);
+        } else {
+          const k = this.getIterationsToConvergence(vel, cap);
+          row.push(k);
+        }
+      }
+      data.push(row);
+    }
+    this.heatmapData = data;
+  }
+  
+  getCursorPosition(event) {
+    const rect = this.animatedCanvas.getBoundingClientRect();
+    const x = event.clientX - rect.left;
+    const y = event.clientY - rect.top;
+    return { x, y };
+  }
+  
+  // Fixed reference projectile speed for velocity vector visual scaling
+  // The velocity vector should maintain a constant visual representation
+  static REFERENCE_PROJECTILE_SPEED = 3.5; // m/s
+  
+  // Get reference TOF for velocity vector scaling (using fixed reference speed)
+  // This keeps the velocity vector's visual representation constant
+  getReferenceTOF() {
+    if (!this.robotPos || !this.targetPos) {
+      return 1.0; // Fallback if positions not initialized
+    }
+    const dx = this.targetPos.x - this.robotPos.x;
+    const dy = this.targetPos.y - this.robotPos.y;
+    const distanceToTarget = Math.sqrt(dx * dx + dy * dy);
+    return distanceToTarget / DynamicShootingVisualization.REFERENCE_PROJECTILE_SPEED;
+  }
+  
+  // Get actual TOF using current projectile speed (for calculations, not visual scaling)
+  getActualTOF() {
+    if (!this.robotPos || !this.targetPos) {
+      return 1.0; // Fallback if positions not initialized
+    }
+    const dx = this.targetPos.x - this.robotPos.x;
+    const dy = this.targetPos.y - this.robotPos.y;
+    const distanceToTarget = Math.sqrt(dx * dx + dy * dy);
+    return distanceToTarget / this.projectileSpeed;
+  }
+  
+  // Calculate velocity vector endpoint in canvas coordinates
+  // Uses reference TOF to keep visual representation constant
+  getVelocityVectorEndpoint(robotCanvasPos) {
+    const velScale = this.getReferenceTOF(); // Use fixed reference, not actual projectile speed
+    const scale = this.coords.getScale();
+    return {
+      x: robotCanvasPos.x + this.robotVelocity.x * velScale * scale,
+      y: robotCanvasPos.y - this.robotVelocity.y * velScale * scale // Flip Y
+    };
+  }
+  
+  isNearVelocityTip(mouseLocation) {
+    if (!this.robotPos || !this.targetPos) {
+      return false;
+    }
+    const robotCanvas = this.coords.worldToCanvas(this.robotPos.x, this.robotPos.y);
+    const velEnd = this.getVelocityVectorEndpoint(robotCanvas);
+    
+    const dx = mouseLocation.x - velEnd.x;
+    const dy = mouseLocation.y - velEnd.y;
+    const dist = Math.sqrt(dx * dx + dy * dy);
+    
+    return dist < 20; // 20 pixel tolerance
+  }
+  
+  handleMouseDown(event) {
+    event.preventDefault();
+    event.stopPropagation();
+    
+    const clickLocation = this.getCursorPosition(event);
+    
+    if (this.isNearVelocityTip(clickLocation)) {
+      this.draggingVelocity = true;
+    }
+  }
+  
+  handleMouseMove(event) {
+    event.preventDefault();
+    event.stopPropagation();
+    
+    if (this.draggingVelocity) {
+      if (!this.robotPos || !this.targetPos) {
+        return; // Not initialized yet
+      }
+      const mouseLocation = this.getCursorPosition(event);
+      const robotCanvas = this.coords.worldToCanvas(this.robotPos.x, this.robotPos.y);
+      
+      // Calculate vector from robot to mouse in canvas coordinates
+      const dx = mouseLocation.x - robotCanvas.x;
+      const dy = -(mouseLocation.y - robotCanvas.y); // Flip Y
+      
+      // Calculate length in canvas coordinates
+      const canvasLength = Math.sqrt(dx * dx + dy * dy);
+      
+      if (canvasLength > 0) {
+        // Get the direction from the mouse position
+        const normalizedDx = dx / canvasLength;
+        const normalizedDy = dy / canvasLength;
+        
+        // Convert canvas length to world coordinates
+        const worldLength = this.coords.pixelsToWorldDistance(canvasLength);
+        
+        // We want the velocity vector to represent displacement over reference TOF
+        // displacement = referenceTOF * |velocity|, so |velocity| = displacement / referenceTOF
+        // Use reference TOF so the visual representation stays consistent
+        const referenceTOF = this.getReferenceTOF();
+        const velMag = worldLength / Math.max(referenceTOF, 0.1); // Avoid division by zero
+        
+        // Set velocity with correct direction and magnitude
+        const worldVel = {
+          x: normalizedDx * velMag,
+          y: normalizedDy * velMag
+        };
+        
+        // Update velocity
+        this.robotVelocity = worldVel;
+        
+        // Notify widget to update
+        if (this.velocityCallback) {
+          this.velocityCallback(worldVel.x, worldVel.y);
+        }
+        
+        this.update();
+      }
+    }
+  }
+  
+  handleMouseUp(event) {
+    event.preventDefault();
+    event.stopPropagation();
+    
+    this.draggingVelocity = false;
+  }
+  
+  // Calculate time-of-flight directly from distance and projectile speed
+  calculateTOF(relativePos) {
+    // Extract x and y from relativePos (it uses x/y, not dx/dy)
+    const dx = relativePos.x !== undefined ? relativePos.x : (relativePos.dx !== undefined ? relativePos.dx : 0);
+    const dy = relativePos.y !== undefined ? relativePos.y : (relativePos.dy !== undefined ? relativePos.dy : 0);
+    
+    // Validate inputs
+    if (isNaN(dx) || isNaN(dy)) {
+      console.error('[DynamicShooting] Invalid input to calculateTOF:', { relativePos, dx, dy });
+      return 1.0;
+    }
+    
+    // Calculate distance
+    const distance = Math.sqrt(dx * dx + dy * dy);
+    
+    // Calculate TOF: distance / projectile speed
+    const tof = distance / this.projectileSpeed;
+    
+    if (isNaN(tof) || !isFinite(tof)) {
+      console.error('[DynamicShooting] Invalid TOF result!', { distance, projectileSpeed: this.projectileSpeed });
+      return 1.0; // Fallback
+    }
+    
+    return tof;
+  }
+  
+  // Run the dynamic shooting recursion algorithm iterations
+  // Returns an array of iteration data objects.
+  // When allowEarlyTermination is false, never break on convergence (used for stability heatmap).
+  runIterations(robotVel, maxIter, allowEarlyTermination = true) {
+    const iterations = [];
+    
+    // Guard against uninitialized positions
+    if (!this.robotPos || !this.targetPos) {
+      return iterations;
+    }
+    
+    // Calculate initial relative position (target relative to robot)
+    const initialRelativePos = {
+      x: this.targetPos.x - this.robotPos.x,
+      y: this.targetPos.y - this.robotPos.y
+    };
+    
+    // Start with initial relative position
+    let currentRelativePos = { ...initialRelativePos };
+    let prevTOF = null;
+    
+    for (let iter = 0; iter < maxIter; iter++) {
+      // Step 1: Calculate tau_prev (previous iteration's TOF, or current on first iteration)
+      // On first iteration, we use the TOF from the current relative position
+      let tau_prev;
+      if (prevTOF !== null) {
+        tau_prev = prevTOF;
+      } else {
+        // First iteration: calculate TOF from current relative position
+        tau_prev = this.calculateTOF(currentRelativePos);
+      }
+      
+      // Step 2: Calculate virtual target offset using tau_prev
+      // The virtual target is offset opposite to the robot velocity direction
+      // Formula: offset = tau_prev * (-vel) = tau_prev * (-robotVel)
+      const virtualTargetOffset = {
+        x: tau_prev * (-robotVel.x),
+        y: tau_prev * (-robotVel.y)
+      };
+      
+      // Step 3: Calculate virtual target position
+      const virtualTargetPos = {
+        x: this.targetPos.x + virtualTargetOffset.x,
+        y: this.targetPos.y + virtualTargetOffset.y
+      };
+      
+      // Step 4: Calculate tau (new TOF) from the virtual target position relative to robot
+      const virtualTargetRelativePos = {
+        x: virtualTargetPos.x - this.robotPos.x,
+        y: virtualTargetPos.y - this.robotPos.y
+      };
+      const tau = this.calculateTOF(virtualTargetRelativePos);
+      
+      // Step 5: Calculate actual trajectory landing position
+      // The actual trajectory shows where the projectile lands when aiming at virtual target
+      // During flight time 'tau', the robot moves by robotVel * tau
+      // The projectile, in robot-relative coordinates, goes toward virtual target
+      // In world coordinates, the landing position accounts for robot movement:
+      //   actualLanding = virtualTargetPos + robotVel * tau
+      const actualTrajectoryEnd = {
+        x: virtualTargetPos.x + robotVel.x * tau,
+        y: virtualTargetPos.y + robotVel.y * tau
+      };
+      
+      // Store iteration data
+      iterations.push({
+        iteration: iter + 1,
+        relativePos: { ...currentRelativePos },
+        tau: tau,
+        virtualTargetPos: virtualTargetPos,
+        virtualTargetOffset: virtualTargetOffset,
+        actualTrajectoryEnd: actualTrajectoryEnd,
+        tau_prev: tau_prev
+      });
+      
+      if (prevTOF !== null) {
+        const step = Math.abs(tau - prevTOF);
+        if (allowEarlyTermination && step < 0.01) break;
+        if (!allowEarlyTermination && step <= 1e-12 * Math.max(1, Math.abs(tau))) break;
+      }
+      
+      // Update for next iteration: 
+      // The new relative position to look up is the virtual target position relative to robot
+      // This accounts for where the target will be when the projectile arrives
+      currentRelativePos = {
+        x: virtualTargetPos.x - this.robotPos.x,
+        y: virtualTargetPos.y - this.robotPos.y
+      };
+      
+      prevTOF = tau;
+    }
+    
+    return iterations;
+  }
+  
+  // Contraction factor |φ'| from the last two fixed-point steps after n iterations.
+  // Uses 1 + n (n = this.currentIteration) so the converged-shot trace aligns with the
+  // iteration control.
+  // Returns value in [0, 1] (0 = geodesic-like, 1 = bad). Used for stability heatmap.
+  getInteractionIndicator(robotVel) {
+    const maxIter = 1 + this.currentIteration;
+    const iterations = this.runIterations(robotVel, maxIter, false);
+    if (iterations.length < 2) return 1;
+    const last = iterations.length - 1;
+    const tauScale = Math.max(1, Math.abs(iterations[last].tau));
+    const step1 = iterations[last].tau - iterations[last - 1].tau;
+    const step0 = last >= 2
+      ? iterations[last - 1].tau - iterations[last - 2].tau
+      : iterations[0].tau - iterations[0].tau_prev;
+    if (Math.abs(step1) < 1e-12 * tauScale && last >= 2) {
+      const step0Prev = iterations[last - 2].tau - (last >= 3 ? iterations[last - 3].tau : iterations[last - 2].tau_prev);
+      if (Math.abs(step0Prev) >= 1e-12 * tauScale) {
+        const phiPrime = step0 / step0Prev;
+        return Math.min(1, Math.abs(phiPrime));
+      }
+    }
+    if (Math.abs(step0) < 1e-12 * tauScale) return 1;
+    const phiPrime = step1 / step0;
+    return Math.min(1, Math.abs(phiPrime));
+  }
+
+  // Returns the 1-based iteration count at which convergence is achieved (final landing within
+  // convergenceTolerance of target), or maxIter if never achieved within maxIter iterations.
+  getIterationsToConvergence(robotVel, maxIter) {
+    const iterations = this.runIterations(robotVel, maxIter);
+    for (let k = 0; k < iterations.length; k++) {
+      const iter = iterations[k];
+      const dx = iter.actualTrajectoryEnd.x - this.targetPos.x;
+      const dy = iter.actualTrajectoryEnd.y - this.targetPos.y;
+      if (Math.sqrt(dx * dx + dy * dy) <= this.convergenceTolerance) {
+        return k + 1;
+      }
+    }
+    return maxIter;
+  }
+
+  // Check if a velocity causes convergence failure
+  // Returns true if the algorithm fails to converge within tolerance
+  checkConvergenceFailure(robotVel, maxIter) {
+    // Guard against uninitialized positions
+    if (!this.robotPos || !this.targetPos) {
+      return true; // Consider it failed if positions not initialized
+    }
+    
+    // Run the iterations
+    const iterations = this.runIterations(robotVel, maxIter);
+    
+    // Check if we got any iterations
+    if (iterations.length === 0) {
+      return true; // No iterations, consider it failed
+    }
+    
+    // Check if final landing position is within tolerance of target
+    const finalIteration = iterations[iterations.length - 1];
+    const finalLanding = finalIteration.actualTrajectoryEnd;
+    
+    // Calculate distance from final landing to target
+    const dx = finalLanding.x - this.targetPos.x;
+    const dy = finalLanding.y - this.targetPos.y;
+    const distance = Math.sqrt(dx * dx + dy * dy);
+    
+    // Return true if distance exceeds tolerance (convergence failed)
+    return distance > this.convergenceTolerance;
+  }
+  
+  // Compute region of convergence by casting velocity rays.
+  // If maxIter is provided, use it; otherwise use this.currentIteration. Returns the region array
+  // when maxIter is provided (does not store); otherwise stores in this.regionOfConvergence.
+  // Does not test velocities outside the reachability cone (saves cycles).
+  computeRegionOfConvergence(maxIter) {
+    // Guard against uninitialized positions
+    if (!this.robotPos || !this.targetPos) {
+      return maxIter !== undefined ? [] : null;
+    }
+
+    // Ensure target radius is calculated (tolerance is user-configurable, not calculated)
+    if (this.targetRadius === null) {
+      this.targetRadius = this.coords.pixelsToWorldDistance(this.targetPixelRadius);
+    }
+
+    // Reachability first so we can cap each ray and avoid wasted convergence checks
+    this.computeReachabilityBoundary();
+    const reachability = this.reachabilityBoundary;
+
+    const limit = maxIter !== undefined ? maxIter : this.currentIteration;
+    const result = [];
+
+    // Cast rays at 1 degree intervals (360 rays total)
+    const numRays = 360;
+    const angleStep = 360 / numRays;
+
+    // Linear search parameters
+    const velocityStep = 0.05; // Step size in m/s
+    const maxVelocity = 20.0; // Maximum velocity to search (m/s)
+
+    for (let i = 0; i < numRays; i++) {
+      const angleDeg = i * angleStep;
+      const angleRad = (angleDeg * Math.PI) / 180;
+      const velCap = reachability && reachability[i] ? Math.min(maxVelocity, reachability[i].maxVelocity) : maxVelocity;
+
+      // Walk outward from zero until convergence fails or we leave the reachability cone
+      let minFailureVel = null;
+
+      for (let testVel = 0.0; testVel <= velCap; testVel += velocityStep) {
+        const testRobotVel = {
+          x: testVel * Math.cos(angleRad),
+          y: testVel * Math.sin(angleRad)
+        };
+        const fails = this.checkConvergenceFailure(testRobotVel, limit);
+        if (fails) {
+          minFailureVel = testVel;
+          break;
+        }
+      }
+
+      result.push({
+        angle: angleDeg,
+        maxVelocity: minFailureVel !== null ? minFailureVel : velCap
+      });
+    }
+
+    if (maxIter === undefined) {
+      this.regionOfConvergence = result;
+    }
+    return result;
+  }
+  
+  // True if (vx, vy) is inside the reachability cone (shot is geometrically possible).
+  isInsideReachability(vx, vy) {
+    if (!this.reachabilityBoundary || this.reachabilityBoundary.length === 0) return true;
+    const velMag = Math.sqrt(vx * vx + vy * vy);
+    let angleDeg = (Math.atan2(vy, vx) * 180 / Math.PI + 360) % 360;
+    const numRays = this.reachabilityBoundary.length;
+    const angleStep = 360 / numRays;
+    const idx = Math.round(angleDeg / angleStep) % numRays;
+    const maxVel = this.reachabilityBoundary[idx].maxVelocity;
+    return velMag <= maxVel;
+  }
+
+  // Compute the physical reachability boundary in velocity space (the "Mach cone").
+  // For each ray direction, the maximum robot speed that still admits a positive-TOF
+  // solution.  In the forward hemisphere (toward target): v_max = v_p / |sin(phi)|
+  // where phi is the angle off the target line.  In the rear hemisphere: v_max = v_p
+  // (subsonic speeds are always reachable).
+  computeReachabilityBoundary() {
+    if (!this.robotPos || !this.targetPos) return;
+    const dx = this.targetPos.x - this.robotPos.x;
+    const dy = this.targetPos.y - this.robotPos.y;
+    const targetDirection = Math.atan2(dy, dx);
+    const vp = this.projectileSpeed;
+    const maxVelocity = 20.0;
+    const numRays = 360;
+    const angleStep = 360 / numRays;
+    const result = [];
+    for (let i = 0; i < numRays; i++) {
+      const angleDeg = i * angleStep;
+      const angleRad = (angleDeg * Math.PI) / 180;
+      var phi = angleRad - targetDirection;
+      while (phi > Math.PI) phi -= 2 * Math.PI;
+      while (phi < -Math.PI) phi += 2 * Math.PI;
+      var maxVel;
+      if (Math.abs(phi) >= Math.PI / 2) {
+        maxVel = vp;
+      } else {
+        var sinPhi = Math.abs(Math.sin(phi));
+        if (sinPhi < 0.01) {
+          maxVel = maxVelocity;
+        } else {
+          maxVel = Math.min(vp / sinPhi, maxVelocity);
+        }
+      }
+      result.push({ angle: angleDeg, maxVelocity: maxVel });
+    }
+    this.reachabilityBoundary = result;
+  }
+
+  // Run the dynamic shooting recursion algorithm
+  runRecursion(robotVel, maxIter) {
+    this.iterations = this.runIterations(robotVel, maxIter);
+  }
+  
+  
+  drawStaticCustom() {
+    const ctx = this.staticCanvasContext;
+    if (this.mode === "fractal") {
+      this.drawStaticFractal(ctx);
+      return;
+    }
+    // Simulation: field background and grid
+    ctx.fillStyle = "#E8F5E9";
+    ctx.fillRect(0, 0, this.width, this.height);
+    ctx.strokeStyle = "#C8E6C9";
+    ctx.lineWidth = 1;
+    const scale = this.coords.getScale();
+    const centerX = this.coords.centerX;
+    const centerY = this.coords.centerY;
+    for (let i = 0; i <= 15; i++) {
+      const worldX = i * this.fieldWidth / 15;
+      const worldY = i * this.fieldHeight / 15;
+      const canvasX = centerX + (worldX - this.coords.fieldCenterX) * scale;
+      const canvasY = centerY - (worldY - this.coords.fieldCenterY) * scale;
+      ctx.beginPath();
+      ctx.moveTo(canvasX, 0);
+      ctx.lineTo(canvasX, this.height);
+      ctx.stroke();
+      ctx.beginPath();
+      ctx.moveTo(0, canvasY);
+      ctx.lineTo(this.width, canvasY);
+      ctx.stroke();
+    }
+  }
+
+  drawStaticFractal(ctx) {
+    const bg = "#E8F5E9";
+    ctx.fillStyle = bg;
+    ctx.fillRect(0, 0, this.width, this.height);
+    if (!this.heatmapData || !this.heatmapBounds) return;
+    const n = this.heatmapData.length;
+    const cellW = this.width / n;
+    const cellH = this.height / n;
+    const cap = this.iterationCap;
+    const variant = this.fractalVariant || "convergence";
+    for (let j = 0; j < n; j++) {
+      for (let i = 0; i < n; i++) {
+        const v = this.heatmapData[j][i];
+        const color = variant === "stability"
+          ? DynamicShootingVisualization.interactionToColor(v)
+          : DynamicShootingVisualization.iterationToColor(v, cap);
+        ctx.fillStyle = color != null ? color : bg;
+        ctx.fillRect(i * cellW, j * cellH, cellW + 1, cellH + 1);
+      }
+    }
+  }
+  
+  drawRobot(ctx) {
+    const robotCanvas = this.coords.worldToCanvas(this.robotPos.x, this.robotPos.y);
+    const robotSize = 30; // Half the side length of the square
+    
+    // Draw robot square
+    ctx.fillStyle = "#2E86AB";
+    ctx.fillRect(robotCanvas.x - robotSize, robotCanvas.y - robotSize, robotSize * 2, robotSize * 2);
+    ctx.strokeStyle = "#1A5F7A";
+    ctx.lineWidth = 2;
+    ctx.strokeRect(robotCanvas.x - robotSize, robotCanvas.y - robotSize, robotSize * 2, robotSize * 2);
+    
+    // Draw robot label (below the square)
+    ctx.fillStyle = "#000000";
+    ctx.font = "12px Arial";
+    ctx.textAlign = "center";
+    ctx.fillText("Robot", robotCanvas.x, robotCanvas.y + 40);
+    
+    return robotCanvas;
+  }
+  
+  drawVelocityVector(ctx, robotCanvas) {
+    const isZero = (this.robotVelocity.x === 0 && this.robotVelocity.y === 0);
+    const velEnd = this.getVelocityVectorEndpoint(robotCanvas);
+    
+    // Draw arrow only if velocity is non-zero
+    if (!isZero) {
+      drawArrow(ctx, robotCanvas.x, robotCanvas.y, velEnd.x, velEnd.y, 3, "#2E86AB");
+      
+      // Draw velocity magnitude and component labels
+      this.drawVelocityLabels(ctx, robotCanvas, velEnd);
+    } else {
+      // Draw draggable handle only when velocity is zero (for initial grabbing)
+      DrawingUtils.drawCircle(ctx, velEnd.x, velEnd.y, 8, "#2E86AB", "#1A5F7A", 2);
+    }
+    
+    return velEnd;
+  }
+  
+  drawVelocityLabels(ctx, robotCanvas, velEnd) {
+    const velMag = Math.sqrt(
+      this.robotVelocity.x * this.robotVelocity.x +
+      this.robotVelocity.y * this.robotVelocity.y
+    );
+    
+    // Add velocity magnitude label halfway along the vector
+    const midVel = {
+      x: (robotCanvas.x + velEnd.x) / 2,
+      y: (robotCanvas.y + velEnd.y) / 2
+    };
+    
+    DrawingUtils.drawLabelAlongVector(
+      ctx, robotCanvas.x, robotCanvas.y, velEnd.x, velEnd.y,
+      `|v| = ${velMag.toFixed(2)} m/s`,
+      0.5, 20, "10px", "Arial", "#2E86AB"
+    );
+    
+    // Label velocity vector components (offset from tip)
+    ctx.fillStyle = "#2E86AB";
+    ctx.font = "10px Arial";
+    ctx.textAlign = "left";
+    const labelOffset = 15;
+    ctx.fillText(
+      `v = (${this.robotVelocity.x.toFixed(2)}, ${this.robotVelocity.y.toFixed(2)})`,
+      velEnd.x + labelOffset,
+      velEnd.y - labelOffset
+    );
+  }
+  
+  drawTarget(ctx) {
+    const targetCanvas = this.coords.worldToCanvas(this.targetPos.x, this.targetPos.y);
+    DrawingUtils.drawCircle(ctx, targetCanvas.x, targetCanvas.y, 30, "#F18F01", "#4A90E2", 2, "Target", 40);
+    return targetCanvas;
+  }
+  
+  drawDynamicCustom() {
+    const ctx = this.animatedCanvasContext;
+    if (this.mode === "fractal") {
+      if (this.robotPos && this.targetPos) {
+        this.drawRobot(ctx);
+        this.drawTarget(ctx);
+      }
+      this.drawReachabilityBoundaryVelocitySpace(ctx);
+      this.drawGeodesicVelocitySpace(ctx);
+      this.drawEnvelopeVelocitySpace(ctx);
+      this.drawFractalLegend(ctx);
+      return;
+    }
+    if (!this.robotPos || !this.targetPos) return;
+    const robotCanvas = this.drawRobot(ctx);
+    this.drawVelocityVector(ctx, robotCanvas);
+    this.drawTarget(ctx);
+    this.drawReachabilityBoundary(ctx, robotCanvas);
+    this.drawRegionOfConvergence(ctx, robotCanvas);
+    this.drawGeodesic(ctx, robotCanvas);
+    this.drawIterations(ctx, robotCanvas);
+  }
+
+  drawGeodesicVelocitySpace(ctx) {
+    if (!this.robotPos || !this.targetPos) return;
+    ctx.save();
+    ctx.strokeStyle = "#9B59B6";
+    ctx.lineWidth = 2;
+    ctx.setLineDash([5, 5]);
+    const dx = this.targetPos.x - this.robotPos.x;
+    const dy = this.targetPos.y - this.robotPos.y;
+    const targetDirection = Math.atan2(dy, dx);
+    const vp = this.projectileSpeed;
+    const maxVelocity = this.heatmapMaxVel;
+    const asymptoteThreshold = 0.05;
+    const numPoints = 180;
+    const thetaRange = Math.PI / 2 - asymptoteThreshold;
+    const thetaStep = thetaRange / numPoints;
+    for (const sign of [-1, 1]) {
+      ctx.beginPath();
+      let first = true;
+      for (let i = 0; i <= numPoints; i++) {
+        const theta = sign * (asymptoteThreshold + i * thetaStep);
+        if (Math.abs(theta) >= Math.PI / 2 - asymptoteThreshold) continue;
+        const cotTheta = Math.cos(theta) / Math.sin(theta);
+        const vel = vp * cotTheta;
+        if (Math.abs(vel) > maxVelocity) {
+          if (!first) ctx.stroke();
+          ctx.beginPath();
+          first = true;
+          continue;
+        }
+        const angleRad = theta + targetDirection;
+        const vx = Math.abs(vel) * Math.cos(angleRad);
+        const vy = Math.abs(vel) * Math.sin(angleRad);
+        const pt = this.velocityToCanvas(vx, vy);
+        if (first) { ctx.moveTo(pt.x, pt.y); first = false; } else { ctx.lineTo(pt.x, pt.y); }
+      }
+      if (!first) ctx.stroke();
+    }
+    ctx.restore();
+  }
+
+  drawEnvelopeVelocitySpace(ctx) {
+    if (!this.regionOfConvergence || this.regionOfConvergence.length === 0) return;
+    ctx.save();
+    ctx.strokeStyle = "#2E86AB";
+    ctx.lineWidth = 2;
+    ctx.setLineDash([5, 5]);
+    ctx.beginPath();
+    let first = true;
+    for (let i = 0; i < this.regionOfConvergence.length; i++) {
+      const p = this.regionOfConvergence[i];
+      const angleRad = (p.angle * Math.PI) / 180;
+      const vx = p.maxVelocity * Math.cos(angleRad);
+      const vy = p.maxVelocity * Math.sin(angleRad);
+      const pt = this.velocityToCanvas(vx, vy);
+      if (first) { ctx.moveTo(pt.x, pt.y); first = false; } else { ctx.lineTo(pt.x, pt.y); }
+    }
+    const p0 = this.regionOfConvergence[0];
+    const a0 = (p0.angle * Math.PI) / 180;
+    const pt0 = this.velocityToCanvas(p0.maxVelocity * Math.cos(a0), p0.maxVelocity * Math.sin(a0));
+    ctx.lineTo(pt0.x, pt0.y);
+    ctx.stroke();
+    ctx.restore();
+  }
+
+  // Draw the physical reachability boundary (Mach cone) in simulation mode
+  drawReachabilityBoundary(ctx, robotCanvas) {
+    if (!this.reachabilityBoundary || this.reachabilityBoundary.length === 0) return;
+    ctx.save();
+    ctx.strokeStyle = "#2E86AB";
+    ctx.lineWidth = 2;
+    // Solid line (no dash) to distinguish from dashed convergence envelope
+    const velScale = this.getReferenceTOF();
+    const scale = this.coords.getScale();
+    ctx.beginPath();
+    let first = true;
+    for (let i = 0; i < this.reachabilityBoundary.length; i++) {
+      const p = this.reachabilityBoundary[i];
+      const angleRad = (p.angle * Math.PI) / 180;
+      const endX = robotCanvas.x + p.maxVelocity * Math.cos(angleRad) * velScale * scale;
+      const endY = robotCanvas.y - p.maxVelocity * Math.sin(angleRad) * velScale * scale;
+      if (first) { ctx.moveTo(endX, endY); first = false; } else { ctx.lineTo(endX, endY); }
+    }
+    const p0 = this.reachabilityBoundary[0];
+    const a0 = (p0.angle * Math.PI) / 180;
+    ctx.lineTo(
+      robotCanvas.x + p0.maxVelocity * Math.cos(a0) * velScale * scale,
+      robotCanvas.y - p0.maxVelocity * Math.sin(a0) * velScale * scale
+    );
+    ctx.stroke();
+    ctx.restore();
+  }
+
+  // Draw the physical reachability boundary in fractal/velocity-space mode
+  drawReachabilityBoundaryVelocitySpace(ctx) {
+    if (!this.reachabilityBoundary || this.reachabilityBoundary.length === 0) return;
+    ctx.save();
+    ctx.strokeStyle = "#2E86AB";
+    ctx.lineWidth = 2;
+    // Solid line (no dash)
+    ctx.beginPath();
+    let first = true;
+    for (let i = 0; i < this.reachabilityBoundary.length; i++) {
+      const p = this.reachabilityBoundary[i];
+      const angleRad = (p.angle * Math.PI) / 180;
+      const vx = p.maxVelocity * Math.cos(angleRad);
+      const vy = p.maxVelocity * Math.sin(angleRad);
+      const pt = this.velocityToCanvas(vx, vy);
+      if (first) { ctx.moveTo(pt.x, pt.y); first = false; } else { ctx.lineTo(pt.x, pt.y); }
+    }
+    const p0 = this.reachabilityBoundary[0];
+    const a0 = (p0.angle * Math.PI) / 180;
+    const pt0 = this.velocityToCanvas(p0.maxVelocity * Math.cos(a0), p0.maxVelocity * Math.sin(a0));
+    ctx.lineTo(pt0.x, pt0.y);
+    ctx.stroke();
+    ctx.restore();
+  }
+
+  drawFractalLegend(ctx) {
+    const variant = this.fractalVariant || "convergence";
+    const margin = 12;
+    const barWidth = 18;
+    const barHeight = 180;
+    const x0 = this.width - margin - barWidth - 36;
+    const y0 = margin + 36; // leave room for title above bar
+    ctx.save();
+    ctx.fillStyle = "#000";
+    ctx.font = "11px Arial";
+    ctx.textAlign = "right";
+    if (variant === "stability") {
+      ctx.fillStyle = "#1a1a1a";
+      ctx.font = "11px Arial";
+      ctx.fillText("0 good → 1 bad", x0 + barWidth, y0 - 12);
+      ctx.strokeStyle = "#333";
+      ctx.lineWidth = 1;
+      ctx.strokeRect(x0, y0, barWidth, barHeight);
+      const nSteps = 96;
+      for (let i = 0; i < nSteps; i++) {
+        const t = i / (nSteps - 1);
+        const c = DynamicShootingVisualization.interactionToColor(t);
+        if (c) {
+          ctx.fillStyle = c;
+          const sy = y0 + t * barHeight;
+          const sh = Math.ceil(barHeight / nSteps) + 1;
+          ctx.fillRect(x0, sy, barWidth, sh);
+        }
+      }
+      ctx.strokeStyle = "#000";
+      ctx.lineWidth = 1;
+      ctx.fillStyle = "#1a1a1a";
+      for (const tick of [0, 0.25, 0.5, 0.75, 1]) {
+        const ty = y0 + tick * barHeight;
+        ctx.beginPath();
+        ctx.moveTo(x0, ty);
+        ctx.lineTo(x0 - 4, ty);
+        ctx.stroke();
+        ctx.fillText(String(tick), x0 - 6, ty + 4);
+      }
+    } else {
+      const cap = this.iterationCap;
+      ctx.fillText("Iterations", x0 + barWidth, y0 - 24);
+      ctx.fillText("to converge", x0 + barWidth, y0 - 12);
+      ctx.strokeStyle = "#333";
+      ctx.lineWidth = 1;
+      ctx.strokeRect(x0, y0, barWidth, barHeight);
+      const nSteps = 96;
+      for (let i = 0; i < nSteps; i++) {
+        const t = i / (nSteps - 1);
+        const k = Math.pow(cap, t);
+        const c = DynamicShootingVisualization.iterationToColor(Math.round(Math.max(1, k)), cap);
+        if (c) {
+          ctx.fillStyle = c;
+          const sy = y0 + t * barHeight;
+          const sh = Math.ceil(barHeight / nSteps) + 1;
+          ctx.fillRect(x0, sy, barWidth, sh);
+        }
+      }
+      const ticks = [1, 2, 5, 10, 20, 50, 100, 200, 500, 1000].filter(v => v <= cap);
+      ctx.strokeStyle = "#000";
+      ctx.lineWidth = 1;
+      for (const tick of ticks) {
+        const t = Math.log(tick) / Math.log(cap);
+        const ty = y0 + t * barHeight;
+        ctx.beginPath();
+        ctx.moveTo(x0, ty);
+        ctx.lineTo(x0 - 4, ty);
+        ctx.stroke();
+        ctx.fillText(String(tick), x0 - 6, ty + 4);
+      }
+    }
+    ctx.restore();
+  }
+  
+  drawRegionOfConvergence(ctx, robotCanvas) {
+    if (!this.regionOfConvergence || this.regionOfConvergence.length === 0) {
+      return;
+    }
+    
+    ctx.save();
+    ctx.strokeStyle = "#2E86AB";
+    ctx.lineWidth = 2;
+    ctx.setLineDash([5, 5]);
+    
+    // Use reference TOF so region scales relative to the fixed velocity vector
+    const velScale = this.getReferenceTOF();
+    const scale = this.coords.getScale();
+    
+    ctx.beginPath();
+    let firstPoint = true;
+    
+    for (let i = 0; i < this.regionOfConvergence.length; i++) {
+      const point = this.regionOfConvergence[i];
+      const angleRad = (point.angle * Math.PI) / 180;
+      const vel = point.maxVelocity;
+      
+      // Calculate the endpoint of this velocity vector (scaled by TOF, same as robot velocity vector)
+      const endX = robotCanvas.x + vel * Math.cos(angleRad) * velScale * scale;
+      const endY = robotCanvas.y - vel * Math.sin(angleRad) * velScale * scale; // Flip Y
+      
+      if (firstPoint) {
+        ctx.moveTo(endX, endY);
+        firstPoint = false;
+      } else {
+        ctx.lineTo(endX, endY);
+      }
+    }
+    
+    // Close the path
+    if (this.regionOfConvergence.length > 0) {
+      const firstPoint = this.regionOfConvergence[0];
+      const angleRad = (firstPoint.angle * Math.PI) / 180;
+      const vel = firstPoint.maxVelocity;
+      const endX = robotCanvas.x + vel * Math.cos(angleRad) * velScale * scale;
+      const endY = robotCanvas.y - vel * Math.sin(angleRad) * velScale * scale;
+      ctx.lineTo(endX, endY);
+    }
+    
+    ctx.stroke();
+    ctx.restore();
+  }
+  
+  drawGeodesic(ctx, robotCanvas) {
+    if (!this.robotPos || !this.targetPos) {
+      return;
+    }
+    
+    ctx.save();
+    ctx.strokeStyle = "#9B59B6"; // Purple color to distinguish from convergence envelope
+    ctx.lineWidth = 2;
+    ctx.setLineDash([5, 5]);
+    
+    // Calculate direction from robot to target
+    const dx = this.targetPos.x - this.robotPos.x;
+    const dy = this.targetPos.y - this.robotPos.y;
+    const targetDirection = Math.atan2(dy, dx);
+    
+    // Use reference TOF so geodesic scales relative to the fixed velocity vector
+    const velScale = this.getReferenceTOF();
+    const scale = this.coords.getScale();
+    const maxVelocity = 20.0;
+    const asymptoteThreshold = 0.05;
+    const numPoints = 180;
+    const thetaRange = Math.PI / 2 - asymptoteThreshold;
+    const thetaStep = thetaRange / numPoints;
+    
+    // Draw left branch (negative theta: from -PI/2 to -threshold)
+    ctx.beginPath();
+    let firstPoint = true;
+    for (let i = numPoints; i >= 0; i--) {
+      const theta = -Math.PI / 2 + i * thetaStep;
+      if (theta > -asymptoteThreshold) continue;
+      
+      const cotTheta = Math.cos(theta) / Math.sin(theta);
+      const vel = this.projectileSpeed * cotTheta;
+      
+      if (Math.abs(vel) > maxVelocity) {
+        if (!firstPoint) {
+          ctx.stroke();
+          ctx.beginPath();
+          firstPoint = true;
+        }
+        continue;
+      }
+      
+      const angleRad = theta + targetDirection;
+      const velMag = Math.abs(vel);
+      const endX = robotCanvas.x + velMag * Math.cos(angleRad) * velScale * scale;
+      const endY = robotCanvas.y - velMag * Math.sin(angleRad) * velScale * scale;
+      
+      if (firstPoint) {
+        ctx.moveTo(endX, endY);
+        firstPoint = false;
+      } else {
+        ctx.lineTo(endX, endY);
+      }
+    }
+    if (!firstPoint) ctx.stroke();
+    
+    // Draw right branch (positive theta: from threshold to PI/2)
+    ctx.beginPath();
+    firstPoint = true;
+    for (let i = 0; i <= numPoints; i++) {
+      const theta = asymptoteThreshold + i * thetaStep;
+      const cotTheta = Math.cos(theta) / Math.sin(theta);
+      const vel = this.projectileSpeed * cotTheta;
+      
+      if (Math.abs(vel) > maxVelocity) {
+        if (!firstPoint) {
+          ctx.stroke();
+          ctx.beginPath();
+          firstPoint = true;
+        }
+        continue;
+      }
+      
+      const angleRad = theta + targetDirection;
+      const velMag = Math.abs(vel);
+      const endX = robotCanvas.x + velMag * Math.cos(angleRad) * velScale * scale;
+      const endY = robotCanvas.y - velMag * Math.sin(angleRad) * velScale * scale;
+      
+      if (firstPoint) {
+        ctx.moveTo(endX, endY);
+        firstPoint = false;
+      } else {
+        ctx.lineTo(endX, endY);
+      }
+    }
+    if (!firstPoint) ctx.stroke();
+    
+    ctx.restore();
+  }
+  
+  drawIterations(ctx, robotCanvas) {
+    const numIterationsToDraw = Math.min(this.currentIteration, this.iterations.length);
+    
+    for (let i = 0; i < numIterationsToDraw; i++) {
+      const iter = this.iterations[i];
+      
+      if (!iter || !iter.virtualTargetPos) {
+        continue;
+      }
+      
+      const isCurrentIteration = (i === numIterationsToDraw - 1);
+      const iterationIndex = i;
+      
+      // Calculate alpha for fading previous iterations
+      const alpha = DrawingUtils.getIterationAlpha(iterationIndex, numIterationsToDraw - 1);
+      ctx.globalAlpha = alpha;
+      
+      // Draw iteration elements
+      this.drawIteration(ctx, iter, iterationIndex, isCurrentIteration, robotCanvas);
+      
+      // Reset alpha
+      ctx.globalAlpha = 1.0;
+    }
+  }
+  
+  drawIteration(ctx, iter, iterationIndex, isCurrentIteration, robotCanvas) {
+    const virtualTargetCanvas = this.coords.worldToCanvas(
+      iter.virtualTargetPos.x,
+      iter.virtualTargetPos.y
+    );
+    
+    if (isNaN(virtualTargetCanvas.x) || isNaN(virtualTargetCanvas.y)) {
+      return;
+    }
+    
+    // Calculate iteration-based scale
+    const scaleFactor = DrawingUtils.getIterationScale(iterationIndex);
+    const baseRadius = 24;
+    const circleRadius = baseRadius * scaleFactor;
+    
+    // Draw virtual target circle
+    DrawingUtils.drawCircle(
+      ctx, virtualTargetCanvas.x, virtualTargetCanvas.y, circleRadius,
+      null, "#6A994E", 2,
+      isCurrentIteration ? "Virtual" : null, 25
+    );
+    
+    // Draw offset vector from target to virtual target
+    this.drawOffsetVector(ctx, iter, virtualTargetCanvas, iterationIndex);
+    
+    // Draw virtual trajectory
+    this.drawVirtualTrajectory(ctx, iter, virtualTargetCanvas, robotCanvas, iterationIndex);
+    
+    // Draw actual trajectory
+    this.drawActualTrajectory(ctx, iter, robotCanvas, iterationIndex, isCurrentIteration);
+  }
+  
+  drawOffsetVector(ctx, iter, virtualTargetCanvas, iterationIndex) {
+    const offsetStart = this.coords.worldToCanvas(this.targetPos.x, this.targetPos.y);
+    const offsetEnd = virtualTargetCanvas;
+    
+    const baseHeadLen = 10;
+    const headLenScale = DrawingUtils.getIterationScale(iterationIndex);
+    const scaledHeadLen = baseHeadLen * headLenScale;
+    
+    // Draw line with scaled arrowhead
+    DrawingUtils.drawLine(ctx, offsetStart.x, offsetStart.y, offsetEnd.x, offsetEnd.y,
+                         "#F18F01", 1.5, true, scaledHeadLen);
+    
+    // Label the offset magnitude
+    const offsetMagnitude = Math.sqrt(
+      iter.virtualTargetOffset.x * iter.virtualTargetOffset.x +
+      iter.virtualTargetOffset.y * iter.virtualTargetOffset.y
+    );
+    
+    const baseOffset = 0.15;
+    const radialOffset = iterationIndex * 0.085;
+    const positionAlongVector = Math.min(1.0, Math.max(0.0, baseOffset + radialOffset));
+    
+    DrawingUtils.drawLabelAlongVector(
+      ctx, offsetStart.x, offsetStart.y, offsetEnd.x, offsetEnd.y,
+      `${offsetMagnitude.toFixed(2)} m`,
+      positionAlongVector, 20, "9px", "Arial", "#F18F01"
+    );
+  }
+  
+  drawVirtualTrajectory(ctx, iter, virtualTargetCanvas, robotCanvas, iterationIndex) {
+    // Draw line from robot to virtual target
+    ctx.strokeStyle = "#6A994E";
+    ctx.lineWidth = 2.5;
+    ctx.beginPath();
+    ctx.moveTo(robotCanvas.x, robotCanvas.y);
+    ctx.lineTo(virtualTargetCanvas.x, virtualTargetCanvas.y);
+    ctx.stroke();
+    
+    // Label with TOF
+    const baseOffset = 0.15;
+    const radialOffset = iterationIndex * 0.085;
+    const positionAlongVector = Math.min(1.0, Math.max(0.0, baseOffset + radialOffset));
+    
+    DrawingUtils.drawLabelAlongVector(
+      ctx, robotCanvas.x, robotCanvas.y, virtualTargetCanvas.x, virtualTargetCanvas.y,
+      `TOF: ${iter.tau.toFixed(2)}s`,
+      positionAlongVector, 20, "10px", "Arial", "#6A994E"
+    );
+  }
+  
+  drawActualTrajectory(ctx, iter, robotCanvas, iterationIndex, isCurrentIteration) {
+    const actualEndCanvas = this.coords.worldToCanvas(
+      iter.actualTrajectoryEnd.x,
+      iter.actualTrajectoryEnd.y
+    );
+    
+    if (isNaN(actualEndCanvas.x) || isNaN(actualEndCanvas.y)) {
+      return;
+    }
+    
+    // Draw line from robot to actual end
+    ctx.strokeStyle = "#BC4749";
+    ctx.lineWidth = 2.5;
+    ctx.beginPath();
+    ctx.moveTo(robotCanvas.x, robotCanvas.y);
+    ctx.lineTo(actualEndCanvas.x, actualEndCanvas.y);
+    ctx.stroke();
+    
+    // Draw actual target circle
+    const scaleFactor = DrawingUtils.getIterationScale(iterationIndex);
+    const baseRadius = 24;
+    const circleRadius = baseRadius * scaleFactor;
+    
+    DrawingUtils.drawCircle(
+      ctx, actualEndCanvas.x, actualEndCanvas.y, circleRadius,
+      "#BC4749", "#8B2E2E", 2,
+      isCurrentIteration ? "Actual" : null, 25
+    );
+  }
+  
+  setRobotVelocity(velX, velY) {
+    this.robotVelocity = { x: velX, y: velY };
+  }
+  
+  setCurrentIteration(iter) {
+    if (this.currentIteration !== iter) {
+      this.currentIteration = iter;
+      if (this.mode === "fractal") {
+        this.scheduleFractalUpdate();
+      } else {
+        this.computeRegionOfConvergence();
+      }
+    }
+  }
+  
+  setNumIterations(numIter) {
+    this.numIterations = numIter;
+  }
+  
+  setProjectileSpeed(speed) {
+    if (this.projectileSpeed !== speed) {
+      this.projectileSpeed = speed;
+      if (this.mode === "fractal") {
+        this.scheduleFractalUpdate();
+      } else {
+        this.computeRegionOfConvergence();
+      }
+    }
+  }
+  
+  setConvergenceTolerance(tolerance) {
+    if (this.convergenceTolerance !== tolerance) {
+      this.convergenceTolerance = tolerance;
+      if (this.mode === "fractal") {
+        this.scheduleFractalUpdate();
+      } else {
+        this.computeRegionOfConvergence();
+      }
+    }
+  }
+  
+  updateSize() {
+    // Make plotting area fill the drawDiv completely
+    // drawDiv IS visualizationDrawDiv (passed to constructor)
+    // It should already be sized by the flex layout to fill available space (minus control bar)
+    
+    // Get the actual available space from drawDiv itself
+    let availableWidth = this.drawDiv.offsetWidth || this.drawDiv.clientWidth || 600;
+    let availableHeight = this.drawDiv.offsetHeight || this.drawDiv.clientHeight || 600;
+    
+    // Use defaults if dimensions not ready
+    if (availableWidth <= 0) availableWidth = 600;
+    if (availableHeight <= 0) availableHeight = 600;
+    
+    // Use the full available space
+    this.width = availableWidth;
+    this.height = availableHeight;
+    
+    // Initialize coordinate converter if it doesn't exist yet
+    // (BaseVisualization constructor calls updateSize before our constructor body runs)
+    if (!this.coords) {
+      // Field dimensions should be set by now, but use defaults if not
+      const fieldWidth = this.fieldWidth || 15.0;
+      const fieldHeight = this.fieldHeight || 15.0;
+      this.coords = new CoordinateConverter(this.width, this.height, fieldWidth, fieldHeight);
+    } else {
+      // Update coordinate converter with new dimensions
+      this.coords.updateDimensions(this.width, this.height, this.fieldWidth, this.fieldHeight);
+    }
+    
+    // Ensure canvases match the div size exactly
+    this.staticCanvas.width = this.width;
+    this.staticCanvas.height = this.height;
+    this.animatedCanvas.width = this.width;
+    this.animatedCanvas.height = this.height;
+    
+    // Set explicit canvas element sizes to match pixel dimensions
+    this.staticCanvas.style.width = this.width + "px";
+    this.staticCanvas.style.height = this.height + "px";
+    this.animatedCanvas.style.width = this.width + "px";
+    this.animatedCanvas.style.height = this.height + "px";
+    
+    // Ensure the div itself has the right size
+    this.drawDiv.style.width = this.width + "px";
+    this.drawDiv.style.height = this.height + "px";
+    this.drawDiv.style.overflow = "hidden";
+    
+    // Calculate target radius in world coordinates based on pixel radius and scale
+    this.targetRadius = this.coords.pixelsToWorldDistance(this.targetPixelRadius);
+    // Note: convergenceTolerance is user-configurable, not calculated from target radius
+    
+    // Recompute region of convergence since scale changed (affects target radius calculation)
+    this.computeRegionOfConvergence();
+    if (this.mode === "fractal") {
+      this.scheduleFractalUpdate();
+    }
+    // Always redraw after size update
+    this.drawStatic();
+    this.drawDynamic();
+  }
+  
+  // Debounced fractal update: waits for inputs to settle before recomputing the expensive heatmap
+  scheduleFractalUpdate() {
+    if (this._fractalDebounceTimer) {
+      clearTimeout(this._fractalDebounceTimer);
+    }
+    // Immediately redraw overlays (envelope, geodesic, legend, robot, target) with stale heatmap
+    this.computeRegionOfConvergence();
+    this.drawStatic();
+    this.drawDynamic();
+    // Debounce the expensive heatmap recomputation
+    this._fractalDebounceTimer = setTimeout(() => {
+      this._fractalDebounceTimer = null;
+      this.computeHeatmap();
+      this.computeRegionOfConvergence();
+      this.drawStatic();
+      this.drawDynamic();
+    }, 250);
+  }
+
+  update() {
+    if (this.mode === "fractal") {
+      // In fractal mode, update() only redraws with existing data (cheap).
+      // Heatmap recomputation is triggered only by scheduleFractalUpdate().
+      this.drawStatic();
+      this.drawDynamic();
+      return;
+    }
+    this.runRecursion(this.robotVelocity, this.numIterations);
+    if (this.currentIteration < 1 && this.iterations.length > 0) {
+      this.currentIteration = 1;
+    }
+    this.drawStatic();
+    this.drawDynamic();
+  }
+}
diff --git a/source/_extensions/controls_js_sim/visualization/newton-shooting-visualization.js b/source/_extensions/controls_js_sim/visualization/newton-shooting-visualization.js
new file mode 100644
index 0000000000..1c2da184ab
--- /dev/null
+++ b/source/_extensions/controls_js_sim/visualization/newton-shooting-visualization.js
@@ -0,0 +1,153 @@
+class NewtonShootingVisualization extends DynamicShootingVisualization {
+  constructor(div_in) {
+    super(div_in);
+    // solverMethod left undefined so the first setSolverMethod() call from the
+    // widget actually triggers envelope recomputation (the parent constructor
+    // already ran computeRegionOfConvergence with the fixed-point fallback).
+    this.solverMethod = undefined;
+    this.iterationCap = 20;
+  }
+
+  setSolverMethod(method) {
+    if (this.solverMethod === method) return;
+    this.solverMethod = method;
+    this.iterationCap = method === "newton" ? 20 : 1000;
+    // Always recompute the envelope for the active solver
+    this.computeRegionOfConvergence();
+    if (this.mode === "fractal") {
+      this.scheduleFractalUpdate();
+    }
+  }
+
+  // ── Newton's method iteration (full data, for simulation mode) ────────────
+
+  runNewtonIterations(robotVel, maxIter) {
+    const iterations = [];
+    if (!this.robotPos || !this.targetPos) return iterations;
+
+    const dx0 = this.targetPos.x - this.robotPos.x;
+    const dy0 = this.targetPos.y - this.robotPos.y;
+    const D0 = Math.sqrt(dx0 * dx0 + dy0 * dy0);
+    if (D0 < 1e-10) return iterations;
+
+    const vp = this.projectileSpeed;
+    const vx = robotVel.x;
+    const vy = robotVel.y;
+    const vToward = (dx0 * vx + dy0 * vy) / D0;
+    let t = vp + vToward > 1e-10 ? D0 / (vp + vToward) : D0 / vp;
+    let prevTOF = null;
+
+    for (let iter = 0; iter < maxIter; iter++) {
+      const X = dx0 - vx * t;
+      const Y = dy0 - vy * t;
+      const D = Math.sqrt(X * X + Y * Y);
+      if (D < 1e-10) break;
+
+      const fD = D / vp;
+      const F = t - fD;
+      const Fprime = 1 + (X * vx + Y * vy) / (vp * D);
+
+      const virtualTargetPos = {
+        x: this.targetPos.x - vx * t,
+        y: this.targetPos.y - vy * t
+      };
+      const virtualTargetOffset = { x: -vx * t, y: -vy * t };
+      const actualTrajectoryEnd = {
+        x: virtualTargetPos.x + vx * fD,
+        y: virtualTargetPos.y + vy * fD
+      };
+
+      iterations.push({
+        iteration: iter + 1,
+        relativePos: { x: X, y: Y },
+        tau: fD,
+        tau_prev: prevTOF !== null ? prevTOF : t,
+        virtualTargetPos: virtualTargetPos,
+        virtualTargetOffset: virtualTargetOffset,
+        actualTrajectoryEnd: actualTrajectoryEnd
+      });
+
+      // Check convergence
+      const edx = actualTrajectoryEnd.x - this.targetPos.x;
+      const edy = actualTrajectoryEnd.y - this.targetPos.y;
+      if (Math.sqrt(edx * edx + edy * edy) <= this.convergenceTolerance) break;
+
+      // Guard singular derivative
+      if (Math.abs(Fprime) < 1e-10) break;
+
+      // Newton step
+      prevTOF = t;
+      t = t - F / Fprime;
+      if (t < 0.001) t = 0.001;
+    }
+    return iterations;
+  }
+
+  // ── Optimized convergence counter (no allocations, for heatmap) ───────────
+
+  getNewtonIterationsToConvergence(robotVel, maxIter) {
+    if (!this.robotPos || !this.targetPos) return maxIter;
+
+    const dx0 = this.targetPos.x - this.robotPos.x;
+    const dy0 = this.targetPos.y - this.robotPos.y;
+    const D0 = Math.sqrt(dx0 * dx0 + dy0 * dy0);
+    if (D0 < 1e-10) return 1;
+
+    const vp = this.projectileSpeed;
+    const vx = robotVel.x;
+    const vy = robotVel.y;
+    const vrMag = Math.sqrt(vx * vx + vy * vy);
+    const tol = this.convergenceTolerance;
+    const vToward = (dx0 * vx + dy0 * vy) / D0;
+    let t = vp + vToward > 1e-10 ? D0 / (vp + vToward) : D0 / vp;
+
+    for (let k = 1; k <= maxIter; k++) {
+      const X = dx0 - vx * t;
+      const Y = dy0 - vy * t;
+      const D = Math.sqrt(X * X + Y * Y);
+      if (D < 1e-10) return k;
+
+      const fD = D / vp;
+      const F = t - fD;
+
+      // Landing error = |F| * |v_r| (derived from actualLanding − target = −v_r·F)
+      if (Math.abs(F) * vrMag <= tol) return k;
+
+      const Fprime = 1 + (X * vx + Y * vy) / (vp * D);
+      if (Math.abs(Fprime) < 1e-10) return maxIter;
+
+      t = t - F / Fprime;
+      if (t < 0.001) t = 0.001;
+    }
+    return maxIter;
+  }
+
+  // ── Overrides so parent machinery dispatches to correct solver ────────────
+
+  getIterationsToConvergence(robotVel, maxIter) {
+    if (this.solverMethod === "newton") {
+      return this.getNewtonIterationsToConvergence(robotVel, maxIter);
+    }
+    return super.getIterationsToConvergence(robotVel, maxIter);
+  }
+
+  runRecursion(robotVel, maxIter) {
+    if (this.solverMethod === "newton") {
+      this.iterations = this.runNewtonIterations(robotVel, maxIter);
+    } else {
+      super.runRecursion(robotVel, maxIter);
+    }
+  }
+
+  checkConvergenceFailure(robotVel, maxIter) {
+    if (this.solverMethod === "newton") {
+      const iters = this.runNewtonIterations(robotVel, maxIter);
+      if (iters.length === 0) return true;
+      const last = iters[iters.length - 1];
+      const dx = last.actualTrajectoryEnd.x - this.targetPos.x;
+      const dy = last.actualTrajectoryEnd.y - this.targetPos.y;
+      return Math.sqrt(dx * dx + dy * dy) > this.convergenceTolerance;
+    }
+    return super.checkConvergenceFailure(robotVel, maxIter);
+  }
+}
diff --git a/source/_extensions/redown.py b/source/_extensions/redown.py
index de40c94a51..486ecc386a 100644
--- a/source/_extensions/redown.py
+++ b/source/_extensions/redown.py
@@ -14,6 +14,7 @@
 from pathlib import Path
 from sphinx.application import Sphinx
 from dataclasses import dataclass
+from sphinx.directives.code import CodeBlock
 
 
 LINK_CORE = r"""
@@ -67,13 +68,30 @@ def replace(match: re.Match) -> str:
 
         ret = ""
         ret += start
-        ret += btindent + f".. code-block:: {lang}\n\n"
+        ret += btindent + f".. code-block:: {lang}\n"
         cindent = 3 * " "
+        firstCode = False
 
         for line in code.splitlines(keepends=True):
-            if line.strip() == "":
+            if line.strip().startswith(":") and not firstCode:
+                colon_start = line.find(":")
+                colon_end = line.rfind(":")
+                if colon_start != -1 and colon_end != -1 and colon_start < colon_end:
+                    option = line[colon_start + 1 : colon_end].strip()
+                    if option in CodeBlock.option_spec:
+                        ret += cindent + line
+                    else:
+                        ret += "\n" + cindent + line
+                        firstCode = True
+            elif line.strip() == "":
+                if not firstCode:
+                    firstCode = True
+                    ret += "\n"
                 ret += "\n"
             else:
+                if not firstCode:
+                    firstCode = True
+                    ret += "\n"
                 ret += cindent + line
 
         return ret
diff --git a/source/_static/wpilibDocsLogo_1050.png b/source/_static/wpilibDocsLogo_1050.png
index 95f5667edf..ecaeb794be 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 b9fd009eb8..782d575445 100644
Binary files a/source/_static/wpilibDocsLogo_1050.webp and b/source/_static/wpilibDocsLogo_1050.webp differ
diff --git a/source/_static/wpilibDocsLogo_300.png b/source/_static/wpilibDocsLogo_300.png
index 38362b9aed..aa32256ac6 100644
Binary files a/source/_static/wpilibDocsLogo_300.png and b/source/_static/wpilibDocsLogo_300.png differ
diff --git a/source/_static/wpilibDocsLogo_300.webp b/source/_static/wpilibDocsLogo_300.webp
index ca1486f7ce..8b58871395 100644
Binary files a/source/_static/wpilibDocsLogo_300.webp and b/source/_static/wpilibDocsLogo_300.webp differ
diff --git a/source/_static/wpilibDocsLogo_500.png b/source/_static/wpilibDocsLogo_500.png
index 86426bfad6..0c842d983b 100644
Binary files a/source/_static/wpilibDocsLogo_500.png and b/source/_static/wpilibDocsLogo_500.png differ
diff --git a/source/_static/wpilibDocsLogo_500.webp b/source/_static/wpilibDocsLogo_500.webp
index 1f62159fd0..378018a80b 100644
Binary files a/source/_static/wpilibDocsLogo_500.webp and b/source/_static/wpilibDocsLogo_500.webp differ
diff --git a/source/_static/wpilibDocsLogo_700.png b/source/_static/wpilibDocsLogo_700.png
index d48b3f5292..eda60da52c 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 9161430198..227ce1df6a 100644
Binary files a/source/_static/wpilibDocsLogo_700.webp and b/source/_static/wpilibDocsLogo_700.webp differ
diff --git a/source/_templates/layout.html b/source/_templates/layout.html
index 18d5997e02..e2444037a4 100644
--- a/source/_templates/layout.html
+++ b/source/_templates/layout.html
@@ -13,7 +13,7 @@
         <div class="link-bar-container">
             <div id="link-bar" class="collapse">
                 <ul>          
-                  <li id="manual-link"><a href="https://www.firstinspires.org/resource-library/frc/competition-manual-qa-system">FRC Game Manual</a></li>
+                  <li id="manual-link"><a href="https://www.firstinspires.org/resources/library/frc/season-materials?view=calendar">FRC Game Manual</a></li>
                   <li id="qa-link"><a href="https://frc-qa.firstinspires.org/">FRC Game Q&A</a></li>
                   <script id="headerscript">
                     if( new Date().getMonth() == 3 && new Date().getDate() == 1) {
@@ -46,7 +46,7 @@
         src="{{ logo_url }}"
         sizes="300px"
         srcset="{{logo_url|replace('.png', '_300.png')}} 300w, {{logo_url|replace('.png', '_500.png')}} 500w, {{logo_url|replace('.png', '_700.png')}} 700w, {{logo_url|replace('.png', '_1050.png')}} 1050w"
-        height="468"
+        height="600"
         width="1050"
         alt="{{ _('Logo') }}"
         decoding="async"
diff --git a/source/assets/wpilibDocsLogo.png b/source/assets/wpilibDocsLogo.png
index 95f5667edf..fd0f35b19f 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 dadb52302b..66efc54196 100644
--- a/source/conf.py
+++ b/source/conf.py
@@ -24,9 +24,9 @@
 # -- Project information -----------------------------------------------------
 
 project = "FIRST Robotics Competition"
-copyright = "2025, FIRST and other WPILib Contributors. This work is licensed under a Creative Commons Attribution 4.0 International License"
+copyright = "2026, FIRST and other WPILib Contributors. This work is licensed under a Creative Commons Attribution 4.0 International License"
 author = "WPILib"
-version = "2025"
+version = "2026"
 
 
 # -- General configuration ---------------------------------------------------
@@ -49,7 +49,6 @@
     "sphinxext.remoteliteralinclude",
     "sphinxext.toptranslators",
     "sphinxext.mimictoc",
-    "sphinxext.presentations",
     "hoverxref.extension",
     "notfound.extension",
     "versionwarning.extension",
@@ -159,6 +158,11 @@
     r".*digilent.com.*",
     r".*digilentinc.com.*",
     r".*electrodragon.com.*",
+    r".*filezilla-project.org.*",
+    r".*miktex.org.*",
+    r".*analog.com.*",
+    r".*opencv.org.*",
+    r".*strawberryperl.com.*",
 ]
 
 linkcheck_anchors_ignore_for_url = [
@@ -170,11 +174,10 @@
 # Sets linkcheck timeout in seconds
 linkcheck_timeout = 30
 linkcheck_retries = 3
-linkcheck_workers = 1
 linkcheck_report_timeouts_as_broken = False
 
 # 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/121.0.0.0 Safari/537.36"
+user_agent = "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/136.0.0.0 Safari/537.36"
 
 # Autosection labels prefix document path and filename
 autosectionlabel_prefix_document = True
@@ -210,6 +213,7 @@
 # Use MathJax3 for better page loading times
 mathjax_path = "https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"
 
+nitpicky = True
 
 # -- Options for HTML output -------------------------------------------------
 
diff --git a/source/docs/beta/beta-getting-started/accessing-the-beta-project.rst b/source/docs/beta/beta-getting-started/accessing-the-beta-project.rst
index bb2186ee2f..01fd300681 100644
--- a/source/docs/beta/beta-getting-started/accessing-the-beta-project.rst
+++ b/source/docs/beta/beta-getting-started/accessing-the-beta-project.rst
@@ -3,7 +3,7 @@
 Accessing the Beta Project
 ==========================
 
-The 2025 Beta project is located at: https://github.com/wpilibsuite/2025Beta.
+The 2026 Beta project is located at: https://github.com/wpilibsuite/2026Beta.
 
 .. image:: images/accessing-the-beta-project/project-home.png
    :alt: The project homepage.
diff --git a/source/docs/beta/beta-getting-started/trackers-reporting-bugs.rst b/source/docs/beta/beta-getting-started/trackers-reporting-bugs.rst
index 8d922714bd..fc6fa726ef 100644
--- a/source/docs/beta/beta-getting-started/trackers-reporting-bugs.rst
+++ b/source/docs/beta/beta-getting-started/trackers-reporting-bugs.rst
@@ -1,7 +1,7 @@
 Reporting Bugs or Other Issues
 ==============================
 
-If you encounter issues like bugs, incorrect/unclear documentation, or unexpected behavior, please open an issue on the [2025 Beta Test GitHub issue tracker](https://github.com/wpilibsuite/2025Beta/issues). Note that issues may be transferred to other repositories, but you will still be notified by GitHub of any updates.
+If you encounter issues like bugs, incorrect/unclear documentation, or unexpected behavior, please open an issue on the [2026 Beta Test GitHub issue tracker](https://github.com/wpilibsuite/2026Beta/issues). Note that issues may be transferred to other repositories, but you will still be notified by GitHub of any updates.
 
 .. image:: images/trackers-reporting-bugs/github-issues.png
    :alt: The Github issues tab in the beta project.
diff --git a/source/docs/beta/tasks/beta-task-overview.rst b/source/docs/beta/tasks/beta-task-overview.rst
index af523a090e..1f11b88803 100644
--- a/source/docs/beta/tasks/beta-task-overview.rst
+++ b/source/docs/beta/tasks/beta-task-overview.rst
@@ -13,22 +13,22 @@ The purpose of Task 0 is to complete some housekeeping tasks and familiarize you
 1. Beta Test Tools and Documentation Familiarization
 
 
-Task 1 - Install Software (Targeted Completion 10/28/2024)
+Task 1 - Install Software (Targeted Completion 11/29/2025)
 ----------------------------------------------------------
 
 The purpose of Task 1 is to complete installation of the new Control System software. This task consists of 1 Objective
 
 1. Install the necessary software for your assigned Beta Test language (LabVIEW or VSCode + plugins, NI FRC Game Tools, and any vendor libraries using the :doc:`Dependency Manager </docs/software/vscode-overview/3rd-party-libraries>` e.g. CTRE Phoenix, REVLib, etc)
 
-Task 2 - Basic Benchtop Test (Targeted Completion 11/4/2024)
+Task 2 - Basic Benchtop Test (Targeted Completion 12/5/2025)
 ------------------------------------------------------------
 
-The purpose of Task 2 is to get the base new Control System software set up and running. This helps minimize complexity to ease debugging of any issues that do occur. In this task you will set up the development environment for your programming language, configure the roboRIO, load and debug a simple program. This Task consists of 2 Objectives:
+The purpose of Task 2 is to get the base new Control System software set up and running. This helps minimize complexity to ease debugging of any issues that do occur. In this task you will set up the development environment for your programming language, configure the roboRIO, load, and debug a simple program. This Task consists of 2 Objectives:
 
 1. Configure the roboRIO
-2. Create, Build and Load Default Program
+2. Create, Build, and Load Default Program
 
-Task 3 - Port Previous Robot Code (Targeted Completion 11/18/2024)
+Task 3 - Port Previous Robot Code (Targeted Completion 12/12/2025)
 ------------------------------------------------------------------
 
 The purpose of Task 3 is to port the previous year's robot code with the new Control System software and bring it to full functionality. This Task consists of 2 Objectives and 1 Optional Objective:
@@ -37,14 +37,10 @@ The purpose of Task 3 is to port the previous year's robot code with the new Con
 2. Wireless Operation of FRC Robot
 3. (Optional) Play with robot at offseason event
 
-Task 4 - New Code and Advanced Feature Testing (Targeted Completion 12/6/2024)
-------------------------------------------------------------------------------
+Task 4 - New Code and Advanced Feature Testing (Targeted Completion 12/19/2025)
+-------------------------------------------------------------------------------
 
 Note: Objectives in Task 4 may be completed in any order.
 
-The purpose of Task 4 is to write new code in order to test features and functionality of the new Control System software. While we have written up a number of ideas, please feel free to come up with your own and report on what you tried/are trying and how it went.
-
-1. Java: Use :doc:`Epilogue annotation logging </docs/software/telemetry/robot-telemetry-with-annotations>`
-2. Java: Use the re-written :doc:`Java units library </docs/software/basic-programming/java-units>`
-3. Java/C++: Utilize the new :doc:`Dependency Manager </docs/software/vscode-overview/3rd-party-libraries>` in Visual Studio Code
+The purpose of Task 4 is to write new code in order to test features and functionality of the new Control System software that you haven't used before. Feel free to come up with your own and report on what you tried/are trying and how it went.
 
diff --git a/source/docs/beta/tasks/task-0-tools-and-docs.rst b/source/docs/beta/tasks/task-0-tools-and-docs.rst
index 73ec2e21b1..c328cf82d2 100644
--- a/source/docs/beta/tasks/task-0-tools-and-docs.rst
+++ b/source/docs/beta/tasks/task-0-tools-and-docs.rst
@@ -24,7 +24,7 @@ The other source of documentation will be the Wiki section of the GitHub project
 
 Please read through the documentation in this section to understand the tasks associated with the Beta Test.
 
-Run your robot with current (2024) software and note the Free RAM on the DS diagnostics tab (for later comparison in task 3).
+Run your robot with current (2025) software and note the Free RAM on the DS diagnostics tab (for later comparison in task 3).
 
 Desired Feedback
 ----------------
diff --git a/source/docs/beta/tasks/task-1-software-install.rst b/source/docs/beta/tasks/task-1-software-install.rst
index ccda3ec63c..b7471a9897 100644
--- a/source/docs/beta/tasks/task-1-software-install.rst
+++ b/source/docs/beta/tasks/task-1-software-install.rst
@@ -9,7 +9,7 @@ Overview
 --------
 Documentation for installation can be found on the :ref:`docs/zero-to-robot/step-2/index:Step 2: Installing Software` page.
 
-.. note:: For this task, use the files in the README of the [Beta GitHub project](https://github.com/wpilibsuite/2025Beta) instead of the files linked in the installation documentation.
+.. note:: For this task, use the files in the README of the [Beta GitHub project](https://github.com/wpilibsuite/2026Beta) instead of the files linked in the installation documentation.
 
 Desired Feedback
 ----------------
diff --git a/source/docs/beta/tasks/task-2-configure-and-benchtop.rst b/source/docs/beta/tasks/task-2-configure-and-benchtop.rst
index 54c1856ff6..9f66ae3eab 100644
--- a/source/docs/beta/tasks/task-2-configure-and-benchtop.rst
+++ b/source/docs/beta/tasks/task-2-configure-and-benchtop.rst
@@ -6,7 +6,7 @@ Task 2: Configure roboRIO & Benchtop Test
 Task:
 
 1. Image and configure your roboRIO controller.
-2. Create, build, load and run a basic robot program (template of your choosing) on the roboRIO benchtop setup.
+2. Create, build, load, and run a basic robot program (template of your choosing) on the roboRIO benchtop setup.
 
 Overview
 --------
@@ -15,7 +15,7 @@ Before using the roboRIO controller with the Beta software, it must be imaged wi
 
 .. note:: The image version in the documentation may not be updated yet. You should use the latest image available after installing the latest Beta Update.
 
-Next verify the ability to create and download a basic robot program from the chosen template in the assigned programming language. This will verify that the development environment is set up correctly and working properly before moving on to a more complex system. For this task you should create, build and download a basic program to the roboRIO to run at startup, then verify that you are able to communicate with and enable the program using the Driver Station. Instructions can be found on the :ref:`docs/zero-to-robot/step-4/index:Step 4: Programming your Robot` page.
+Next verify the ability to create and download a basic robot program from the chosen template in the assigned programming language. This will verify that the development environment is set up correctly and working properly before moving on to a more complex system. For this task you should create, build, and download a basic program to the roboRIO to run at startup, then verify that you are able to communicate with and enable the program using the Driver Station. Instructions can be found on the :ref:`docs/zero-to-robot/step-4/index:Step 4: Programming your Robot` page.
 
 Desired Feedback
 ----------------
diff --git a/source/docs/beta/tasks/task-3-port-code.rst b/source/docs/beta/tasks/task-3-port-code.rst
index ce5840e160..ec041cebd9 100644
--- a/source/docs/beta/tasks/task-3-port-code.rst
+++ b/source/docs/beta/tasks/task-3-port-code.rst
@@ -17,5 +17,5 @@ Please keep the following questions in mind as you complete the task and include
  2. What problems or difficulties did you encounter?
  3. What questions did you have during the process?
  4. Any specific suggestions on improving the documentation? (Were any instructions unclear?)
- 5. Compare the Free RAM on the DS diagnostics tab to similar code running on the 2024 image.
+ 5. Compare the Free RAM on the DS diagnostics tab to similar code running on the 2025 image.
  6. Is there anything else you want to tell us related to this task?
diff --git a/source/docs/beta/tasks/task-4-new-features.rst b/source/docs/beta/tasks/task-4-new-features.rst
index 138ebb8073..182fd360bb 100644
--- a/source/docs/beta/tasks/task-4-new-features.rst
+++ b/source/docs/beta/tasks/task-4-new-features.rst
@@ -6,23 +6,16 @@ Task: Test any new features or heavily modified code
 Overview
 --------
 
-The purpose of this task is to test any newly developed or heavily modified features for the new season. This will help the Control System team find any bugs or issues with the new code. A complete description of changes for 2025 can be found in the :doc:`/docs/yearly-overview/yearly-changelog` document. Below is a list of some of the new or modified features to focus on:
+The purpose of this task is to test any newly developed or heavily modified features for the new season. This will help the Control System team find any bugs or issues with the new code. A complete description of changes for 2026 can be found in the :doc:`/docs/yearly-overview/yearly-changelog` document.
 
 **All languages**
 
-- Use the new A-Stop functionality built into the :doc:`Driver Station's Practice mode </docs/software/driverstation/driver-station>`.
-
 **LabVIEW**
 
 **Java**
 
-- Use :doc:`Epilogue annotation logging </docs/software/telemetry/robot-telemetry-with-annotations>`
-- Use the re-written :doc:`Java units library </docs/software/basic-programming/java-units>`
-
 **Java/C++**
 
-- Utilize the new Vendor :doc:`Dependency Manager </docs/software/vscode-overview/3rd-party-libraries>` in Visual Studio Code
-
 **Java/C++/Python**
 
 Desired Feedback
diff --git a/source/docs/contributing/frc-docs/build-instructions.rst b/source/docs/contributing/frc-docs/build-instructions.rst
index d1abf78da6..b6f8e35a73 100644
--- a/source/docs/contributing/frc-docs/build-instructions.rst
+++ b/source/docs/contributing/frc-docs/build-instructions.rst
@@ -6,6 +6,8 @@ This document contains information on how to build the HTML, PDF, and EPUB versi
 
 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``.
 
+You will need to install [uv](https://docs.astral.sh/uv/), a Python package and project manager. Follow the [installation instructions](https://docs.astral.sh/uv/getting-started/installation/) for your operating system.
+
 ### 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.
@@ -22,7 +24,7 @@ By default, the reStructuredText extension enables linting with all doc8 feature
 
 .. 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/)
+- [Python 3.10 to 3.13](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)
@@ -32,17 +34,13 @@ Ensure that Python is in your Path by selecting the **Add Python to PATH** toggl
 .. image:: images/python-path.png
     :alt: Showing where to click the box to add Python to PATH.
 
-Once Python is installed, open up Powershell. Then navigate to the frc-docs directory. Run the following command: ``pip install -r source/requirements.txt``
-
 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)
 
 ```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 python3
 $ 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
 ```
 
@@ -68,60 +66,56 @@ PS C:\Users\Example\Documents\frc-docs>
 
 .. 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``
+It's encouraged to check any changes you make with the linter. This **will** fail CI if it does not pass. To check, run ``uv run .\make.bat lint``
 
 ### 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``
+The link checker makes sure that all links in the documentation resolve. This **will** fail CI if it does not pass. To check, run ``uv run .\make.bat linkcheck``
 
 ### 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.
+Please run ``uv run .\make.bat 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
 
 Files that have been moved or renamed must have their new location (or replaced with 404) in the ``redirects.txt`` file in ``source``.
 
-The redirect writer will automatically add renamed/moved files to the redirects file. Run ``.\make rediraffewritediff``.
+The redirect writer will automatically add renamed/moved files to the redirects file. Run ``uv run .\make.bat rediraffewritediff``.
 
 .. note:: if a file is both moved and substantially changed, the redirect writer will not add it to the ``redirects.txt`` file, and the ``redirects.txt`` file will need to be manually updated.
 
-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.
+The redirect checker makes sure that there are valid redirects for all files. This **will** fail CI if it does not pass. To check, run ``uv run .\make.bat 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
 
-Type the command ``.\make html`` to generate HTML content. The content is located in the ``build/html`` directory at the root of the repository.
+Type the command ``uv run .\make.bat html`` to generate HTML content. The content is located in the ``build/html`` directory at the root of the repository.
 
 ### 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.
+Type the command ``uv run .\make.bat latexpdf`` to generate PDF content. The PDF is located in the ``build/latex`` directory at the root of the repository.
 
 ### 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.
+Type the command ``uv run .\make.bat 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
 
-.. 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.
-
-.. note:: Poetry is **not** required to build and contribute to frc-docs content. It is *only* used for dependency management.
-
-### Installing Poetry
-
-Ensure that Poetry is installed. Run the following command: ``pip install poetry``.
+.. important:: After modifying frc-docs dependencies in any way, ``requirements.txt`` must be regenerated by running ``uv export --frozen --no-dev --no-editable -o source/requirements.txt`` from the root of the repo.
 
 ### 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``.
+Add the dependency to the ``dependencies`` array in ``pyproject.toml``. Make sure to specify an exact version. Then, run the following command: ``uv lock``.
 
 ### 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``.
+Update the dependency's version in the ``dependencies`` array in ``pyproject.toml``. Then, run the following command: ``uv lock``.
+
+### Updating All Hidden Dependencies
+
+Run the following command: ``uv lock --upgrade``.
 
-### Updating Hidden Dependencies
+### Updating a Specific Hidden Dependency
 
-Run the following command: ``poetry lock``.
+Run the following command: ``uv lock --upgrade-package <package>``.
diff --git a/source/docs/contributing/frc-docs/style-guide.rst b/source/docs/contributing/frc-docs/style-guide.rst
index c329d81005..d5985d223f 100644
--- a/source/docs/contributing/frc-docs/style-guide.rst
+++ b/source/docs/contributing/frc-docs/style-guide.rst
@@ -35,7 +35,7 @@ Use ``.. math::`` for standalone equations and ``:math:`` for inline equations.
 
 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/about/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```.
 
@@ -101,12 +101,12 @@ Follow the [WPILib style guide](https://github.com/wpilibsuite/styleguide/) for
 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:
 
 ```ReST
-.. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+.. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
    :language: java
    :lines: 19-25
    :lineno-match:
 
-.. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+.. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
    :language: c++
    :lines: 50-60
    :lineno-match:
@@ -126,7 +126,7 @@ To create code tabs in an article, you can use the ``.. tab-set-code::`` directi
 
 ````ReST
 .. tab-set-code::
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
       :language: java
       :lines: 19-25
       :lineno-match:
diff --git a/source/docs/contributing/frc-docs/translations.rst b/source/docs/contributing/frc-docs/translations.rst
index e9267fb9c5..9e1575216e 100644
--- a/source/docs/contributing/frc-docs/translations.rst
+++ b/source/docs/contributing/frc-docs/translations.rst
@@ -6,7 +6,7 @@ frc-docs supports translations using the web-based [Transifex](https://www.trans
 
 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.
+1. Sign up for [Transifex](https://www.transifex.com/) and ask to join the [frc-docs project](https://explore.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!
diff --git a/source/docs/contributing/wpilib/index.rst b/source/docs/contributing/wpilib/index.rst
index dcf4de2af3..e7e0e6f8c8 100644
--- a/source/docs/contributing/wpilib/index.rst
+++ b/source/docs/contributing/wpilib/index.rst
@@ -8,7 +8,7 @@ This is a list of links to the various documentation for the [allwpilib](https:/
 
 ## 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.
+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
diff --git a/source/docs/controls-overviews/control-system-hardware.rst b/source/docs/controls-overviews/control-system-hardware.rst
index 885c9b4a39..4b75a61569 100644
--- a/source/docs/controls-overviews/control-system-hardware.rst
+++ b/source/docs/controls-overviews/control-system-hardware.rst
@@ -60,6 +60,8 @@ The :ref:`CTRE Power Distribution Panel <docs/software/can-devices/power-distrib
 
 The [CTRE Power Distribution Panel 2.0](https://store.ctr-electronics.com/products/pdp-2) (PDP 2.0) is designed to distribute power from a 12VDC battery to various robot components. The PDP 2.0 features 24 40A channels and can accoommodate ATO breakers. The PDP 2.0 is designed to maximize efficiency.
 
+.. note:: The PDP 2.0 does not have buit in current logging and current logs will not be available in the :doc:`Driver Station Log Viewer </docs/software/driverstation/driver-station-log-viewer>`
+
 ## REV Power Distribution Hub
 
 .. image:: images/control-system-hardware/power-distribution-hub.png
@@ -68,6 +70,16 @@ The [CTRE Power Distribution Panel 2.0](https://store.ctr-electronics.com/produc
 
 The [REV Power Distribution Hub](https://docs.revrobotics.com/ion-control-system/pdh/overview) (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.
 
+## AndyMark Power Distribution Board
+
+.. image:: images/control-system-hardware/andymark-ampd.jpg
+  :alt: AndyMark Power Distribution Board
+  :width: 500
+
+The [AndyMark Power Distribution Board](https://andymark.com/am-5754) (AMPD) is designed to distribute power from a 12VDC battery to various robot components. The AMPD features 24 fully insulated 40A ports that work with ATO/ATC breakers. With toolless lever connectors and 22.5 degree angled outputs for clean wiring, the AMPD is designed to simplify robot wiring.
+
+.. note:: The AMPD does not have buit in current logging and current logs will not be available in the :doc:`Driver Station Log Viewer </docs/software/driverstation/driver-station-log-viewer>`
+
 ## CTRE Voltage Regulator Module
 
 .. image:: images/control-system-hardware/voltage-regulator-module.png
@@ -106,7 +118,15 @@ The Snap Action circuit breakers, [MX5 series](https://www.snapaction.net/assets
   :alt: Rev ATO Circuit Breakers
   :width: 500
 
-The [Rev ATO Circuit Breakers](https://www.revrobotics.com/content/docs/REV-11-1860-1863-DS.pdf) are used with the Power Distribution Panel, Power Distribution Hub and Power Distribution Panel 2.0 to limit current to branch circuits. They come in [40A](https://www.revrobotics.com/rev-11-1863/), [30A](https://www.revrobotics.com/rev-11-1862/), [20A](https://www.revrobotics.com/rev-11-1861/) and [10A](https://www.revrobotics.com/rev-11-1860/) variants. The ratings on these circuit breakers are for continuous current, temporary peak values can be considerably higher.
+The [Rev ATO Circuit Breakers](https://www.revrobotics.com/content/docs/REV-11-1860-1863-DS.pdf) are used with the Power Distribution Panel, Power Distribution Hub, and Power Distribution Panel 2.0 to limit current to branch circuits. They come in [40A, 30A, 20A, and 10A](https://www.revrobotics.com/auto-resetting-breakers/) variants. The ratings on these circuit breakers are for continuous current, temporary peak values can be considerably higher.
+
+## CTRE Power Distribution Panel Breakers
+
+.. image:: images/control-system-hardware/ctre-pdp-breaker.png
+  :alt: CTRE Power Distribution Panel Breakers
+  :width: 500
+
+The [CTRE Power Distribution Panel Breakers](https://store.ctr-electronics.com/products/auto-resetting-ato-breakers) are auto-reset circuit breakers designed for use with CTRE Power Distribution Panels. They come in 40A, 30A, 20A, and 10A variants. These custom ATO-sized breakers automatically reset after tripping, providing consistent performance even after hundreds of trips.
 
 ## Robot Battery
 
@@ -116,7 +136,7 @@ The [Rev ATO Circuit Breakers](https://www.revrobotics.com/content/docs/REV-11-1
 
 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/resources/library/frc/season-materials?view=calendar) for a complete list.
 
 ## Robot Signal Light
 
@@ -170,7 +190,7 @@ There are a variety of different :ref:`motor controllers <docs/software/hardware
   :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 Documentation](https://docs.revrobotics.com/brushless/spark-max/overview).
+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 Documentation](https://docs.revrobotics.com/brushless/spark-max/overview).
 
 ### TalonFX Motor Controller
 
@@ -178,7 +198,7 @@ The [SPARK MAX Motor Controller](https://www.revrobotics.com/rev-11-2158/) is an
   :alt: TalonFX Motor Controller
   :width: 400
 
-The TalonFX Motor Controller is a brushless motor controller from Cross The Road Electronics which is integrated into the Falcon 500, Kraken X60 and Kraken X44 brushless motors.  It features an integrated encoder and all of the smart features of the Talon SRX and more! For more information see the [TalonFX Hardware Reference](https://v6.docs.ctr-electronics.com/en/stable/docs/hardware-reference/talonfx/).
+The TalonFX Motor Controller is a brushless motor controller from Cross The Road Electronics which is integrated into the Falcon 500, Kraken X60, and Kraken X44 brushless motors.  It features an integrated encoder and all of the smart features of the Talon SRX and more! For more information see the [TalonFX Hardware Reference](https://v6.docs.ctr-electronics.com/en/stable/docs/hardware-reference/talonfx/).
 
 ### Victor SPX
 
@@ -222,7 +242,7 @@ The [Victor SP Motor Controller](https://web.archive.org/web/20220926211100/http
   :alt: SPARK Flex Motor Controller
   :width: 400
 
-The [SPARK Flex Motor Controller](https://www.revrobotics.com/rev-11-2159/) is a smart brushed and brushless DC motor controller from Rev Robotics. It is designed for semi-permanent docking to NEO Vortex brushless motors, but can be used with other brushed and brushless motors through the use of an adapter dock. When using CAN bus or USB control, the SPARK Flex uses input from limit switches, encoders, and other sensors, including the integrated encoder of NEO Vortex, Neo 1.0/1.1 and NEO 550 brushless motors, to perform advanced control modes. The SPARK Flex can be controlled over PWM, CAN or USB (for configuration/testing only). For more information, see the [SPARK Flex Documentation](https://docs.revrobotics.com/brushless/spark-flex/overview).
+The [SPARK Flex Motor Controller](https://www.revrobotics.com/rev-11-2159/) is a smart brushed and brushless DC motor controller from Rev Robotics. It is designed for semi-permanent docking to NEO Vortex brushless motors, but can be used with other brushed and brushless motors through the use of an adapter dock. When using CAN bus or USB control, the SPARK Flex uses input from limit switches, encoders, and other sensors, including the integrated encoder of NEO Vortex, Neo 1.0/1.1 and NEO 550 brushless motors, to perform advanced control modes. The SPARK Flex can be controlled over PWM, CAN, or USB (for configuration/testing only). For more information, see the [SPARK Flex Documentation](https://docs.revrobotics.com/brushless/spark-flex/overview).
 
 ### Talon Motor Controller
 
@@ -233,16 +253,6 @@ The [SPARK Flex Motor Controller](https://www.revrobotics.com/rev-11-2159/) is a
 
 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
-
-.. image:: images/control-system-hardware/victor-888-motor-controller.png
-  :alt: Victor 888 Motor Controller
-  :width: 400
-
-.. 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.
-
 ### Venom Motor Controller
 
 .. image:: images/control-system-hardware/venom.jpg
@@ -251,36 +261,6 @@ The [Victor 884](https://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25
 
 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.
 
-### DMC-60 and DMC-60C Motor Controller
-
-.. image:: images/control-system-hardware/dmc-60c-motor-controller.png
-  :alt: DMC-60C Motor Controller
-  :width: 500
-
-.. 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-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/)
-
-### Jaguar Motor Controller
-
-.. image:: images/control-system-hardware/jaguar-motor-controller.png
-  :alt: Jaguar Motor Controller
-  :width: 500
-
-.. 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.
-
-### Nidec Dynamo BLDC Motor with Controller
-
-.. 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.
-
 ### Thrifty Nova Motor Controller
 
 .. image:: images/control-system-hardware/nova.png
@@ -303,15 +283,7 @@ The [Talon FXS Motor Controller](https://store.ctr-electronics.com/products/talo
   :alt: Koors 40 Brushed DC Motor Controller
   :width: 400
 
-The [Koors 40 Brushed DC Motor Controller](https://www.andymark.com/products/koors-40-brushed-dc-motor-controller) is an inexpensive PWM brushed DC motor controller from AndyMark with features such as Ground Loss Protection for PWM, Thermal and Overcurrent Protection, and Reverse Polarity Protection.
-
-### 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 [Koors 40 Brushed DC Motor Controller](https://www.andymark.com/products/koors-40-brushed-dc-motor-controller) is an inexpensive PWM brushed DC motor controller from AndyMark with features such as Ground Loss Protection for PWM, Thermal, and Overcurrent Protection, and Reverse Polarity Protection.
 
 ## Spike H-Bridge Relay
 
@@ -349,4 +321,4 @@ The Microsoft Lifecam HD3000 is a USB webcam that can be plugged directly into t
 
 ## 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, Victor 888, Victor SP, Victor SPX, and Spike H-Bridge Relay courtesy of VEX Robotics, Inc. Image of SPARK MAX, SPARK Flex, Servo Hub, ATO Breakers, Power Distribution Hub, and Pneumatic Hub courtesy of REV Robotics. Images of TalonFX, TalonFXS and Power Distribution Panel 2.0 courtesy of Cross The Road Electronics, LLC. Image of Thrifty Nova courtesy of The Thrifty Bot. Lifecam, PDP, PCM, SPARK, and VRM photos courtesy of *FIRST*\ |reg|. Image of the VH-109 radio courtesy of Vivid-Hosting. All other photos courtesy of AndyMark Inc.
+Image of roboRIO courtesy of National Instruments. Images of Talon SRX, Victor SP, Victor SPX, and Spike H-Bridge Relay courtesy of VEX Robotics, Inc. Image of SPARK MAX, SPARK Flex, Servo Hub, ATO Breakers, Power Distribution Hub, and Pneumatic Hub courtesy of REV Robotics. Images of TalonFX, TalonFXS, Power Distribution Panel 2.0, and Power Distribution Panel Breakers courtesy of Cross The Road Electronics, LLC. Image of Thrifty Nova courtesy of The Thrifty Bot. Lifecam, PDP, PCM, SPARK, and VRM photos courtesy of *FIRST*\ |reg|. Image of the VH-109 radio courtesy of Vivid-Hosting. 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 f43df085d5..87bab012b8 100644
--- a/source/docs/controls-overviews/control-system-software.rst
+++ b/source/docs/controls-overviews/control-system-software.rst
@@ -59,7 +59,7 @@ Shuffleboard has the same features as SmartDashboard. It also improves on the se
 .. 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.
+: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.
 
 ### AdvantageScope
 
@@ -136,7 +136,7 @@ This tool helps teams automatically calculate constants that can be used to desc
 .. 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>`.
+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
 
diff --git a/source/docs/controls-overviews/images/control-system-hardware/andymark-ampd.jpg b/source/docs/controls-overviews/images/control-system-hardware/andymark-ampd.jpg
new file mode 100644
index 0000000000..32363b4f4b
Binary files /dev/null and b/source/docs/controls-overviews/images/control-system-hardware/andymark-ampd.jpg differ
diff --git a/source/docs/controls-overviews/images/control-system-hardware/ctre-pdp-breaker.png b/source/docs/controls-overviews/images/control-system-hardware/ctre-pdp-breaker.png
new file mode 100644
index 0000000000..238f1c0632
Binary files /dev/null and b/source/docs/controls-overviews/images/control-system-hardware/ctre-pdp-breaker.png differ
diff --git a/source/docs/hardware/hardware-basics/preemptive-troubleshooting.rst b/source/docs/hardware/hardware-basics/preemptive-troubleshooting.rst
index 5d8cdac51d..883316cf94 100644
--- a/source/docs/hardware/hardware-basics/preemptive-troubleshooting.rst
+++ b/source/docs/hardware/hardware-basics/preemptive-troubleshooting.rst
@@ -24,7 +24,7 @@ Apply considerable force onto the battery cable at 90 degrees to try to move the
    :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 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.
+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
 
diff --git a/source/docs/hardware/hardware-basics/status-lights-ref.rst b/source/docs/hardware/hardware-basics/status-lights-ref.rst
index 282ae202d4..2a5bc95a52 100644
--- a/source/docs/hardware/hardware-basics/status-lights-ref.rst
+++ b/source/docs/hardware/hardware-basics/status-lights-ref.rst
@@ -280,16 +280,19 @@ These LEDs are lit red if the Solenoid channel is enabled and not lit if it is d
 | Black Solid | Solenoid Off |
 +-------------+--------------+
 
-## Talon SRX & Victor SPX & Talon FX Motor Controllers
+## Talon SRX & Victor SPX 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
+These motor controllers use Phoenix 5. For the most up-to-date information, see the `CTRE Phoenix 5 Documentation <https://v5.docs.ctr-electronics.com/en/stable/ch13_MC.html>`__.
+
+
+### Talon SRX/Victor SPX Status LEDs During Normal Operation
 
 +------------------------------+----------------+--------------------------------------------+
-| LEDs                         | Colors         | Talon SRX State                            |
+| LEDs                         | Colors         | Device State                               |
 +==============================+================+============================================+
 | Both                         | Blinking Green | Forward throttle is applied.               |
 |                              |                | Blink rate is proportional to Duty Cycle.  |
@@ -297,7 +300,7 @@ These LEDs are lit red if the Solenoid channel is enabled and not lit if it is d
 | Both                         | Blinking Red   | Reverse throttle is applied.               |
 |                              |                | Blink rate is proportional to Duty Cycle.  |
 +------------------------------+----------------+--------------------------------------------+
-| None                         | None           | No power is being applied to Talon SRX     |
+| None                         | None           | No power is being applied                  |
 +------------------------------+----------------+--------------------------------------------+
 | LEDs Alternate               | Off/Orange     | CAN bus detected, robot disabled           |
 +------------------------------+----------------+--------------------------------------------+
@@ -313,13 +316,11 @@ These LEDs are lit red if the Solenoid channel is enabled and not lit if it is d
 +------------------------------+----------------+--------------------------------------------+
 | LED1 Only (closest to M+/V+) | Green/Orange   | In Boot-loader                             |
 +------------------------------+----------------+--------------------------------------------+
-| LEDs Strobe towards (M+)     | Off/Orange     | Thermal Fault / Shutoff (Talon FX Only)    |
-+------------------------------+----------------+--------------------------------------------+
 
-### Status LEDs During Calibration
+### Talon SRX/Victor SPX Status LEDs During Calibration
 
 +------------------------+------------------------+
-| Status LEDs Blink Code | Talon SRX State        |
+| Status LEDs Blink Code | Device State           |
 +========================+========================+
 | Flashing Red/Green     | Calibration Mode       |
 +------------------------+------------------------+
@@ -328,15 +329,61 @@ These LEDs are lit red if the Solenoid channel is enabled and not lit if it is d
 | Blinking Red           | Failed Calibration     |
 +------------------------+------------------------+
 
-### B/C CAL Blink Codes
-
-+----------------------+-----------------+
-| B/C CAL Button Color | Talon SRX State |
-+======================+=================+
-| Solid Red            | Brake Mode      |
-+----------------------+-----------------+
-| Off                  | Coast Mode      |
-+----------------------+-----------------+
+### Talon SRX/Victor SPX B/C CAL Blink Codes
+
++----------------------+--------------+
+| B/C CAL Button Color | Device State |
++======================+==============+
+| Solid Red            | Brake Mode   |
++----------------------+--------------+
+| Off                  | Coast Mode   |
++----------------------+--------------+
+
+## Talon FX Motor Controller
+
+The Talon FX uses Phoenix 6. For the most up-to-date information, see the `CTRE Phoenix 6 Documentation <https://v6.docs.ctr-electronics.com/en/stable/docs/hardware-reference/talonfx/index.html#status-light-reference>`__.
+
+
+### Talon FX Status LEDs
+
++------------------------------+-------------------------------------+
+| LED State                    | Meaning                             |
++==============================+=====================================+
+| LEDs Off                     | No Power                            |
++------------------------------+-------------------------------------+
+| Blinking Alternating Red     | No valid CAN/PWM signal             |
++------------------------------+-------------------------------------+
+| Blinking Alternating Orange  | CAN detected but no Phoenix running |
++------------------------------+-------------------------------------+
+| Blinking Simultaneous Orange | Valid CAN signal, device disabled   |
++------------------------------+-------------------------------------+
+| Both Solid Orange            | Enabled with neutral output         |
++------------------------------+-------------------------------------+
+| Blinking Simultaneous Red    | Driving in reverse                  |
++------------------------------+-------------------------------------+
+| Blinking Simultaneous Green  | Driving forward                     |
++------------------------------+-------------------------------------+
+| Offset Alternating Red/Off   | Device limit reached                |
++------------------------------+-------------------------------------+
+| Offset Orange/Off            | Thermal cutoff                      |
++------------------------------+-------------------------------------+
+| Alternate Red/Green          | Pro-only command while unlicensed   |
++------------------------------+-------------------------------------+
+| Alternate Red/Orange         | Damaged Hardware                    |
++------------------------------+-------------------------------------+
+| Single LED alternates        | Device in bootloader                |
+| Green/Orange                 |                                     |
++------------------------------+-------------------------------------+
+
+### Talon FX B/C CAL Blink Codes
+
++----------------------+--------------+
+| B/C CAL Button Color | Device State |
++======================+==============+
+| Solid Red            | Brake Mode   |
++----------------------+--------------+
+| Off                  | Coast Mode   |
++----------------------+--------------+
 
 ## SPARK-MAX Motor Controller
 
@@ -399,181 +446,11 @@ Brake/Coast/Cal Button/LED - Red if the controller is in brake mode, off if the
 |           |          | calibration, and red several times indicates unsuccessful calibration. |
 +-----------+----------+------------------------------------------------------------------------+
 
-## 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.
-  :width: 600
-
-+-----------+----------+--------------------------+
-| Green     | Solid    | Full forward output      |
-|           +----------+--------------------------+
-|           | Blinking | Successful calibration   |
-+-----------+----------+--------------------------+
-| Red       | Solid    | Full reverse output      |
-|           +----------+--------------------------+
-|           | Blinking | Unsuccessful calibration |
-+-----------+----------+--------------------------+
-| Orange    | Solid    | Neutral/brake            |
-+-----------+----------+--------------------------+
-| Red/Green | Blinking | Calibration mode         |
-+-----------+----------+--------------------------+
-
-## Jaguar Motor Controller
-
-.. image:: images/status-lights/jaguar-status-light.png
-  :alt: Jaguar motor controller with a single multicolor LED in the bottom center.
-  :width: 400
-
-+------------------------------+------------------------------------------------+
-| LED State                    | Module Status                                  |
-+==============================+================================================+
-| Normal Operating Conditions                                                   |
-+------------------------------+------------------------------------------------+
-| Solid Yellow                 | Neutral (speed set to 0)                       |
-+------------------------------+------------------------------------------------+
-| Fast Flashing Green          | Forward                                        |
-+------------------------------+------------------------------------------------+
-| Fast Flashing Red            | Reverse                                        |
-+------------------------------+------------------------------------------------+
-| Solid Green                  | Full-speed forward                             |
-+------------------------------+------------------------------------------------+
-| Solid Red                    | Full-speed reverse                             |
-+------------------------------+------------------------------------------------+
-| Fault Conditions                                                              |
-+------------------------------+------------------------------------------------+
-| Slow Flashing Yellow         | Loss of servo or Network link                  |
-+------------------------------+------------------------------------------------+
-| Fast Flashing Yellow         | Invalid CAN ID                                 |
-+------------------------------+------------------------------------------------+
-| Slow Flashing Red            | Voltage, Temperature, or                       |
-|                              | Limit Switch fault condition                   |
-+------------------------------+------------------------------------------------+
-| Slow Flashing Red and Yellow | Current fault condition                        |
-+------------------------------+------------------------------------------------+
-| Calibration or CAN Conditions                                                 |
-+------------------------------+------------------------------------------------+
-| Flashing Red and Green       | Calibration mode active                        |
-+------------------------------+------------------------------------------------+
-| Flashing Red and Yellow      | Calibration mode failure                       |
-+------------------------------+------------------------------------------------+
-| Flashing Green and Yellow    | Calibration mode success                       |
-+------------------------------+------------------------------------------------+
-| Slow Flashing Green          | CAN ID assignment mode                         |
-+------------------------------+------------------------------------------------+
-| Fast Flashing Yellow         | Current CAN ID (count flashes to determine ID) |
-+------------------------------+------------------------------------------------+
-| Flashing Yellow              | CAN ID invalid (that is, Set to 0)             |
-|                              | awaiting valid ID assignment                   |
-+------------------------------+------------------------------------------------+
-
-## Digilent DMC-60
-
-.. image:: images/status-lights/dmc60c-status-lights.png
-  :alt: The 5 LEDs in each of the corners plus the center.
-
-The DMC60C contains four RGB (Red, Green, and Blue) LEDs and one Brake/Coast CAL LED. The four RGB LEDs are located in the corners and are used to indicate status during normal operation, as well as when a fault occurs. The Brake/Coast CAL LED is located in the center of the triangle, which is located at the center of the housing, and is used to indicate the current Brake/Coast setting. 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.
-
-At power-on, the RGB LEDs illuminate Blue, continually getting brighter. This lasts for approximately five seconds. During this time, the motor controller will not respond to an input signal, nor will the output drivers be enabled. After the initial power-on has completed, the device begins normal operation and what gets displayed on the RGB LEDs is a function of the input signal being applied, as well as the current fault state. Assuming that no faults have occurred, the RGB LEDs function as follows:
-
-+----------------------------+---------------------------------------------------------------------------------------------------------------+
-| PWM Signal Applied         | LED State                                                                                                     |
-+============================+===============================================================================================================+
-| No Input Signal or         | Alternate between top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Red and Off.          |
-| Invalid Input Pulse Width  |                                                                                                               |
-+----------------------------+---------------------------------------------------------------------------------------------------------------+
-| Neutral Input Pulse Width  | All 4 LEDs illuminated Orange.                                                                                |
-+----------------------------+---------------------------------------------------------------------------------------------------------------+
-|                            | LEDs blink Green in a clockwise circular pattern (LED1 → LED2 → LED3 → LED4 → LED1).                          |
-| Positive Input Pulse Width | 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 Green.                                                         |
-+----------------------------+---------------------------------------------------------------------------------------------------------------+
-|                            | LEDs blink Red in a counter-clockwise circular pattern (LED1 → LED4 → LED3 → LED2 → LED1).                    |
-| Negative Input Pulse Width | 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.                                                           |
-+----------------------------+---------------------------------------------------------------------------------------------------------------+
-
-+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| CAN Bus Control State                                                                     | LED State                                                                                                                                                          |
-+===========================================================================================+====================================================================================================================================================================+
-| No Input Signal or CAN bus error detected                                                 | Alternate between top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Red and Off.                                                               |
-+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| No CAN Control Frame received within the last 100ms or                                    | Alternate between top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Orange and Off.                                                            |
-| the last control frame specified modeNoDrive (Output Disabled)                            |                                                                                                                                                                    |
-+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| Valid CAN Control Frame received within the last 100ms.                                   | All 4 LEDs illuminated solid Orange.                                                                                                                               |
-| The specified control mode resulted in a Neutral Duty Cycle being applied to Motor Output |                                                                                                                                                                    |
-+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| Valid CAN Control Frame received within the last 100ms.                                   | LEDs blink Green in a clockwise circular pattern (LED1 → LED2 → LED3 → LED4 → LED1).                                                                               |
-| The specified control mode resulted in a Positive 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 Green. |
-+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| Valid CAN Control Frame received within the last 100ms.                                   | LEDs blink Red in a counter-clockwise circular pattern (LED1 → LED4 → LED3 → LED2 → LED1).                                                                         |
-| 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
-
-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.
-
-+-------------+------------------+---------------+
-| Color       | Over Temperature | Under Voltage |
-+=============+==================+===============+
-| Green       | On               | Off           |
-+-------------+------------------+---------------+
-| Blue        | Off              | On            |
-+-------------+------------------+---------------+
-| Cyan / Aqua | On               | On            |
-+-------------+------------------+---------------+
-
-### 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
 
 .. image:: images/status-lights/venom.png
   :alt: The LED blink codes for the Venom.
 
-## 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.
-  :width: 600
-
-+----------------+-------+---------------------------------+
-| Power LED      | Off   | Power is not supplied           |
-|                +-------+---------------------------------+
-|                | Red   | Power is supplied               |
-+----------------+-------+---------------------------------+
-| Motor LED      | Red   | Forward direction               |
-|                +-------+---------------------------------+
-|                | Green | Reverse direction               |
-+----------------+-------+---------------------------------+
-| PWM Signal LED | Red   | No valid PWM signal is detected |
-|                +-------+---------------------------------+
-|                | Green | Valid PWM signal is detected    |
-+----------------+-------+---------------------------------+
-
-## 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.
-  :width: 600
-
-+----------------+------------------+---------------------------------------------------------+
-| Power LED      | Off              | Power is not supplied                                   |
-|                +------------------+---------------------------------------------------------+
-|                | Red              | Power is supplied                                       |
-+----------------+------------------+---------------------------------------------------------+
-| Motor LED      | Red              | Forward direction                                       |
-|                +------------------+---------------------------------------------------------+
-|                | Green            | Reverse direction                                       |
-+----------------+------------------+---------------------------------------------------------+
-| CAN Signal LED | Blinking quickly | No CAN devices are connected                            |
-|                +------------------+---------------------------------------------------------+
-|                | Off              | Connected to the roboRIO and the driver station is open |
-+----------------+------------------+---------------------------------------------------------+
-
 ## REV Robotics Servo Power Module
 
 .. image:: images/status-lights/rev-robotics-servo-power-module.png
@@ -582,7 +459,7 @@ When the center LED is off the device is operating in coast mode. When the cente
 
 ### Status LEDs
 
-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.
+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        |
@@ -596,7 +473,32 @@ Each channel has a corresponding status LED that will indicate the sensed state
 | Right/Forward Signal  | Solid Green    |
 +-----------------------+----------------+
 
-- 6V Power LED off, dim or flickering with power applied = Over-current shutdown
+- 6V Power LED off, dim, or flickering with power applied = Over-current shutdown
+
+## REV Robotics Servo Hub
+
+[REV Servo Hub Status LED Patterns](https://docs.revrobotics.com/rev-crossover-products/servo/servo-hub/servo-hub-status-led-patterns)
+
+### General Status LED
+
++-------------------------+----------------------------------------------------------------+
+| LED Color               | Status                                                         |
++=========================+================================================================+
+| Magenta Blinking        | Powered on but not connected to a controller or                |
+|                         | the REV Hardware Client                                        |
++-------------------------+----------------------------------------------------------------+
+| Blue Solid              | Connected to REV Hardware Client                               |
++-------------------------+----------------------------------------------------------------+
+| Solid Cyan              | Connected to a roboRIO or CAN controller                       |
++-------------------------+----------------------------------------------------------------+
+| Green Solid             | Connected to a Control Hub or RS-485 controller                |
++-------------------------+----------------------------------------------------------------+
+| Orange/Cyan Blinking    | Battery voltage is lower than 5.5V                             |
++-------------------------+----------------------------------------------------------------+
+| Orange/Yellow Blinking  | CAN fault detected                                             |
++-------------------------+----------------------------------------------------------------+
+| Orange/Magenta Blinking | Overcurrent fault                                              |
++-------------------------+----------------------------------------------------------------+
 
 ## Spike relay configured as a motor, light, or solenoid switch
 
diff --git a/source/docs/hardware/hardware-basics/wiring-pneumatics-pcm.rst b/source/docs/hardware/hardware-basics/wiring-pneumatics-pcm.rst
index 0341732870..5e4797c2c4 100644
--- a/source/docs/hardware/hardware-basics/wiring-pneumatics-pcm.rst
+++ b/source/docs/hardware/hardware-basics/wiring-pneumatics-pcm.rst
@@ -2,13 +2,18 @@
 
 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, refer to the [FIRST Pneumatics Manual](https://info.firstinspires.org/hubfs/web/program/frc/resources/pneumatics-manual.pdf).
+
+.. seealso:: For Pneumatic Control Module configuration and firmware updates using Phoenix Tuner, see the CTRE documentation:
+
+   - [CAN Bus Setup](https://v5.docs.ctr-electronics.com/en/stable/ch08_BringUpCAN.html) - Device IDs, firmware updates, and troubleshooting
+   - [PCM Bring-Up](https://v5.docs.ctr-electronics.com/en/stable/ch09_BringUpPCM.html) - Testing solenoids and compressor operation
 
 ## 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 :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.
+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
 
diff --git a/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst b/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst
index cb99695d59..858ea9a5dc 100644
--- a/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst
+++ b/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst
@@ -2,7 +2,9 @@
 
 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, refer to the [FIRST Pneumatics Manual](https://info.firstinspires.org/hubfs/web/program/frc/resources/pneumatics-manual.pdf).
+
+.. seealso:: For Pneumatic Hub configuration, firmware updates, and detailed technical specifications, see the [REV Pneumatic Hub Documentation](https://docs.revrobotics.com/ion-control-system/ph).
 
 .. raw:: html
 
@@ -16,7 +18,7 @@ This page describes wiring pneumatics with the REV Pneumatic Hub (:term:`PH`). F
 
 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.
+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
 
diff --git a/source/docs/hardware/sensors/gyros-hardware.rst b/source/docs/hardware/sensors/gyros-hardware.rst
index 054e9bec99..7ca47b4f3e 100644
--- a/source/docs/hardware/sensors/gyros-hardware.rst
+++ b/source/docs/hardware/sensors/gyros-hardware.rst
@@ -6,7 +6,7 @@
 
 Gyroscopes (or "gyros", for short) are devices that measure rate-of-rotation.  These are particularly useful for stabilizing robot driving, or for measuring heading or tilt by integrating (adding-up) the rate measurements to get a measurement of total angular displacement.
 
-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:
+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/)
@@ -37,7 +37,7 @@ Three-axis gyros measure rotation rate around all three spatial axes (typically
 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.
+  :alt: The 3 axis: yaw, pitch, and roll, and how they relate to robot movement.
   :width: 400
 
 .. note:: The coordinate system shown above is often used for three axis gyros, as it is a convention in avionics. Note that other coordinate systems are used in mathematics and referenced throughout WPILib. Please refer to the :ref:`Drive class axis diagram<docs/software/hardware-apis/motors/wpi-drive-classes:Axis Conventions>` for axis referenced in software.
diff --git a/source/docs/legal/privacy-policy.rst b/source/docs/legal/privacy-policy.rst
index 92a266df2f..6e3d793a80 100644
--- a/source/docs/legal/privacy-policy.rst
+++ b/source/docs/legal/privacy-policy.rst
@@ -8,7 +8,7 @@ WPILib-developed desktop applications do not collect personal information.  They
 
 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).
+[FIRST Privacy Policy](https://www.firstinspires.org/privacy-policy).
 
 ## Third-Party Data Collection
 
diff --git a/source/docs/networking/networking-introduction/ip-configurations.rst b/source/docs/networking/networking-introduction/ip-configurations.rst
index 6f8679190a..af28e4dc6e 100644
--- a/source/docs/networking/networking-introduction/ip-configurations.rst
+++ b/source/docs/networking/networking-introduction/ip-configurations.rst
@@ -1,6 +1,6 @@
 # IP Configurations
 
-This document describes the IP configuration used at events, both on the fields and in the pits, potential issues and workaround configurations.
+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 Address Notation
 
@@ -34,8 +34,17 @@ This section describes networking when using :term:`DHCP` to assign IP addresses
 
 ### 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``.
-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``.
+Both the Field Network and Robot Radio run DHCP servers with non-overlapping pools. The Field Network DHCP server provides an IP address for the Driver Station, and the Robot Radio provides IP addresses for devices onboard the robot. The IP ranges, subnet mask, and default gateway are listed in the table below.
+
++-----------------+-------------------------------------+-------------------------------------------------------------+
+|                 | Field Network                       | Robot Radio                                                 |
++=================+=====================================+=============================================================+
+| DHCP Range      | ``10.TE.AM.20`` to ``10.TE.AM.199`` | ``10.TE.AM.200`` to ``10.TE.AM.219``                        |
++-----------------+-------------------------------------+-------------------------------------------------------------+
+| Subnet Mask     | ``255.255.255.0``                   | ``255.255.255.0``                                           |
++-----------------+-------------------------------------+-------------------------------------------------------------+
+| Default Gateway | ``10.TE.AM.4``                      | ``10.TE.AM.4`` (``10.TE.AM.1`` if using the OpenMesh radio) |
++-----------------+-------------------------------------+-------------------------------------------------------------+
 
 -  Vivid-Hosting VH-109 Robot Radio - Static ``10.TE.AM.1`` programmed by Kiosk
 -  roboRIO - DHCP ``10.TE.AM.2`` assigned by the Robot Radio
diff --git a/source/docs/networking/networking-introduction/measuring-bandwidth-usage.rst b/source/docs/networking/networking-introduction/measuring-bandwidth-usage.rst
index cb4738b99d..61b0048d31 100644
--- a/source/docs/networking/networking-introduction/measuring-bandwidth-usage.rst
+++ b/source/docs/networking/networking-introduction/measuring-bandwidth-usage.rst
@@ -2,7 +2,7 @@
 
 # Measuring Bandwidth Usage
 
-On the FRC\ |reg| Field each team is allocated limited network bandwidth (see R704 in the 2025 manual). 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 2026 manual). Some teams may wish to measure their overall bandwidth consumption. This document details how to make that measurement.
 
 ## Measuring Bandwidth Using the Performance Monitor (Win 7/10)
 
@@ -59,7 +59,7 @@ In the ``Maximum Box`` under ``Vertical Scale`` enter 524288 (this is 4 Megabits
 .. 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 524,288. 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.  he 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
 
diff --git a/source/docs/romi-robot/getting-to-know-romi.rst b/source/docs/romi-robot/getting-to-know-romi.rst
index 4bb68d96be..20c67e42e8 100644
--- a/source/docs/romi-robot/getting-to-know-romi.rst
+++ b/source/docs/romi-robot/getting-to-know-romi.rst
@@ -2,7 +2,7 @@
 
 ## Directional Conventions
 
-The front of the Romi is where the Raspberry Pi USB ports, GPIO pins and suspended caster wheel are.
+The front of the Romi is where the Raspberry Pi USB ports, GPIO pins, and suspended caster wheel are.
 
 .. image:: images/getting-to-know-romi/romi-front-view.png
    :alt: Romi Front View
@@ -88,7 +88,7 @@ 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 a :term:`no-op`.
+Writes to DIO 0, 4, 5, 6, and 7 will result in a :term:`no-op`.
 
 ### Configurable GPIO Pins
 
@@ -99,7 +99,7 @@ The control board has 5 configurable GPIO pins (named EXT0 through EXT4) that al
 
 All 5 pins support the following modes: Digital IO, Analog In, and PWM (with the exception of EXT 0, which only supports Digital IO and PWM). The mode of the ports can be configured with :ref:`The Romi Web UI <docs/romi-robot/web-ui:External IO Configuration>`.
 
-The GPIO channels are exposed via a 3-pin, servo style interface, with connections for Ground, Power and Signal (with the Ground connection being closest to the edge of the board, and the signal being closest to the inside of the board).
+The GPIO channels are exposed via a 3-pin, servo style interface, with connections for Ground, Power, and Signal (with the Ground connection being closest to the edge of the board, and the signal being closest to the inside of the board).
 
 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.
 
diff --git a/source/docs/romi-robot/index.rst b/source/docs/romi-robot/index.rst
index 7d2d2198a6..fb0995f1ec 100644
--- a/source/docs/romi-robot/index.rst
+++ b/source/docs/romi-robot/index.rst
@@ -1,8 +1,10 @@
+.. include:: <isonum.txt>
+
 # 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 :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.
+The Romi is a small and inexpensive robot designed for learning about programming FRC\ |reg| 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 [FIRST Training](https://training.firstinspires.org/catalog?labels=%5B%22Topics%22%5D&values=%5B%22Programming%22%5D). [Part 1](https://training.firstinspires.org/courses/java-programming-part-1) takes users through setup of the hardware and software, methods, objects, conditionals, variables, and equations. [Part 2](https://training.firstinspires.org/courses/java-programming-part-2) covers command based programming, driving and inputs, advanced conditionals and logical operators, command groups, arrays, and loops, and errors and troubleshooting.
 
 .. image:: images/romi.png
    :alt: Romi Robot
diff --git a/source/docs/romi-robot/programming-romi.rst b/source/docs/romi-robot/programming-romi.rst
index 797f38a7ea..48348c6ebc 100644
--- a/source/docs/romi-robot/programming-romi.rst
+++ b/source/docs/romi-robot/programming-romi.rst
@@ -38,7 +38,7 @@ 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/v2025.3.1/vscode-wpilib/resources/gradle/javaromi/build.gradle
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2026.2.1/vscode-wpilib/resources/gradle/javaromi/build.gradle
    :language: groovy
    :lines: 44-47
    :lineno-match:
diff --git a/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst b/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
index 84e60773bc..145caadf79 100644
--- a/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
+++ b/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
@@ -84,58 +84,31 @@ The returned setpoint might then be used as in the following example:
 
 .. tab-set-code::
 
-  ```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
-  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
-          + self.feedforward.calculate(self.controller.getSetpoint().velocity, acceleration))
-      self.lastSpeed = controller.getSetpoint().velocity
-      self.lastTime = Timer.getFPGATimestamp()
-  ```
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/profiledpidfeedforward/Robot.java
+      :language: java
+      :lines: 37-44
+      :lineno-match:
+
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
+      :language: c++
+      :lines: 25-32
+      :lineno-match:
+
+   .. code-block:: python
+
+      from wpilib.controller import ProfiledPIDController
+      from wpilib.controller import SimpleMotorFeedforward
+      def __init__(self):
+          # Assuming encoder, motor, controller are already defined
+          self.lastSpeed = 0
+          # 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)
+          self.motor.setVoltage(
+              pidVal
+              + self.feedforward.calculate(self.lastSpeed, self.controller.getSetpoint().velocity))
+          self.lastSpeed = self.controller.getSetpoint().velocity
 
 ## Complete Usage Example
 
@@ -143,12 +116,12 @@ A more complete example of ``ProfiledPIDController`` usage is provided in the El
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
     :language: java
     :lines: 5-
     :lineno-match:
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
     :language: c++
     :lines: 5-
     :lineno-match:
diff --git a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
index a7af8959fa..2e62bb99a5 100644
--- a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
+++ b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
@@ -162,12 +162,12 @@ A more complete example of ``TrapezoidProfile`` usage is provided in the Elevato
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
     :language: java
     :lines: 5-
     :lineno-match:
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
     :language: c++
     :lines: 5-
     :lineno-match:
diff --git a/source/docs/software/advanced-controls/controls-glossary.rst b/source/docs/software/advanced-controls/controls-glossary.rst
index 10b754cd20..fda9fe704c 100644
--- a/source/docs/software/advanced-controls/controls-glossary.rst
+++ b/source/docs/software/advanced-controls/controls-glossary.rst
@@ -148,7 +148,7 @@
       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:`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.
+        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`.
diff --git a/source/docs/software/advanced-controls/fire-control/dynamic-shooting.rst b/source/docs/software/advanced-controls/fire-control/dynamic-shooting.rst
new file mode 100644
index 0000000000..c01aeb6ea3
--- /dev/null
+++ b/source/docs/software/advanced-controls/fire-control/dynamic-shooting.rst
@@ -0,0 +1,80 @@
+Dynamic Shooting via Time-of-Flight Recursion
+=============================================
+
+This section extends the look-up table approach we used for the static problem, and expands it with a simple recursion to handle moving targets and/or moving robots.  Crucially, we will use the *time-of-flight* parameter that we recorded ahead-of-time in the look-up table to predict the position of the target at the moment when the gamepiece will arrive.  Because the adjusted shot will in general have its own time-of-flight, this gives us a "feedback" loop that we can use to iteratively refine our shot.  Typically, this converges to the correct shot within a small number (3-5) of iterations.
+
+The Problem
+-----------
+
+As before, we want to launch the game piece on a trajectory that will end up in the goal.  But now, the target and/or the robot are moving.  So, it is not enough to just plug the starting position into the look-up table and use the corresponding control variables to reproduce the shot; by the time the gamepiece arrives at the goal, the target will have moved to a new relative position.  We need to adjust our shot to account for the new relative position.
+
+The Solution
+------------
+
+We assume we have a look-up table populated as in described in the previous section, including time-of-flight measurements for each entry.  We:
+
+1. Determine the relative position *and velocity* of the target from the robot.  The position tells us where to start in the look-up table, and the velocity tells us how to adjust the shot to account for the relative motion of the robot and the target given the time-of-flight of the shot.
+2. Interpolate between the nearest recorded positions in the look-up table to find the corresponding *time-of-flight* for the shot.
+3. Use the time-of-flight to predict the relative position of the target at the moment when the gamepiece will arrive.  This is a simple calculation: we multiply the relative velocity vector to the target by the time of flight, and add it to the relative position of the target at the moment when the shot was taken.  This gives us a *new* value to look up in the look-up table, with its own time-of-flight and control variables.
+4. Return to step 2, checking the table for the time-of-flight of the *adjusted* shot.  If it has changed substantially, we repeat the process; if it is stable, the iteration has converged and we proceed to the next step.  It typically takes no more than 3-5 iterations to converge.
+5. Once the iteration has converged, we use the control variables found in the look-up table to shoot the game piece.
+
+We do not need to involve the control variables for the intermediate steps in the recursion; we iterate *only* on the time-of-flight.  This is a key computational advantage of this approach: it works implicitly on the *geometry* of the look-up table, which *implicitly* encodes the physics of the problem in such a way that the motion-adjustment becomes independent of the specifics of the shooting mechanism physics (except as is latent in the structure of the time-of-flight measurements in the look-up table).
+
+If we did not record the time-of-flight measurements in the look-up table, we would need to calculate the time-of-flight for each shot from the control variables, which would involve a physics model.  Measuring the time-of-flight at the time of table construction gives us enough surplus information to avoid the need for explicit physics modeling at all.
+
+Interactive Visualization
+-------------------------
+
+Interact with the simulation below to see how the dynamic shooting recursion algorithm works.  Use **Simulation** mode to drag the robot velocity and step through iterations.  Use **Fractal (Iterations)** to see a heatmap of iterations-to-convergence over velocity space, or **Fractal (Stability)** to see shot stability (0 = stable, 1 = fragile) with the same geodesic and convergence envelope.
+
+.. note:: The view is a top-down 2D game field: the robot is blue, the target orange.  In **Simulation** mode the (draggable) robot velocity vector shows motion.  For each iteration, the virtual target (green) is offset by time-of-flight times robot velocity; the actual trajectory (red) shows where the shot would land.  In **Fractal (Iterations)** the same envelope and geodesic are overlaid on a heatmap of how many iterations until convergence at each velocity (green = fast, red = slow or no convergence).  In **Fractal (Stability)** the heatmap shows the contraction-based stability indicator (darker = more stable).  The purple geodesic is the "maximum stability" curve (orbiting the virtual target).  The dashed blue line is the convergence envelope; the solid blue line is the reachability boundary — outside it the shot is geometrically impossible.
+
+.. raw:: html
+
+    <div class="viz-div" id="dynamic_shooting_container">
+      <div class="flex-grid">
+         <div class="col" id="dynamic_shooting_viz"></div>
+         <div id="dynamic_shooting_ctrls"></div>
+      </div>
+      <script>
+         dynamic_shooting = new DynamicShootingWidget("dynamic_shooting");
+      </script>
+    </div>
+
+Note that the convergence behavior depends critically on the projectile velocity; as the projectile velocity increases, the convergence envelope expands, and the algorithm becomes more robust to errors in the robot velocity estimate.  Increasing iteration count also increases the convergence envelope, but this rapidly "saturates" and the difference between 5 and 10 iterations is quite small.
+
+The "inverted NASA logo" shape of the convergence envelope generally follows the shape of the "maximum recursion stability" geodesic, which *under the assumptions of this simulation* (constant horizontal projectile velocity, no drag) follows the equation :math:`v_r = v_p \cot(\theta)`.  For velocities along this geodesic, the robot is in an instantaneous orbit around the virtual target, meaning the time-of-flight of the shot is not changing as the robot moves.  Perhaps surprisingly, under these assumptions, the curve does not depend on the distance to the target.
+
+Convergence is worst in a direct sprint towards or away from the target - in these cases, shot solution is maximally-sensitive to errors in the robot velocity estimate.  Direct lateral motion is also not great.  Along the "maximum stability" geodesic, there are two "wings" of stable convergence; we can see that it is optimal (in terms of motion-compensation stability) to approach a target diagonally, rather than head-on.
+
+In "fractal" mode, we can see the region of poor convergence visually as a "Mach cone" in the direction of the target.  This is much like the sonic boom of a supersonic aircraft, but in this case the "shock" is caused by the robot velocity exceeding the projectile speed (instead of the speed of sound).
+
+Shot Quality in Practice
+-------------------------
+
+While *eventual* convergence is theoretically guaranteed for any velocity vector within the reachability boundary, truncating the iteration in poorly conditioned regions can produce a qualitatively wrong firing solution (the turret points the wrong way entirely).  You can use two complementary ideas to decide when a shot is trustworthy.
+
+**Platform Velocity Magnitude**  The biggest factor in shot quality while moving is, perhaps unsurprisingly, the magnitude of the platform velocity.  When the platform velocity is large, there are two effects working against you:
+
+- The faster the platform moves, the bigger the displacement error caused by a given time-of-flight error.
+- The faster the platform moves, the higher the uncertainty in the platform velocity itself.
+
+**Shot Stability**  A second-order effect that is still important to consider when making a shot is the "stability" of the shot solution - how sensitive the shot trajectory is to small changes in the platform velocity.  You can estimate the shot stability by the "contraction rate of the fixed-point iteration":
+
+.. math::
+
+   |\phi'| = \left| \frac{\tau_{n} - \tau_{n-1}}{\tau_{n-1} - \tau_{n-2}} \right|
+
+.. note:: When computing this value from an actual iteration, it is easy to get a divide-by-zero error in this meta-calculation if we iterate too far (even though the iteration itself will still converge) - it is best to use the last two difference terms that are greater than the machine error.
+
+The contraction rate varies between 0 (stable, fast convergence) and 1 (fragile, slow convergence).  We can see in the "stability" mode in the visualization how the most-stable shots are those that are along the "maximum stability" geodesic, and how the most-fragile shots are those that are directly towards or away from the target.  This gives us a way to judge the appropriateness-for-shooting of our *approach angle*, independent of how fast we are moving.
+
+Both of these are **qualitative** metrics - turning them into explicit error bounds requires a physics model and a lot of additional computation.  But they are still useful for guiding the driver's decision-making process, and can be used with tuned thresholds to trigger warnings or withhold shots entirely.  There is no "correct" threshold for these metrics - they are dependent on the specific shooting mechanism and the desired risk tolerance.
+
+The Effect of Firing Strategy
+-----------------------------
+
+Whether the "constant horizontal shot velocity" assumption is valid depends on the implicit firing strategy of your look-up table; to achieve a look-up table whose convergence envelope looks *exactly* like the plot above, you would need to choose shots such that the horizontal component of the projectile velocity is constant.  This may not be possible - or optimal - for your particular shooting mechanism; but the general shape of the convergence envelope for a modified shooting strategy will still "rhyme" with the simulation above, unless you adopt a firing strategy that fundamentally changes the problem's ballistic geometry.
+
+It is fairly easy to generate a convergence plot using your actual look-up table, if you wish to know the exact shape of the convergence envelope for your particular shooting strategy - simply run the recursion along a series of rays in velocity space, and plot the maximum velocity that converges within the given number of iterations for each ray (convergence is typically defined as the time-of-flight changing by less than a certain tolerance, though you can also just check that the final landing position is within a certain tolerance of the target).
diff --git a/source/docs/software/advanced-controls/fire-control/index.rst b/source/docs/software/advanced-controls/fire-control/index.rst
new file mode 100644
index 0000000000..7c149d3ac0
--- /dev/null
+++ b/source/docs/software/advanced-controls/fire-control/index.rst
@@ -0,0 +1,26 @@
+Fire Control
+============
+
+.. note:: Fire control is a difficult problem, and depends on the shooting mechanism and the gamepiece.  This sequence of articles covers one approach to solving fire-control in a "soft" conceptual manner that can apply to many different shooting mechanisms and gamepieces.  We do not provide example code; the core concept is so simple that working example code would be 90% distracting details of the assumed game context, and 10% fire-control algorithm.  If you understand the concepts presented here, you will be able to apply them to your own robot and gamepiece.
+
+This section describes software approaches for aiming a robot's shooting mechanism at a goal.  Technical literature calls this "fire control", as it was first (and remains primarily) studied in the context of aiming artillery.
+
+While it is possible to solve fire control problems directly from a mathematical model of the shooting mechanism and gamepiece, we do not cover that approach here.  Instead, we cover a simpler approach that is more general and easier to understand, and which can be applied to many different shooting mechanisms and gamepieces: recursion.
+
+Fire control by recursion follows the pattern of "lead-and-adjust":
+1. We start with a guess at the time of flight to the target.
+2. We use this guess to **lead** our shot by offsetting the target position by the predicted platform motion over the time of flight.
+3. Our new 'virtual target' will have its own time of flight, so we need to **adjust** our lead accordingly.
+4. We repeat this process until the time of flight stops changing; at this point, the shot solution has converged and shooting at the 'virtual target' should hit the real one.
+
+Chances are, if you've ever thrown a ball at a moving target, you've already done this kind of "lead-and-adjust" in your head.
+
+In addition to conceptual simplicity, recursion has another advantage: it provides its own error analysis.  By watching how the recursion converges, we can see how accurate the solution is likely to be.  The interactive visualization in the dynamic shooting article allows you to explore this behavior graphically.
+
+.. toctree::
+   :maxdepth: 1
+
+   static-shooting
+   dynamic-shooting
+   newton-shooting
+   linear-drag
diff --git a/source/docs/software/advanced-controls/fire-control/linear-drag.rst b/source/docs/software/advanced-controls/fire-control/linear-drag.rst
new file mode 100644
index 0000000000..d18f95f8ca
--- /dev/null
+++ b/source/docs/software/advanced-controls/fire-control/linear-drag.rst
@@ -0,0 +1,111 @@
+Linear Drag (First-Order Air Friction)
+======================================
+
+.. note:: At higher velocities, drag force is better-modeled as including quadratic (squared) velocity term, in addition to the linear one.  This is a more accurate model, but it is also more complex to compute.  We will not cover that model here, but you can read more about it in the [Drag (physics)](https://en.wikipedia.org/wiki/Drag_%28physics%29#Low_Reynolds_numbers:_Stokes'_drag) article on Wikipedia.  Most FRC game projectiles are small enough and slow enough that the linear drag model is a good approximation.
+
+The previous articles assumed that over a time interval :math:`\tau`, the platform (robot) displacement due to its velocity :math:`\mathbf{v}` is simply :math:`\mathbf{v}\,\tau` — Galilean relativity.  That is exact in vacuum.  If the projectile or the motion-adjustment is instead modeled with **linear drag** (Stokes drag), the effective displacement over time :math:`\tau` takes a different form.
+
+But Don't We Already Account for Drag?
+--------------------------------------
+
+One of the benefits of using a firing table rather than a mathematical model is that it automatically accounts for the effect of drag (so long as we have populated it by firing shots at different distances and tuning the table entries until the shots go in).  You may then wonder - why do we need a drag adjustment at all?
+
+While the firing table accounts for the effect of drag induced by the motion of the projectile, it does *not* account for **induced windage** - the effect of the platform's motion on the projectile's drag.
+
+Fortunately, because we are only considering *linear* drag, the effect of the induced windage is strictly additive; it does not interact with the "free" drag adjustment that we already have implicit in our firing table.  Since we are already displacing the target by a distance depending on our time of flight, it would be convenient if we could simply adjust that displacement in a simple way that correctly accounts for the induced windage without having to modify the firing table.
+
+It turns out, we can do exactly that - the adjustment is simple, elegant, and introduces only a single new parameter: the drag constant :math:`k`.
+
+Platform-Induced Motion under Linear Drag
+-----------------------------------------
+
+Both of our methods for solving the dynamic shooting problem require us to compute the platform-induced displacement over time :math:`\tau`.  Recall that, not taking into account the drag, the displacement is simply :math:`\mathbf{v}\,\tau`.
+
+Under linear drag, displacement over time is not simply linear; it decays exponentially at a rate determined by the drag constant :math:`k`:
+
+.. math::
+
+   \Delta\mathbf{x} \;=\; \mathbf{v}\;\frac{1 - e^{-k \tau}}{k}
+
+So instead of :math:`\mathbf{v}\,\tau`, we have :math:`\mathbf{v}\,\alpha(\tau)` with an **effective time-of-flight**:
+
+.. math::
+
+   \alpha(\tau) \;=\; \frac{1 - e^{-k \tau}}{k}
+
+In the case of short flight times or low drag constants, :math:`\alpha(\tau) \approx \tau`, so the effective time-of-flight is approximately the original time-of-flight.  This is our original Galilean displacement.
+
+As :math:`\tau` increases, :math:`\alpha(\tau)` approaches :math:`\frac{1}{k}`.  This asymptote represents the limit of the effect of the platform's motion on the projectile; once the platform-induced velocity has decayed to zero, further flight time does not cause any additional platform-induced displacement.
+
+This effective time-of-flight is easy to compute, and can be applied to both the fixed-point iteration and Newton's method.
+
+Fixed-Point Iteration with Linear Drag (TOF Recursion)
+------------------------------------------------------
+
+The recursion is unchanged in form: we repeatedly look up the TOF for the current virtual distance and use that TOF to update the virtual target:
+
+1. Given a TOF guess :math:`\tau_n`, form the effective time-of-flight :math:`\alpha(\tau_n)`
+2. Calculate the virtual target offset using the effective time-of-flight: :math:`\mathbf{v}\,\alpha(\tau_n)`
+3. Look up the time-of-flight for the distance to the virtual target in the look-up table, and repeat until converged.
+
+There's no need to modify the look-up table or change any other step in the recursion; the **only** change is to use the effective time-of-flight instead of the original time-of-flight when computing the virtual target offset.
+
+Newton's Method with Linear Drag
+--------------------------------
+
+The same substitution applies, but we need to be intentional about where we apply it - we need to adjust both the residual (by computing it from the drag-adjusted virtual distance) and the derivative (by computing it from the drag-adjusted virtual distance's derivative).  Define the TOF error as before, but with the drag-adjusted virtual distance:
+
+.. math::
+
+   E(\tau) \;=\; \tau \;-\; \tau\!\bigl(D(\tau)\bigr)
+   \qquad\text{where}\qquad
+   \mathbf{d}(\tau) \;=\; (\mathbf{g} - \mathbf{r}) \;-\; \mathbf{v}\,\alpha(\tau)
+   \,,\quad D(\tau) \;=\; \lvert\mathbf{d}(\tau)\rvert
+
+Newton's method still iterates :math:`\tau_{n+1} = \tau_n - E(\tau_n)/E'(\tau_n)`.  The derivative :math:`E'(\tau)` now includes the effect of :math:`\alpha(\tau)`.  Since :math:`d\mathbf{d}/d\tau = -\mathbf{v}\,\alpha'(\tau)`:
+
+.. math::
+
+   \frac{dD}{d\tau}
+   \;=\; \frac{\mathbf{d} \cdot (-\mathbf{v}\,\alpha'(\tau))}{D}
+   \;=\; -\alpha'(\tau)\;\frac{d_x\, v_x + d_y\, v_y}{D}
+
+So the error derivative is (chain rule, same as before but with the extra :math:`\alpha'(\tau)` factor):
+
+.. math::
+
+   E'(\tau) \;=\; 1 \;-\; \tau'(D)\,\frac{dD}{d\tau}
+            \;=\; 1 \;+\; \tau'(D)\,\alpha'(\tau)\;\frac{d_x\, v_x + d_y\, v_y}{D}
+
+With the constant-velocity proxy :math:`\tau'(D) \approx 1/v_p`:
+
+.. math::
+
+   E'(\tau) \;=\; 1 \;+\; \alpha'(\tau)\;\frac{d_x\, v_x + d_y\, v_y}{v_p\; D}
+
+For linear drag, :math:`\alpha(\tau) = (1 - e^{-k\tau})/k`, so:
+
+.. math::
+
+   \alpha'(\tau) \;=\; e^{-k\tau}
+
+and the Newton step is fully explicit: residual uses your LUT (and :math:`\alpha(\tau)` in :math:`D(\tau)`), denominator uses :math:`1/v_p` and :math:`\alpha'(\tau) = e^{-k\tau}`.
+
+This gives us a correct drag-adjusted convergence target (because our residual is computed from the drag-adjusted virtual distance) and a faster-converging Newton step (because the derivative is computed from the drag-adjusted virtual distance's derivative).
+
+The Drag Constant :math:`k`
+---------------------------
+
+Our linear drag adjustment in either case introduces a single new parameter: the drag constant :math:`k`.  This corresponds to the "time constant" of the linear drag decay: after time :math:`\tau = 1/k`, the velocity has decayed to :math:`e^{-1} \approx 0.368` of its initial value (and the displacement over that time is :math:`\mathbf{v}\,\alpha(1/k) = \mathbf{v}\,(1 - e^{-1})/k`).
+
+We can "eyeball" the drag constant by launching a gamepiece and counting the seconds for it to lose a bit more than half its initial velocity, and taking the reciprocal.
+
+Alternatively, we can launch a projectile at a sufficiently high velocity that the drag brings it to a (horizontal) stop (meaning that it is falling vertically when it hits the ground).  This is the "asymptote" case we discussed earlier, of :math:`\alpha(\tau) \to \frac{1}{k}` as :math:`\tau \to \infty`; noting that corresponding the displacement of this asymptote :math:`\frac{\mathbf{v}}{k}` depends only on the drag constant and the initial velocity, we can use the initial velocity and the measured shot distance :math:`d` to solve for the drag constant:
+
+.. math::
+
+   k = \frac{\mathbf{v}}{d}
+
+This is, of course, only as accurate as the measurements of the initial velocity and the shot distance.
+
+Or, ultimately, we can just tune the drag constant in the actual robot code until the shots go in at high platform speeds (remember, the firing table should already account for the effect of drag on stationary shots, so we are tuning for the induced windage effect alone).  This is perfectly acceptable, and is the simplest method if we are not able to measure the drag constant experimentally.
diff --git a/source/docs/software/advanced-controls/fire-control/newton-shooting.rst b/source/docs/software/advanced-controls/fire-control/newton-shooting.rst
new file mode 100644
index 0000000000..4878d19cd7
--- /dev/null
+++ b/source/docs/software/advanced-controls/fire-control/newton-shooting.rst
@@ -0,0 +1,163 @@
+Newton's Method for Dynamic Shooting
+=====================================
+
+The previous article described the time-of-flight recursion — a fixed-point iteration that converges to the correct shot by repeatedly looking up the TOF from the adjusted target position.  This works well and is simple to implement, but the fixed-point iteration can be slow to converge for certain robot velocities (as we saw in the convergence fractal).  This article describes a Newton's method reformulation that converges much faster — and discusses why faster convergence does not necessarily mean better shots.
+
+The Reformulation
+-----------------
+
+We first introduce notation.  Let:
+
+- :math:`\mathbf{r}` — robot position
+- :math:`\mathbf{g}` — goal (target) position
+- :math:`\mathbf{v} = (v_x,\; v_y)` — robot velocity
+- :math:`v_p` — horizontal projectile speed
+- :math:`\tau` — time of flight
+
+As the robot moves, the *virtual target* shifts opposite to the robot's velocity.  The firing table maps distance to time of flight; call this mapping :math:`\tau(D)`.  It may be the constant-velocity model :math:`\tau(D) = D / v_p`, or an empirical lookup table (LUT).  The fixed-point iteration is :math:`\tau_{n+1} = \tau(D(\tau_n))` — we converge to the TOF that the table implies for the current geometry.  To use Newton's method instead, we define the *TOF error* :math:`E(\tau) = \tau - \tau(D(\tau))` and iterate:
+
+.. math::
+
+   \tau_{n+1} \;=\; \tau_n \;-\; \frac{E(\tau_n)}{E'(\tau_n)}
+
+The rest of this section is a recipe for computing :math:`E` and :math:`E'` at the current guess :math:`\tau_n`, so you can plug them into the equation above.  We will adopt the strategy of using the exact LUT residual :math:`E` and a constant-velocity approximation for the derivative :math:`E'`, as this gives us the best of both worlds: it converges quickly and is relatively insensitive to noise.
+
+Step 1 — Geometry at the current guess
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+At the current TOF guess :math:`\tau_n`, compute the displacement to the virtual target and its distance:
+
+.. math::
+
+   d_x \;=\; (g_x - r_x) \;-\; v_x\,\tau_n
+   \qquad
+   d_y \;=\; (g_y - r_y) \;-\; v_y\,\tau_n
+   \qquad
+   D \;=\; \sqrt{d_x^2 + d_y^2}
+
+(Equivalently, :math:`\mathbf{d} = (\mathbf{g} - \mathbf{r}) - \mathbf{v}\,\tau_n` and :math:`D = \lvert\mathbf{d}\rvert`.)
+
+Step 2 — The error (residual)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Compute the TOF error.  The table says that distance :math:`D` corresponds to time of flight :math:`\tau(D)`; we want that to equal our guess, so the error is:
+
+.. math::
+
+   E \;=\; \tau_n \;-\; \tau(D)
+
+- **Exact LUT residual:** We use the empirical residual at this step: look up :math:`\tau(D)` in your table (or interpolate); :math:`E = \tau_n - \tau_{\mathrm{LUT}}(D)`.  This ensures that we converge to the correct (empirical) TOF, rather than the TOF implied by the constant-velocity model.
+
+Step 3 — Rate of change of distance with respect to :math:`\tau`
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+In order to compute the error derivative, we need to know how the distance changes with respect to the TOF.
+
+As we increase the TOF guess, the virtual target moves; :math:`d_x` and :math:`d_y` each change by :math:`-v_x` and :math:`-v_y` per unit :math:`\tau`.  So the rate at which :math:`D` changes is:
+
+.. math::
+
+   \frac{dD}{d\tau} \;=\; -\frac{d_x\, v_x + d_y\, v_y}{D}
+
+(This is negative when the robot has a component of velocity toward the target — increasing :math:`\tau` shortens the distance.)  In vector form, the same quantity is :math:`\mathbf{d} \cdot (-\mathbf{v}) / D`.
+
+Step 4 — The error derivative :math:`E'`
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Now, to find the error derivative we can use the chain rule, :math:`E' = 1 - \tau'(D)\,(dD/d\tau)`.  We need :math:`\tau'(D)`, which we can find by differentiating :math:`\tau(D) = D/v_p` with respect to :math:`D`:
+
+.. math::
+
+   \tau'(D) \;=\; \frac{d}{dD} \left( \frac{D}{v_p} \right) \;=\; \frac{1}{v_p}
+
+So, the error derivative is:
+
+.. math::
+
+   E' \;=\; 1 \;-\; \frac{1}{v_p} \cdot \left( -\frac{d_x\, v_x + d_y\, v_y}{D} \right) \;=\; 1 \;+\; \frac{d_x\, v_x + d_y\, v_y}{v_p\, D}
+
+- **Constant-velocity approximation:** The derivative is used to determine the step size for the Newton update; to reduce noise-sensitivity, we use an approximate derivative :math:`\tau'(D) \approx 1/v_p` instead of the exact derivative (which would require differentiating the firing table).  Because we use the empirical residual, this approximation will still converge to the correct TOF; using the exact derivative would potentially speed up convergence slightly, but at the cost of introducing noise amplification.
+
+Step 5 — Newton update
+^^^^^^^^^^^^^^^^^^^^^^
+
+Using the values of :math:`E` and :math:`E'` from the steps above:
+
+.. math::
+
+   \tau_{n+1} \;=\; \tau_n \;-\; \frac{E}{E'}
+
+Repeat from Step 1 with :math:`\tau_{n+1}` as the new guess until converged.
+
+Picking an Initial Guess
+------------------------
+
+Our fixed-point recursion started with a guess of the time of flight to the target from a non-moving platform.  One benefit of the "naive" fixed-point recursion is that it is relatively insensitive to this initial guess; there's not much benefit to picking a better initial guess, because doing so would only help in regions where the convergence is garbage anyway.
+
+Newton's method is more powerful, but at a cost: it is more sensitive to the initial guess than the simpler fixed-point iteration.  If the initial guess is too far from the true solution, the iteration may converge to an inappropriate solution.  The time of flight error function above in fact has *two* roots (because there are two possible solutions to the shot-geometry problem); which one we converge to depends on the initial guess.
+
+For example, if we sprint towards the target at a speed greater than the projectile speed, the initial guess from our fixed-point recursion will force us to converge to a virtual target that is *behind* the platform.  This is a "correct" solution, but it is not the one we want.
+
+To avoid this, we need to pick an initial guess that is close to the true solution.  We can do this by using our constant-projectile-velocity model to direct-solve the case of motion directly towards or away from the target in terms of platform and projectile velocities:
+
+.. math::
+
+   \tau = \frac{D}{v_p + |\mathbf{v}|}
+
+We can use this formula for a general platform velocity by projecting the platform velocity onto the direction of the target:
+
+.. math::
+
+   \tau = \frac{D}{v_p + |\mathbf{v}|\cos(\theta)}
+
+where :math:`\theta` is the angle between the platform velocity and the target.
+
+This gives us an initial guess that is close to the desired solution regardless of the platform velocity, and guarantees good convergence behavior across the entire region of reachable velocity space.
+
+Interactive Visualization
+-------------------------
+
+Use the visualization below to compare Newton's method to the fixed-point iteration.  The two **Simulation** modes let you drag the robot velocity vector and step through iterations for each solver; **Fractal (Newton)** and **Fractal (Fixed-Point)** show convergence heatmaps.
+
+.. note:: The color scale differs between methods: Newton typically converges in 1-3 iterations, while the fixed-point iteration may take hundreds.  The legend adjusts automatically.  In both fractals, the same geodesic (purple) and convergence envelope (blue) are overlaid.
+
+.. raw:: html
+
+    <div class="viz-div" id="newton_shooting_container">
+      <div class="flex-grid">
+         <div class="col" id="newton_shooting_viz"></div>
+         <div id="newton_shooting_ctrls"></div>
+      </div>
+      <script>
+         newton_shooting = new NewtonShootingWidget("newton_shooting");
+      </script>
+    </div>
+
+Toggle between **Fractal (Newton)** and **Fractal (Fixed-Point)** to see the dramatic reduction in iteration count.  The fixed-point fractal's intricate banding structure — hundreds of iterations near the Mach cone boundary — collapses to a near-uniform 2–3 iterations under Newton's method.  The convergence envelope (blue) also expands significantly: Newton converges in regions where fixed-point iteration fails entirely within the same iteration budget.
+
+Convergence Does Not Equal Quality
+-----------------------------------
+
+Newton's method converges to the correct geometric solution in very few iterations.  But the "correct geometric solution" in the ill-conditioned region of velocity space is still ill-conditioned.  Newton finds it faster; it doesn't make it less fragile.
+
+The fixed-point fractal was warning you about the physics, not the numerics.  The fine structure of the convergence bands reflects the sensitivity of the time-of-flight to small changes in robot velocity — a property of the problem geometry, not the solver.  A shot that takes 500 fixed-point iterations to converge takes 3 Newton iterations to reach the same answer, but that answer is equally sensitive to velocity error.
+
+Where Newton does genuinely help is in preventing a *bad failure mode*: in a real-time control loop with a hard iteration budget, the fixed-point iteration in the ill-conditioned region might be cut off mid-oscillation, producing a qualitatively wrong firing solution (the turret points the wrong way entirely).  Newton, by converging quickly, ensures that the solver is not the reason you miss — the miss, if it happens, is the physics' fault, not the numerics'.
+
+Proxy Derivatives for Empirical Tables
+---------------------------------------
+
+As derived above, the *middleground* for empirical tables is: residual :math:`E(\tau) = \tau - \tau_{\mathrm{LUT}}(D(\tau))` (so the fixed point is the table's TOF), derivative :math:`E'(\tau) = 1 + (d_x v_x + d_y v_y)/(v_p D)` using the constant-velocity proxy :math:`\tau'(D) \approx 1/v_p` (so the table is never differentiated).  In the constant-velocity model, :math:`\tau'(D) = 1/v_p` is exact and Newton achieves quadratic convergence.  With a LUT, using :math:`1/v_p` as a proxy gives a quasi-Newton iteration that:
+
+- Converges faster than fixed-point (the proxy provides a damped Newton correction)
+- Does not require differentiating the firing table (no noise amplification)
+- Degrades gracefully: for drag, the true :math:`\tau'(D) > 1/v_p`, so the proxy undershoots the correction — a *stabilizing* error that slows convergence slightly but never causes divergence
+
+The convergence rate of this proxy-Newton approach sits between linear (fixed-point) and quadratic (exact Newton), with the gap depending on how much drag distorts :math:`\tau'(D)` from :math:`1/v_p`.  For FRC-class projectiles where drag is modest, the distortion is small and you get nearly the full Newton speedup for free.
+
+Shot Quality in Practice
+-------------------------
+
+Newton's method converges to the correct solution in a few iterations even in the Mach cone region, but it does not change the physics: the shot is still fragile there if the robot velocity is wrong.
+
+Therefore, the shot quality metrics discussed in the previous article are still important to consider when making a shot, and it can be useful to run a few iterations of fixed-point iteration to get a sense of the shot stability, *even when your shot solution comes from Newton's method*.
diff --git a/source/docs/software/advanced-controls/fire-control/static-shooting.rst b/source/docs/software/advanced-controls/fire-control/static-shooting.rst
new file mode 100644
index 0000000000..09c6d10c4f
--- /dev/null
+++ b/source/docs/software/advanced-controls/fire-control/static-shooting.rst
@@ -0,0 +1,46 @@
+Static Shooting via Look-Up Table
+==================================
+
+This section describes how to use a look-up table to aim at a stationary target from a stationary robot.  This kind of a look-up table is called a `firing table <https://en.wikipedia.org/wiki/Artillery_fire_control#Firing_table>`_, and has been used for hundreds of years because it is simple and effective.
+
+The Problem
+-----------
+
+We ultimately want to launch the game piece on a trajectory that will end up in the goal.  But:
+
+1. Robots have a wide variety of shooting mechanisms, each with a specific relationship between their control variables (e.g. flywheel speed, hood angle, catapult release angle, etc.) and the trajectory of the game piece.  In general, these relationships are nonlinear and complex.
+2. Calculating an exact trajectory for the gamepiece is in general *also* nonlinear and complex, due to factors such as air resistance, spin effects, and other gamepiece-specific properties.
+
+We could build mathematical models of both the shooting mechanism and the gamepiece's trajectory, and then solve the problem directly.  But, it is much simpler to just use a static record of empirical solutions to this problem, as experimentally determined by a human operator - a **look-up table**.  This collapses the complexity of both models into the behavior of the values in the table, effectively pre-computing the relevant physics of the problem in a way that removes the need for any further physical modeling in the runtime robot code.
+
+Building the Look-Up Table
+--------------------------
+
+To build the look-up table, we need to:
+
+1. Pick a set of distances to the target that we will experimentally shoot from.  This is setting the resolution of your table; in reality, your robot will never be exactly at a distance that you recorded in the table, and you will have to interpolate between the recorded distances.  The higher the resolution of the table, the more accurate your shooting will be, but the more data you will need to collect and the more time it will take to build the table.  Generally, it is a good idea to start with a low resolution and increase it only if you observe that it is not sufficiently accurate.
+2. "Dial in" the control variables that successfully score the game piece from each of the starting distances.  Note that if your shooter is not consistent at this stage, then there is nothing the software can do to compensate for it; the mechanical quality of your shooter is always more important than the subtlety of the control software.
+3. (Optional) Measure the time-of-flight of the gamepiece to the goal from each of the starting distances, and record it in the table along with the control variables.  This is needed later, when we discuss shooting at moving targets or from a moving robot; recording this ahead-of-time reduces the amount of computation required at runtime, and improves the accuracy of the shoot-on-the-move algorithm.
+
+Using the Firing Table
+-----------------------
+
+To use the firing table, we:
+
+1. Determine the distance to the target from the robot.  This tells us where on the look-up table to find the corresponding control variables for the shot.  This will likely require some amount of vision processing or other sensor input.
+2. Interpolate between the nearest recorded distances in the look-up table to find the corresponding control variables for the shot.
+3. Set the control variables to the values found in the look-up table.
+4. Shoot the game piece.
+
+That's it.  This might seem like a crude approach, but for most problems it works very well.  Most shooting mechanisms have governing equations that, while complex, are still well-behaved enough (i.e., not chaotic, slowly-changing, etc.) that interpolating the look-up table is in fact a very good approximation of the exact solution.
+
+Choosing a Firing Strategy
+--------------------------
+
+When we populate our look-up table, we are implicitly fixing a "firing strategy" for the robot.  This is the set of control variables that we will use to shoot the game piece, for a given position, into the target.  In general, there are *multiple* valid firing strategies for a given position, each with a different time-of-flight.  We need to choose a firing strategy that is appropriate for the robot and the target.
+
+For the stationary shot problem, the firing strategy determines how long the projectile will take to reach the target, and the amount of energy it will arrive with.  Both of these may matter for the success of the shot, and so this should be chosen intentionally rather than haphazardly.  Try multiple different firing strategies from each distance, and see which one works best for your robot and target.
+
+The firing strategy may be different at different distances; there is no hard rule that says we must follow any particular pattern.  However, if the firing strategy varies wildly with distance, it may be difficult to interpolate the look-up table accurately, and the resulting shooting accuracy will be poor.  Therefore, you should be careful to choose firing strategies at each distance such that the shooter parameters are "nearby" those of neighboring points in the look-up table - essentially, the shooter parameters should be continuous and smooth as a function of distance.
+
+As we will see in the next section, the firing strategy also has a profound effect on the behavior of motion compensation, since the amount of required motion compensation in the aiming of the shot varies with the amount of time the shot takes to reach the target (the longer the shot takes, the further offset the aim must be to compensate for motion).
diff --git a/source/docs/software/advanced-controls/index.rst b/source/docs/software/advanced-controls/index.rst
index 4db2c21cdf..168dafa2a1 100644
--- a/source/docs/software/advanced-controls/index.rst
+++ b/source/docs/software/advanced-controls/index.rst
@@ -13,4 +13,5 @@ This section covers advanced control features in WPILib, such as various feedbac
    controllers/index
    trajectories/index
    state-space/index
+   fire-control/index
    controls-glossary
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 8b27247a96..26819b483e 100644
--- a/source/docs/software/advanced-controls/introduction/control-system-basics.rst
+++ b/source/docs/software/advanced-controls/introduction/control-system-basics.rst
@@ -4,7 +4,7 @@
 
 ## 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).
+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).
 
 All of these examples have a mechanism which does useful work, but cannot be *directly* commanded to the state that is desired.
 
diff --git a/source/docs/software/advanced-controls/introduction/tuning-elevator.rst b/source/docs/software/advanced-controls/introduction/tuning-elevator.rst
index 99b8653011..b49a587d25 100644
--- a/source/docs/software/advanced-controls/introduction/tuning-elevator.rst
+++ b/source/docs/software/advanced-controls/introduction/tuning-elevator.rst
@@ -22,10 +22,10 @@ Vertical elevators are commonly used to lift gamepieces from the ground up to a
 
 Our "vertical elevator" consists of:
 
-  * A mass on a carriage, under the force of gravity, traveling up and down in a constrained vertical path
-  * A motor and gearbox driving a linear chain, to which the mass-on-a-carriage is attached
+* A mass on a carriage, under the force of gravity, traveling up and down in a constrained vertical path
+* A motor and gearbox driving a linear chain, to which the mass-on-a-carriage is attached
 
- The simulation assumes the plant (the elevator itself) is controlled by motion profiling, feedforward and feedback controllers, composed in this fashion:
+The simulation assumes the plant (the elevator itself) is controlled by motion profiling, feedforward and feedback controllers, composed in this fashion:
 
 .. image:: images/control-system-basics-ctrl-plus-plant-plus-profiler.drawio.svg
    :alt: Tuning Exercise Block Diagrams showing feedforward and feedback block, a profiler, controlling a plant.
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 4d3929b82f..753307b1f5 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
@@ -9,7 +9,7 @@ One of the most common causes of bugs with state-space controllers is signs bein
 
 ## 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.
+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.
 
 .. note:: By default, NetworkTables is limited to a 10hz update rate. For testing, this can be bypassed with the following code snippet to submit data at up to 100hz. This code should be run periodically to forcibly publish new data.
 
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 71329d82e1..53f0047877 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
@@ -65,7 +65,7 @@ The ``LinearSystem`` class contains methods for easily creating state-space syst
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
          :language: java
          :lines: 32-46
          :lineno-match:
@@ -74,12 +74,12 @@ The ``LinearSystem`` class contains methods for easily creating state-space syst
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: c++
          :lines: 17
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: c++
          :lines: 30-46
          :lineno-match:
@@ -99,7 +99,7 @@ The ``LinearSystem`` class contains methods for easily creating state-space syst
 
 ### 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 12.3 of  [Controls Engineering in FRC](https://file.tavsys.net/control/controls-engineering-in-frc.pdf).
+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)).
 
@@ -112,7 +112,7 @@ The ``LinearSystem`` class contains methods to easily create a model of a flywhe
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 33-46
          :lineno-match:
@@ -120,12 +120,12 @@ The ``LinearSystem`` class contains methods to easily create a model of a flywhe
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: c++
          :lines: 17-17
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: c++
          :lines: 31-46
          :lineno-match:
@@ -161,7 +161,7 @@ Because the feedback controller computes error using the :term:`x-hat` estimated
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 48-58
          :lineno-match:
@@ -169,12 +169,12 @@ Because the feedback controller computes error using the :term:`x-hat` estimated
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: c++
          :lines: 13-13
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: c++
          :lines: 48-53
          :lineno-match:
@@ -202,7 +202,7 @@ Much like ``SimpleMotorFeedforward`` can be used to generate feedforward voltage
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 59-70
          :lineno-match:
@@ -210,12 +210,12 @@ Much like ``SimpleMotorFeedforward`` can be used to generate feedforward voltage
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: c++
          :lines: 11
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: c++
          :lines: 55-75
          :lineno-match:
@@ -237,7 +237,7 @@ LinearSystemLoop combines our system, controller, and observer that we created e
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 72-74
          :lineno-match:
@@ -245,12 +245,12 @@ LinearSystemLoop combines our system, controller, and observer that we created e
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: c++
          :lines: 15-15
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: c++
          :lines: 71-74
          :lineno-match:
@@ -270,7 +270,7 @@ Once we have our ``LinearSystemLoop``, the only thing left to do is actually run
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 94-119
          :lineno-match:
@@ -278,12 +278,12 @@ Once we have our ``LinearSystemLoop``, the only thing left to do is actually run
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: c++
          :lines: 5-17
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: c++
          :lines: 92-114
          :lineno-match:
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 57c29ac63a..8513efe613 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
@@ -4,7 +4,7 @@
 
 ## 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.
+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.
 
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 029ab0882f..e987c73c21 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
@@ -62,7 +62,7 @@ The state estimate :math:`\mathbf{x}`, together with :math:`\mathbf{P}`, describ
 
 ### 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:
+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:
 
 .. math::
   Q = \begin{bmatrix}0.01 & 0 \\ 0 & 1.0\end{bmatrix},
@@ -91,19 +91,19 @@ WPILib's Kalman Filter classes' constructors take a linear system, a vector of p
 .. tab-set::
    .. tab-item:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 48-57
          :lineno-match:
 
    .. tab-item:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: c++
          :lines: 5-18
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: c++
          :lines: 48-53
          :lineno-match:
@@ -117,4 +117,4 @@ WPILib's Kalman Filter classes' constructors take a linear system, a vector of p
 
 ## 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.
+.. [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 eaf6ebb792..80b06ebff7 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
@@ -1,6 +1,6 @@
 # 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.
+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.
 
 Pose estimators estimate robot position using a state-space system with the states :math:`\begin{bmatrix}x & y & \theta \end{bmatrix}^T`, which can represent robot position as a ``Pose2d``. WPILib includes ``DifferentialDrivePoseEstimator``, ``SwerveDrivePoseEstimator`` and ``MecanumDrivePoseEstimator`` to estimate robot position. In these, users call ``update`` periodically with encoder and gyro measurements (same as the odometry classes) to update the robot's estimated position. When the robot receives measurements of its field-relative position (encoded as a ``Pose2d``) from sensors such as computer vision or V-SLAM, the pose estimator latency-compensates the measurement to accurately estimate robot position.
 
diff --git a/source/docs/software/advanced-controls/system-identification/viewing-diagnostics.rst b/source/docs/software/advanced-controls/system-identification/viewing-diagnostics.rst
index 5f3b9ec8ec..9ba00952fc 100644
--- a/source/docs/software/advanced-controls/system-identification/viewing-diagnostics.rst
+++ b/source/docs/software/advanced-controls/system-identification/viewing-diagnostics.rst
@@ -51,7 +51,7 @@ However, if your robot or mechanism has low mass compared to the motor power, th
 
 ## 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.
+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
 
diff --git a/source/docs/software/advanced-gradlerio/code-formatting.rst b/source/docs/software/advanced-gradlerio/code-formatting.rst
index b65af9b492..3fc173975c 100644
--- a/source/docs/software/advanced-gradlerio/code-formatting.rst
+++ b/source/docs/software/advanced-gradlerio/code-formatting.rst
@@ -196,6 +196,6 @@ modifiableFileExclude {
 
 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/v2025.3.2/.github/workflows/lint-format.yml
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/.github/workflows/lint-format.yml
    :language: yaml
    :lines: 1-5, 13, 21-43
diff --git a/source/docs/software/advanced-gradlerio/compiler-args.rst b/source/docs/software/advanced-gradlerio/compiler-args.rst
index fbf4b84810..5728591220 100644
--- a/source/docs/software/advanced-gradlerio/compiler-args.rst
+++ b/source/docs/software/advanced-gradlerio/compiler-args.rst
@@ -8,7 +8,7 @@ Compiler arguments allow us to change the behavior of our compiler. This include
 
 ### 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/v2025.9.0/src/main/java/edu/wpi/first/nativeutils/WPINativeUtilsExtension.java#L94-107)
+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/v2026.0.1/src/main/java/edu/wpi/first/nativeutils/WPINativeUtilsExtension.java#L101-116)
 
 ### Configuring for a Platform
 
diff --git a/source/docs/software/advanced-gradlerio/profiling-with-visualvm.rst b/source/docs/software/advanced-gradlerio/profiling-with-visualvm.rst
index 0e638c628f..f7db8f4a6b 100644
--- a/source/docs/software/advanced-gradlerio/profiling-with-visualvm.rst
+++ b/source/docs/software/advanced-gradlerio/profiling-with-visualvm.rst
@@ -10,7 +10,7 @@ To begin, [download VisualVM](https://visualvm.github.io/download.html) and unpa
 
 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/v2025.3.1/vscode-wpilib/resources/gradle/java/build.gradle
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2026.2.1/vscode-wpilib/resources/gradle/java/build.gradle
    :language: groovy
    :lines: 15-42
    :lineno-match:
@@ -47,7 +47,7 @@ Launching VisualVM is done via the commandline with a few parameters. First, we
 
 ```bash
 cd "C:\Users\Public\wpilib\visualvm_2110\bin"
-./visualvm --jdkhome "C:\Users\Public\wpilib\2025\jdk"
+./visualvm --jdkhome "C:\Users\Public\wpilib\2026\jdk"
 ```
 
 .. important:: The exact path ``visualvm_2110`` may vary and depends on the version of VisualVM downloaded.
diff --git a/source/docs/software/advanced-gradlerio/robot-code-ci.rst b/source/docs/software/advanced-gradlerio/robot-code-ci.rst
index e6f8c25794..c352cf6edd 100644
--- a/source/docs/software/advanced-gradlerio/robot-code-ci.rst
+++ b/source/docs/software/advanced-gradlerio/robot-code-ci.rst
@@ -88,6 +88,8 @@ Each Action workflow is made of a one or more jobs that run either sequentially
 
 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.
 
+.. note:: Since none of the dependencies changed between 2025 and 2026, the 2025 docker images are still correct to use for 2026.
+
 ```yaml
 # Steps represent a sequence of tasks that will be executed as part of the job
 steps:
diff --git a/source/docs/software/basic-programming/java-gc.rst b/source/docs/software/basic-programming/java-gc.rst
index 4179dcc194..3e8d97ee9d 100644
--- a/source/docs/software/basic-programming/java-gc.rst
+++ b/source/docs/software/basic-programming/java-gc.rst
@@ -33,7 +33,7 @@ All objects in Java are retained in a section of memory called the *heap*. As ob
 
 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/v2025.3.1/vscode-wpilib/resources/gradle/java/build.gradle
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2026.2.1/vscode-wpilib/resources/gradle/java/build.gradle
    :language: groovy
    :lines: 15-42
    :lineno-match:
diff --git a/source/docs/software/basic-programming/joystick.rst b/source/docs/software/basic-programming/joystick.rst
index 9391316028..d03b3326e8 100644
--- a/source/docs/software/basic-programming/joystick.rst
+++ b/source/docs/software/basic-programming/joystick.rst
@@ -11,7 +11,7 @@ The command based way to use the these classes is detailed in the section: :ref:
 .. 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.
 
-The :ref:`USB Devices Tab <docs/software/driverstation/driver-station:USB Devices Tab>` of the Driver Station is used to setup and configure the joystick for use with the robot.  Pressing a button on a joystick will cause its entry in the table to light up green.  Selecting the joystick will show the values of axes, buttons and the POV that can be used to determine the mapping between physical joystick features and axis or button numbers.
+The :ref:`USB Devices Tab <docs/software/driverstation/driver-station:USB Devices Tab>` of the Driver Station is used to setup and configure the joystick for use with the robot.  Pressing a button on a joystick will cause its entry in the table to light up green.  Selecting the joystick will show the values of axes, buttons, and the POV that can be used to determine the mapping between physical joystick features and axis or button numbers.
 
 .. image:: images/joystick/lights.jpg
    :alt: On the USB tab the indicators light up to show what is currently being pressed.
diff --git a/source/docs/software/basic-programming/robot-preferences.rst b/source/docs/software/basic-programming/robot-preferences.rst
index 271b609a07..7b99641842 100644
--- a/source/docs/software/basic-programming/robot-preferences.rst
+++ b/source/docs/software/basic-programming/robot-preferences.rst
@@ -12,22 +12,22 @@ This example shows how to utilize Preferences to change the setpoint of a PID co
    .. tab-item:: Java
       :sync: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Constants.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Constants.java
          :language: java
          :lines: 15-20
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
          :language: java
          :lines: 27-29, 73-74, 80-83
 
    .. tab-item:: C++
       :sync: C++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.h
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.h
          :language: c++
          :lines: 30-34
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
          :language: c++
          :lines: 12, 18-22
 
@@ -55,14 +55,14 @@ If using the Command Framework, this type of code could be placed in the constru
    .. tab-item:: Java
       :sync: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/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/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
          :language: c++
          :lines: 44-52
 
@@ -82,20 +82,20 @@ 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/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
          :language: java
          :lines: 28-37
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/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/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
          :language: c++
          :lines: 15-24
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
          :language: c++
          :lines: 54-60
 
diff --git a/source/docs/software/can-devices/can-addressing.rst b/source/docs/software/can-devices/can-addressing.rst
index 7dc77157ae..f77c7c7722 100644
--- a/source/docs/software/can-devices/can-addressing.rst
+++ b/source/docs/software/can-devices/can-addressing.rst
@@ -27,14 +27,15 @@ Motor Controller          2
 Relay Controller          3
 Gyro Sensor               4
 Accelerometer             5
-Ultrasonic Sensor         6
-Gear Tooth Sensor         7
+Distance Sensor           6
+Encoder                   7
 Power Distribution Module 8
 Pneumatics Controller     9
 Miscellaneous             10
 IO Breakout               11
 Servo Controller          12
-Reserved                  13-30
+Color Sensor              13
+Reserved                  14-30
 Firmware Update           31
 ========================= =====
 
@@ -65,7 +66,11 @@ The Thrifty Bot       13
 Redux Robotics        14
 AndyMark              15
 Vivid Hosting         16
-Reserved              17-255
+Vertos Robotics       17
+SWYFT Robotics        18
+Lumyn Labs            19
+Brushland Labs        20
+Reserved              21-255
 ===================== ==========
 
 #### API/Message Identifier
@@ -84,7 +89,7 @@ The Message identifier is further broken down into 2 sub-fields: the
 
 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
-Classes for the Jaguar Motor Controller is shown in the table below.
+Classes for a CAN Motor Controller is shown in the table below.
 
 ========================= =
 API Class
@@ -103,7 +108,7 @@ Ack                       8
 #### 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
+API Class. An example of the API Index values for a CAN Motor
 Controller Speed Control API Class is shown in the table below.
 
 =========================== ==
diff --git a/source/docs/software/can-devices/power-distribution-module.rst b/source/docs/software/can-devices/power-distribution-module.rst
index 0b42c66994..e43671ccb8 100644
--- a/source/docs/software/can-devices/power-distribution-module.rst
+++ b/source/docs/software/can-devices/power-distribution-module.rst
@@ -34,11 +34,11 @@ Note: it is not necessary to create a PowerDistribution object unless you need t
 .. tab-set-code::
 
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
          :language: java
          :lines: 31-34
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
          :language: c++
          :lines: 28-31
 
@@ -53,11 +53,11 @@ Monitoring the bus voltage can be useful for (among other things) detecting when
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
       :language: java
       :lines: 36-38
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
       :language: c++
       :lines: 33-35
 
@@ -72,11 +72,11 @@ Monitoring the temperature can be useful for detecting if the robot has been dra
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
       :language: java
       :lines: 40-52
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
       :language: c++
       :lines: 37-49
 
@@ -85,7 +85,7 @@ Monitoring the temperature can be useful for detecting if the robot has been dra
          :lines: 43-55
 
 
-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.
+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
 
@@ -93,11 +93,11 @@ The PDP/PDH also allows users to monitor the current drawn by the individual dev
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
       :language: java
       :lines: 25-29
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
       :language: c++
       :lines: 22-26
 
diff --git a/source/docs/software/can-devices/third-party-devices.rst b/source/docs/software/can-devices/third-party-devices.rst
index 56a9630fbd..eed19d01bd 100644
--- a/source/docs/software/can-devices/third-party-devices.rst
+++ b/source/docs/software/can-devices/third-party-devices.rst
@@ -20,47 +20,46 @@ CTR Electronics (CTRE) offers several CAN peripherals with external libraries. G
 ### CTRE Motor Controllers
 
 - **Talon FX (with Falcon 500 Motor, Kraken x60 motor, and Kraken x44)**
-
-    - API Documentation (v6: [Java](https://api.ctr-electronics.com/phoenix6/release/java/com/ctre/phoenix6/hardware/TalonFX.html), [C++](https://api.ctr-electronics.com/phoenix6/release/cpp/classctre_1_1phoenix6_1_1hardware_1_1_talon_f_x.html))
+    - API Documentation (v6: [Java](https://api.ctr-electronics.com/phoenix6/stable/java/com/ctre/phoenix6/hardware/TalonFX.html), [C++](https://api.ctr-electronics.com/phoenix6/stable/cpp/classctre_1_1phoenix6_1_1hardware_1_1_talon_f_x.html))
     - Hardware User's Manual ([Falcon 500](https://ctre.download/files/user-manual/Falcon%20500%20v3%20User's%20Guide.pdf), [Kraken x60](https://docs.wcproducts.com/kraken-x60), [Kraken x44](https://docs.wcproducts.com/kraken-x44))
     - [Software Documentation](https://v6.docs.ctr-electronics.com/en/stable/docs/hardware-reference/talonfx/index.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))
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/stable/java/com/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.html), [C++](https://api.ctr-electronics.com/phoenix/stable/cpp/classctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_w_p_i___talon_s_r_x.html))
     - [Hardware User's Manual](https://ctre.download/files/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))
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/stable/java/com/ctre/phoenix/motorcontrol/can/WPI_VictorSPX.html), [C++](https://api.ctr-electronics.com/phoenix/stable/cpp/classctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_w_p_i___victor_s_p_x.html))
     - [Hardware User's Manual](https://ctre.download/files/user-manual/Victor%20SPX%20User's%20Guide.pdf)
     - [Software Documentation](https://v5.docs.ctr-electronics.com/en/stable/ch13_MC.html)
 
 ### CTRE Sensors
 
 - **CANcoder**
-    - API Documentation (v6: [Java](https://api.ctr-electronics.com/phoenix6/release/java/com/ctre/phoenix6/hardware/CANcoder.html), [C++](https://api.ctr-electronics.com/phoenix6/release/cpp/namespacectre_1_1phoenix_1_1platform.html#ad0cac06e0817cbcfe20851a8619a19a8a13b25ca6c3f7037c0f6e13b59cc1e571))
+    - API Documentation (v6: [Java](https://api.ctr-electronics.com/phoenix6/stable/java/com/ctre/phoenix6/hardware/CANcoder.html), [C++](https://api.ctr-electronics.com/phoenix6/stable/cpp/namespacectre_1_1phoenix_1_1platform.html#ad0cac06e0817cbcfe20851a8619a19a8a13b25ca6c3f7037c0f6e13b59cc1e571))
     - [Hardware User's Manual](https://ctre.download/files/user-manual/CANCoder%20User's%20Guide.pdf)
     - [Software Documentation](https://v6.docs.ctr-electronics.com/en/stable/docs/hardware-reference/cancoder/index.html)
 
 - **Pigeon 2.0**
-    - API Documentation (v6: [Java](https://api.ctr-electronics.com/phoenix6/release/java/com/ctre/phoenix6/hardware/Pigeon2.html), [C++](https://api.ctr-electronics.com/phoenix6/release/cpp/namespacectre_1_1phoenix_1_1platform.html#ad0cac06e0817cbcfe20851a8619a19a8a7bd5c8d59e1daa07d31aa1d7116c5c64))
+    - API Documentation (v6: [Java](https://api.ctr-electronics.com/phoenix6/stable/java/com/ctre/phoenix6/hardware/Pigeon2.html), [C++](https://api.ctr-electronics.com/phoenix6/stable/cpp/namespacectre_1_1phoenix_1_1platform.html#ad0cac06e0817cbcfe20851a8619a19a8a7bd5c8d59e1daa07d31aa1d7116c5c64))
     - [Hardware User's Manual](https://ctre.download/files/user-manual/Pigeon2%20User's%20Guide.pdf)
     - [Software Documentation6](https://v6.docs.ctr-electronics.com/en/stable/docs/hardware-reference/pigeon2/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))
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/stable/java/com/ctre/phoenix/sensors/WPI_PigeonIMU.html), [C++](https://api.ctr-electronics.com/phoenix/stable/cpp/classctre_1_1phoenix_1_1sensors_1_1_w_p_i___pigeon_i_m_u.html))
     - [Hardware User's Manual](https://ctre.download/files/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))
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/stable/java/com/ctre/phoenix/CANifier.html), [C++](https://api.ctr-electronics.com/phoenix/stable/cpp/classctre_1_1phoenix_1_1_c_a_nifier.html))
     - [Hardware User's Manual](https://ctre.download/files/user-manual/CANifier%20User's%20Guide.pdf)
     - [Software Documentation](https://v5.docs.ctr-electronics.com/en/stable/ch12_BringUpCANifier.html)
 
 ### 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))
+    - API Documentation ([Java](https://api.ctr-electronics.com/phoenix/stable/java/com/ctre/phoenix/led/CANdle.html), [C++](https://api.ctr-electronics.com/phoenix/stable/cpp/classctre_1_1phoenix_1_1led_1_1_c_a_ndle.html))
     - [Hardware User's Manual](https://ctre.download/files/user-manual/CANdle%20User's%20Guide.pdf)
     - [Software Documentation](https://v5.docs.ctr-electronics.com/en/stable/ch12b_BringUpCANdle.html)
 
@@ -96,7 +95,9 @@ Playing With Fusion (PWF) offers the Venom integrated motor/controller as well a
 
 ## Redux Robotics
 
-Redux Robotics currently offers the HELIUM Canandmag :term:`CAN` + :term:`PWM` magnetic encoder and the BORON Canandgyro :term:`CAN`-enabled gyro.
+.. warning:: Redux Robotics is shutting down. While their devices remain legal for FRC use and software support will be provided for the 2026 season, no new hardware will be available.
+
+Redux Robotics offers the HELIUM Canandmag :term:`CAN` + :term:`PWM` magnetic encoder and the BORON Canandgyro :term:`CAN`-enabled gyro.
 
 ### Redux Sensors
 
diff --git a/source/docs/software/commandbased/binding-commands-to-triggers.rst b/source/docs/software/commandbased/binding-commands-to-triggers.rst
index a8b626fe7f..39cdc6f9da 100644
--- a/source/docs/software/commandbased/binding-commands-to-triggers.rst
+++ b/source/docs/software/commandbased/binding-commands-to-triggers.rst
@@ -75,13 +75,13 @@ This binding schedules a command when a trigger changes from ``false`` to ``true
 .. tab-set-code::
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
       :language: java
       :lines: 65-66
       :lineno-match:
 
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
       :language: c++
       :lines: 28-29
       :lineno-match:
@@ -94,12 +94,12 @@ This binding schedules a command when a trigger changes from ``false`` to ``true
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
     :language: java
     :lines: 49-51
     :lineno-match:
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
     :language: c++
     :lines: 27-29
     :lineno-match:
@@ -112,12 +112,12 @@ This binding toggles a command, scheduling it when a trigger changes from ``fals
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
       :language: java
       :lines: 78-79
       :lineno-match:
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
       :language: c++
       :lines: 41-43
       :lineno-match:
diff --git a/source/docs/software/commandbased/command-compositions.rst b/source/docs/software/commandbased/command-compositions.rst
index 4f17b8f745..b4cf86bb85 100644
--- a/source/docs/software/commandbased/command-compositions.rst
+++ b/source/docs/software/commandbased/command-compositions.rst
@@ -172,7 +172,7 @@ The ``Select`` factory ([Java](https://github.wpilib.org/allwpilib/docs/release/
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
          :language: java
          :lines: 20-45
          :lineno-match:
@@ -180,7 +180,7 @@ The ``Select`` factory ([Java](https://github.wpilib.org/allwpilib/docs/release/
    .. tab-item:: C++ (Header)
       :sync: C++ (Header)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
          :language: c++
          :lines: 26-43
          :lineno-match:
@@ -298,7 +298,7 @@ Command compositions can also be written as a constructor-only subclass of the m
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
          :language: java
          :lines: 5-
          :lineno-match:
@@ -306,7 +306,7 @@ Command compositions can also be written as a constructor-only subclass of the m
    .. tab-item:: C++ (Header)
       :sync: C++ (Header)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.h
          :language: c++
          :lines: 5-
          :lineno-match:
@@ -314,7 +314,7 @@ Command compositions can also be written as a constructor-only subclass of the m
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
          :language: c++
          :lines: 5-
          :lineno-match:
diff --git a/source/docs/software/commandbased/command-scheduler.rst b/source/docs/software/commandbased/command-scheduler.rst
index 716e2d6344..bb48e39999 100644
--- a/source/docs/software/commandbased/command-scheduler.rst
+++ b/source/docs/software/commandbased/command-scheduler.rst
@@ -81,7 +81,9 @@ First, the scheduler runs the ``periodic()`` method of each registered ``Subsyst
 
 .. note:: For more information on how trigger bindings work, see :doc:`binding-commands-to-triggers`
 
-Secondly, the scheduler polls the state of all registered triggers to see if any new commands that have been bound to those triggers should be scheduled.  If the conditions for scheduling a bound command are met, the command is scheduled and its ``Initialize()`` method is run.
+Secondly, the scheduler polls the state of all registered triggers to see if any new commands that have been bound to those triggers should be scheduled.  If the conditions for scheduling a bound command are met, the command is scheduled and its ``initialize()`` method is run.
+
+.. note:: If a newly-scheduled command has requirement conflicts with a currently-running command, the currently-running command is interrupted first. The ``end(true)`` method of the interrupted command is called **before** the ``initialize()`` method of the new command.
 
 .. tab-set::
 
diff --git a/source/docs/software/commandbased/commands.rst b/source/docs/software/commandbased/commands.rst
index 25b5c12011..08b29645a2 100644
--- a/source/docs/software/commandbased/commands.rst
+++ b/source/docs/software/commandbased/commands.rst
@@ -111,7 +111,7 @@ The ``runOnce`` factory, backed by the ``InstantCommand`` ([Java](https://github
   .. tab-item:: Java
       :sync: tabcode-java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
         :language: java
         :lines: 25-35
         :lineno-match:
@@ -119,7 +119,7 @@ The ``runOnce`` factory, backed by the ``InstantCommand`` ([Java](https://github
   .. tab-item:: C++ (Header)
       :sync: tabcode-c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
         :language: c++
         :lines: 20-28
         :lineno-match:
@@ -127,7 +127,7 @@ The ``runOnce`` factory, backed by the ``InstantCommand`` ([Java](https://github
   .. tab-item:: C++ (Source)
       :sync: tabcode-c++-source
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
         :language: c++
         :lines: 15-25
         :lineno-match:
@@ -324,12 +324,12 @@ To write a custom command class, subclass the abstract ``Command`` class ([Java]
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
       :language: java
       :lines: 7-24
       :lineno-match:
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
       :language: c++
       :lines: 5-31
       :lineno-match:
@@ -341,36 +341,36 @@ What might a functional command look like in practice? As before, below is a sim
 .. tab-set::
 
   .. tab-item:: Java
-     :sync: tabcode-java
+    :sync: tabcode-java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
-        :language: java
-        :lines: 5-
-        :lineno-match:
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
+      :language: java
+      :lines: 5-
+      :lineno-match:
 
   .. tab-item:: C++ (Header)
-     :sync: tabcode-c++
+    :sync: tabcode-c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
-        :language: c++
-        :lines: 5-
-        :lineno-match:
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
+      :language: c++
+      :lines: 5-
+      :lineno-match:
 
   .. tab-item:: C++ (Source)
-     :sync: tabcode-c++-source
+    :sync: tabcode-c++-source
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
-        :language: c++
-        :lines: 5-
-        :lineno-match:
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
+      :language: c++
+      :lines: 5-
+      :lineno-match:
 
   .. tab-item:: Python
-     :sync: tabcode-python
+    :sync: tabcode-python
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotTraditional/commands/grabhatch.py
-        :language: python
-        :lines: 7-
-        :lineno-match:
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotTraditional/commands/grabhatch.py
+      :language: python
+      :lines: 7-
+      :lineno-match:
 
 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>`.
 
@@ -381,47 +381,47 @@ What about a more complicated case? Below is a drive command, from the same exam
 .. tab-set::
 
   .. tab-item:: Java
-     :sync: tabcode-java
+    :sync: tabcode-java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
-        :language: java
-        :lines: 5-
-        :lineno-match:
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
+      :language: java
+      :lines: 5-
+      :lineno-match:
 
   .. tab-item:: C++ (Header)
-     :sync: tabcode-c++
+    :sync: tabcode-c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
-        :language: c++
-        :lines: 5-
-        :lineno-match:
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
+      :language: c++
+      :lines: 5-
+      :lineno-match:
 
   .. tab-item:: C++ (Source)
-     :sync: tabcode-c++-source
+    :sync: tabcode-c++-source
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
-        :language: c++
-        :lines: 5-
-        :lineno-match:
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
+      :language: c++
+      :lines: 5-
+      :lineno-match:
 
   .. tab-item:: Python
-     :sync: tabcode-python
+    :sync: tabcode-python
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotTraditional/commands/defaultdrive.py
-        :language: python
-        :lines: 7-
-        :lineno-match:
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/main/HatchbotTraditional/commands/defaultdrive.py
+      :language: python
+      :lines: 7-
+      :lineno-match:
 
 And then usage:
 
 .. tab-set-code::
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
     :language: java
     :lines: 59-67
     :lineno-match:
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
     :language: c++
     :lines: 57-60
     :lineno-match:
@@ -435,12 +435,12 @@ Notice that this command does not override ``isFinished()``, and thus will never
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
       :language: java
       :lines: 51-60
       :lineno-match:
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
       :language: c++
       :lines: 52-58
       :lineno-match:
diff --git a/source/docs/software/commandbased/cpp-command-discussion.rst b/source/docs/software/commandbased/cpp-command-discussion.rst
index db5f0eda57..5bf07c9715 100644
--- a/source/docs/software/commandbased/cpp-command-discussion.rst
+++ b/source/docs/software/commandbased/cpp-command-discussion.rst
@@ -191,7 +191,7 @@ There are multiple ways to get a ``CommandPtr`` instance:
 
 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/v2025.3.2/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
+.. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
    :language: c++
    :lines: 33-73
    :lineno-match:
diff --git a/source/docs/software/commandbased/organizing-command-based.rst b/source/docs/software/commandbased/organizing-command-based.rst
index 699022b797..acec4d78d5 100644
--- a/source/docs/software/commandbased/organizing-command-based.rst
+++ b/source/docs/software/commandbased/organizing-command-based.rst
@@ -30,11 +30,11 @@ The easiest and most expressive way to do this is with a ``StartEndCommand``:
 .. tab-set-code::
 
   ```java
-  Command runIntake = Commands.startEnd(() -> intake.set(1), () -> intake.set(0), intake);
+  Command runIntake = Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake);
   ```
 
   ```c++
-  frc2::CommandPtr runIntake = frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake});
+  frc2::CommandPtr runIntake = frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0.0); }, {&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:
@@ -43,8 +43,8 @@ This is sufficient for commands that are only used once. However, for a command
 
   ```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)
+  intakeButton.whileTrue(Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake));
+  Command intakeAndShoot = Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake)
       .alongWith(new RunShooter(shooter));
   Command autonomousCommand = Commands.sequence(
       Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake).withTimeout(5.0),
@@ -54,13 +54,13 @@ This is sufficient for commands that are only used once. However, for a command
   ```
 
   ```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})
+  intakeButton.WhileTrue(frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0.0); }, {&intake}));
+  frc2::CommandPtr intakeAndShoot = frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0.0); }, {&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::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0.0); }, {&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)
+    frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0.0); }, {&intake}).WithTimeout(5.0_s)
   );
   ```
 
@@ -90,7 +90,7 @@ For example, a command like the intake-running command is conceptually related t
   ```c++
   frc2::CommandPtr Intake::RunIntakeCommand() {
     // implicitly requires `this`
-    return this->StartEnd([this] { this->Set(1.0); }, [this] { this->Set(0); });
+    return this->StartEnd([this] { this->Set(1.0); }, [this] { this->Set(0.0); });
   }
   ```
 
@@ -133,9 +133,9 @@ Adding a parameter to the ``runIntakeCommand`` method to provide the exact perce
   ```
 
   ```c++
-  frc2::CommandPtr Intake::RunIntakeCommand() {
+  frc2::CommandPtr Intake::RunIntakeCommand(double percent) {
     // implicitly requires `this`
-    return this->StartEnd([this, percent] { this->Set(percent); }, [this] { this->Set(0); });
+    return this->StartEnd([this, percent] { this->Set(percent); }, [this] { this->Set(0.0); });
   }
   ```
 
diff --git a/source/docs/software/commandbased/pid-subsystems-commands.rst b/source/docs/software/commandbased/pid-subsystems-commands.rst
index 16dfa598c2..46241869e5 100644
--- a/source/docs/software/commandbased/pid-subsystems-commands.rst
+++ b/source/docs/software/commandbased/pid-subsystems-commands.rst
@@ -12,7 +12,7 @@ One of the most common control algorithms used in FRC\ |reg| is the :term:`PID`
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Shooter.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Shooter.java
          :language: java
          :lines: 5-
          :lineno-match:
@@ -20,7 +20,7 @@ One of the most common control algorithms used in FRC\ |reg| is the :term:`PID`
    .. tab-item:: C++
       :sync: C++ (Header)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h
          :language: c++
          :lines: 5-
          :lineno-match:
@@ -28,7 +28,7 @@ One of the most common control algorithms used in FRC\ |reg| is the :term:`PID`
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Shooter.cpp
          :language: c++
          :lines: 5-
          :lineno-match:
diff --git a/source/docs/software/commandbased/profile-subsystems-commands.rst b/source/docs/software/commandbased/profile-subsystems-commands.rst
index 1534676c36..409ad3020e 100644
--- a/source/docs/software/commandbased/profile-subsystems-commands.rst
+++ b/source/docs/software/commandbased/profile-subsystems-commands.rst
@@ -16,7 +16,7 @@ The following examples are taken from the DriveDistanceOffboard example project
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
          :language: java
          :lines: 5-
          :lineno-match:
@@ -24,7 +24,7 @@ The following examples are taken from the DriveDistanceOffboard example project
    .. tab-item:: C++ (Header)
       :sync: C++ (Header)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h
          :language: c++
          :lines: 5-
          :lineno-match:
@@ -32,7 +32,7 @@ The following examples are taken from the DriveDistanceOffboard example project
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
          :language: c++
          :lines: 5-
          :lineno-match:
diff --git a/source/docs/software/commandbased/profilepid-subsystems-commands.rst b/source/docs/software/commandbased/profilepid-subsystems-commands.rst
index 202bf54a98..fed7ae250d 100644
--- a/source/docs/software/commandbased/profilepid-subsystems-commands.rst
+++ b/source/docs/software/commandbased/profilepid-subsystems-commands.rst
@@ -11,7 +11,7 @@ A common FRC\ |reg| controls solution is to pair a trapezoidal motion profile fo
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java
          :language: java
          :lines: 5-
          :lineno-match:
@@ -19,7 +19,7 @@ A common FRC\ |reg| controls solution is to pair a trapezoidal motion profile fo
    .. tab-item:: C++ (Header)
       :sync: C++ (Header)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h
          :language: c++
          :lines: 5-
          :lineno-match:
@@ -27,7 +27,7 @@ A common FRC\ |reg| controls solution is to pair a trapezoidal motion profile fo
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
          :language: c++
          :lines: 5-
          :lineno-match:
diff --git a/source/docs/software/commandbased/structuring-command-based-project.rst b/source/docs/software/commandbased/structuring-command-based-project.rst
index ca3747b52b..1b4c93023e 100644
--- a/source/docs/software/commandbased/structuring-command-based-project.rst
+++ b/source/docs/software/commandbased/structuring-command-based-project.rst
@@ -19,7 +19,7 @@ As ``Robot`` ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjE
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
          :language: java
          :lines: 21-29
          :lineno-match:
@@ -33,7 +33,7 @@ In C++, this is not needed as RobotContainer is a value member and will be const
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
          :language: java
          :lines: 31-45
          :lineno-match:
@@ -41,7 +41,7 @@ In C++, this is not needed as RobotContainer is a value member and will be const
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
          :language: c++
          :lines: 11-22
          :lineno-match:
@@ -53,7 +53,7 @@ The inclusion of the ``CommandScheduler.getInstance().run()`` call in the ``robo
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
          :language: java
          :lines: 54-63
          :lineno-match:
@@ -61,7 +61,7 @@ The inclusion of the ``CommandScheduler.getInstance().run()`` call in the ``robo
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
          :language: c++
          :lines: 32-42
          :lineno-match:
@@ -73,7 +73,7 @@ The ``autonomousInit()`` method schedules an autonomous command returned by the
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
          :language: java
          :lines: 69-78
          :lineno-match:
@@ -81,7 +81,7 @@ The ``autonomousInit()`` method schedules an autonomous command returned by the
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
          :language: c++
          :lines: 46-55
          :lineno-match:
@@ -99,7 +99,7 @@ This class ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExa
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
          :language: java
          :lines: 23
          :lineno-match:
@@ -107,7 +107,7 @@ This class ([Java](https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExa
    .. tab-item:: C++ (Header)
       :sync: C++ (Header)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
          :language: c++
          :lines: 32
          :lineno-match:
@@ -119,7 +119,7 @@ Notice that subsystems are declared as private fields in ``RobotContainer``. Thi
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
          :language: java
          :lines: 61
          :lineno-match:
@@ -127,7 +127,7 @@ Notice that subsystems are declared as private fields in ``RobotContainer``. Thi
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
          :language: c++
          :lines: 34
          :lineno-match:
@@ -139,7 +139,7 @@ Since subsystems are declared as private members, they must be explicitly passed
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
          :language: java
          :lines: 35-52
          :lineno-match:
@@ -147,7 +147,7 @@ Since subsystems are declared as private members, they must be explicitly passed
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
          :language: c++
          :lines: 19-30
          :lineno-match:
@@ -159,7 +159,7 @@ As mentioned before, the ``RobotContainer()`` constructor is where most of the d
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
          :language: java
          :lines: 54-63
          :lineno-match:
@@ -167,7 +167,7 @@ As mentioned before, the ``RobotContainer()`` constructor is where most of the d
    .. tab-item:: C++ (Source)
       :sync: C++ (Source)
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
          :language: c++
          :lines: 32-35
          :lineno-match:
diff --git a/source/docs/software/convenience-features/scheduling-functions.rst b/source/docs/software/convenience-features/scheduling-functions.rst
index 3fbfd53644..55eefcb80e 100644
--- a/source/docs/software/convenience-features/scheduling-functions.rst
+++ b/source/docs/software/convenience-features/scheduling-functions.rst
@@ -7,66 +7,66 @@ The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda
 
 .. tab-set::
 
-    .. tab-item:: Java
-      :sync: Java
+  .. tab-item:: Java
+    :sync: Java
 
-        ```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)
+  .. tab-item:: C++ (Header)
+    :sync: C++ (Header)
 
-        ```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;
-        };
-        ```
+    ```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)
+  .. tab-item:: C++ (Source)
+    :sync: C++ (Source)
 
-        ```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);
-            }
-          }
+    ```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
index 23b0cdd265..d3cd79fb1e 100644
--- a/source/docs/software/dashboards/advantagescope.rst
+++ b/source/docs/software/dashboards/advantagescope.rst
@@ -10,10 +10,10 @@ 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
+- Automatic synchronization of data sources, including various types of log files and match videos
 - 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
+- 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
index f673aabffa..1ee4dc1b0a 100644
--- a/source/docs/software/dashboards/dashboard-intro.rst
+++ b/source/docs/software/dashboards/dashboard-intro.rst
@@ -14,7 +14,7 @@ This dashboard is designed for debugging code and analyzing data from the robot.
 
 ## Included 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.
+.. 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. They are deprecated and will be removed for the 2027 season.
 
 :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.
 
@@ -32,4 +32,4 @@ This dashboard is designed for debugging code and analyzing data from the robot.
 
 [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.
 
-[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.
+[QDash](https://git.crueter.xyz/QFRC/QDash) (Driver) - described as a reliable, high-performance, low-footprint dashboard. QDash has been specifically designed to use as few resources as possible without sacrificing features or aesthetics.
diff --git a/source/docs/software/dashboards/glass/mech2d-widget.rst b/source/docs/software/dashboards/glass/mech2d-widget.rst
index 9f6b55a3a3..2aa0c1a039 100644
--- a/source/docs/software/dashboards/glass/mech2d-widget.rst
+++ b/source/docs/software/dashboards/glass/mech2d-widget.rst
@@ -10,12 +10,12 @@ In the examples below, an elevator is drawn, with a rotational wrist on top of t
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
       :language: java
       :lines: 43-46
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
       :language: c++
       :lines: 59-62
       :lineno-match:
@@ -31,12 +31,12 @@ Each ``MechanismLigament2d`` object represents a stage of the mechanism. It has
 .. tab-set-code::
 
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
       :language: java
       :lines: 48-53
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
       :language: c++
       :lines: 63-69
       :lineno-match:
@@ -50,12 +50,12 @@ Then, publish the ``Mechanism2d`` object to NetworkTables:
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
       :language: java
       :lines: 55-56
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
       :language: c++
       :lines: 36-37
       :lineno-match:
@@ -71,12 +71,12 @@ To manipulate a ligament angle or length, call ``setLength()`` or ``setAngle()``
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
       :language: java
       :lines: 59-64
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
       :language: c++
       :lines: 40-45
       :lineno-match:
diff --git a/source/docs/software/dashboards/glass/widgets.rst b/source/docs/software/dashboards/glass/widgets.rst
index 79bf02e9e7..47a7fe8270 100644
--- a/source/docs/software/dashboards/glass/widgets.rst
+++ b/source/docs/software/dashboards/glass/widgets.rst
@@ -46,7 +46,7 @@ The :guilabel:`Sendable Chooser` widget represents a ``SendableChooser`` instanc
 
 The :guilabel:`Sendable Chooser` widget will appear in the :guilabel:`NetworkTables` menu and underneath the main table name that the instance was sent over. From the example above, the main table name would be :guilabel:`SmartDashboard`.
 
- .. image:: images/sendable-chooser.png
+.. image:: images/sendable-chooser.png
 
 ## PID Controller Widget
 
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 e85db145a4..6f44942593 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
@@ -31,7 +31,7 @@ The left pane is used to display a video feed from acamera located on the robot.
 
 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. 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.
+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.
 
@@ -44,7 +44,7 @@ The left pane is used to display a video feed from acamera located on the robot.
 
 The center pane contains a section that provides feedback on the joysticks and drive commands when used with the LabVIEW framework and a section that displays the NetworkTables status and autonomous selector:
 
-1. Displays X,Y and Throttle information and button values for up to 2 joysticks when using the LabVIEW framework
+1. Displays X,Y, and Throttle information and button values for up to 2 joysticks when using the LabVIEW framework
 2. Displays values being sent to motor controllers when using LabVIEW framework
 3. Displays a connection indicator for the NetworkTables data from the robot
 4. Displays a Gyro value
@@ -63,7 +63,7 @@ The camera tab is used to display a video feed from a camera located on the robo
 
 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. 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.
+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.
 
diff --git a/source/docs/software/dashboards/shuffleboard/getting-started/index.rst b/source/docs/software/dashboards/shuffleboard/getting-started/index.rst
index 550fef1a3c..4781ba92d7 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/index.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/index.rst
@@ -1,5 +1,7 @@
 # Shuffleboard - Getting Started
 
+.. warning:: Shuffleboard is deprecated and will be removed for 2027 due to its lack of a maintainer and resource utilization issues. Users can find :doc:`additional modern dashboard options here </docs/software/dashboards/dashboard-intro>`
+
 .. toctree::
    :maxdepth: 1
 
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 a555a1df5a..9285774917 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
@@ -52,7 +52,7 @@ Often debugging or monitoring the status of a robot involves writing a number of
 
 You can write Boolean, Numeric, or String values to Shuffleboard by simply calling the correct method for the type and including the name and the value of the data, no additional code is required.
 
--  Numeric types such as char, int, long, float or double call SmartDashboard.putNumber("dashboard-name", value).
+-  Numeric types such as char, int, long, float, or double call SmartDashboard.putNumber("dashboard-name", value).
 -  String types call SmartDashboard.putString("dashboard-name", value)
 -  Boolean types call SmartDashboard.putBoolean("dashboard-name", value)
 
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 e7efb1ca4a..2c84fa8876 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-faq.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-faq.rst
@@ -4,7 +4,7 @@
 
 ## 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?
 
 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).
 
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 894301312d..4808c88a31 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst
@@ -2,6 +2,8 @@
 
 # Tour of Shuffleboard
 
+.. warning:: Shuffleboard is deprecated and will be removed for 2027 due to its lack of a maintainer and resource utilization issues. Users can find :doc:`additional modern dashboard options here </docs/software/dashboards/dashboard-intro>`
+
 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.
@@ -29,10 +31,10 @@ You can start Shuffleboard in one of four ways:
 1. You can automatically start it when the Driver Station starts by setting the "Dashboard Type" to Shuffleboard in the settings tab as shown in the picture above.
 2. You can run it by double-clicking the Shuffleboard icon in the `YEAR WPILib tools` folder on the Windows Desktop.
 3. You can start from with Visual Studio Code by pressing :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:`Shuffleboard`.
-4. You can run it by double-clicking on the shuffleboard.XXX file (where XXX is ``.vbs`` on Windows and ``.py`` on Linux or macOS) in ``~/WPILib/YYYY/tools/`` (where YYYY is the year and ~ is ``C:\Users\Public`` on Windows). This is useful on a development system that does not have the Driver Station installed such as a macOS or Linux system.
+4. You can run it by double-clicking on the shuffleboard.XXX executable (where XXX is ``.exe`` on Windows and no extension on Linux or macOS) in ``~/WPILib/YYYY/tools/`` (where YYYY is the year and ~ is ``C:\Users\Public`` on Windows). This is useful on a development system that does not have the Driver Station installed such as a macOS or Linux system.
 5. You can start it from the command line by typing the command: ``shuffleboard`` on Windows or ``python shuffleboard.py`` on macOS or Linux from ``~/WPILib/YYYY/tools`` directory (where YYYY is the year and ~ is ``C:\Users\Public`` on Windows). This is often easiest on a development system that doesn't have the Driver Station installed.
 
-.. note:: The ``.vbs`` (Windows) and ``.py`` (macOS/Linux) scripts help launch the tools using the correct JDK.
+.. note:: The ``.exe`` (Windows) and no extension (macOS/Linux) executables help launch the tools using the correct JDK.
 
 ## Getting robot data onto the dashboard
 
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 075804118c..380559207b 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-widgets.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-widgets.rst
@@ -29,7 +29,7 @@ You can change the title of widgets by double-clicking in their title bar and ed
 
 ## 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.
+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.
 
 .. figure:: images/widgets-4.png
    :alt:
diff --git a/source/docs/software/dashboards/shuffleboard/index.rst b/source/docs/software/dashboards/shuffleboard/index.rst
index d85ee60c4d..d29b93726a 100644
--- a/source/docs/software/dashboards/shuffleboard/index.rst
+++ b/source/docs/software/dashboards/shuffleboard/index.rst
@@ -2,6 +2,8 @@
 
 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.
 
+.. warning:: Shuffleboard is deprecated and will be removed for 2027 due to its lack of a maintainer and resource utilization issues. Users can find :doc:`additional modern dashboard options here </docs/software/dashboards/dashboard-intro>`
+
 .. toctree::
    :maxdepth: 2
 
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 21fd4f5f2b..34dc6ade26 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
@@ -1,6 +1,6 @@
 # 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.
+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.
 
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 4ece393c33..26833e95c4 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
@@ -11,29 +11,29 @@ For each sensor or actuator that is created, set the subsystem name and display
     ```java
     Ultrasonic ultrasonic = new Ultrasonic(1, 2);
     SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic");
-    Jaguar elbow = new Jaguar(1);
+    Spark elbow = new Spark(1);
     SendableRegistry.setName(elbow, "Arm", "Elbow");
-    Victor wrist = new Victor(2);
+    VictorSP wrist = new VictorSP(2);
     SendableRegistry.setName(wrist, "Arm", "Wrist");
     ```
 
     ```c++
     frc::Ultrasonic ultrasonic{1, 2};
     SendableRegistry::SetName(ultrasonic, "Arm", "Ultrasonic");
-    frc::Jaguar elbow{1};
+    frc::Spark elbow{1};
     SendableRegistry::SetName(elbow, "Arm", "Elbow");
-    frc::Victor wrist{2};
+    frc::VictorSP wrist{2};
     SendableRegistry::SetName(wrist, "Arm", "Wrist");
     ```
 
     ```python
-    from wpilib import Jaguar, Ultrasonic, Victor
+    from wpilib import Spark, Ultrasonic, VictorSP
     from wpiutil import SendableRegistry
         ultrasonic = Ultrasonic(1, 2)
     SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic")
-    elbow = Jaguar(1)
+    elbow = Spark(1)
     SendableRegistry.setName(elbow, "Arm", "Elbow")
-    wrist = Victor(2)
+    wrist = VictorSP(2)
     SendableRegistry.setName(wrist, "Arm", "Wrist")
     ```
 
@@ -44,29 +44,29 @@ If your objects are in a ``Subsystem``, this can be simplified using the addChil
     ```java
     Ultrasonic ultrasonic = new Ultrasonic(1, 2);
     addChild("Ultrasonic", ultrasonic);
-    Jaguar elbow = new Jaguar(1);
+    Spark elbow = new Spark(1);
     addChild("Elbow", elbow);
-    Victor wrist = new Victor(2);
+    VictorSP wrist = new VictorSP(2);
     addChild("Wrist", wrist);
     ```
 
     ```c++
     frc::Ultrasonic ultrasonic{1, 2};
     AddChild("Ultrasonic", ultrasonic);
-    frc::Jaguar elbow{1};
+    frc::Spark elbow{1};
     AddChild("Elbow", elbow);
-    frc::Victor wrist{2};
+    frc::VictorSP wrist{2};
     AddChild("Wrist", wrist);
     ```
 
     ```python
-    from wpilib import Jaguar, Ultrasonic, Victor
+    from wpilib import Spark, Ultrasonic, VictorSP
     from commands2 import SubsystemBase
         ultrasonic = Ultrasonic(1, 2)
     SubsystemBase.addChild("Ultrasonic", ultrasonic)
-    elbow = Jaguar(1)
+    elbow = Spark(1)
     SubsystemBase.addChild("Elbow", elbow)
-    wrist = Victor(2)
+    wrist = VictorSP(2)
     SubsystemBase.addChild("Wrist", wrist)
     ```
 
diff --git a/source/docs/software/driverstation/driver-station-best-practices.rst b/source/docs/software/driverstation/driver-station-best-practices.rst
index ad811bc599..8ae86ae162 100644
--- a/source/docs/software/driverstation/driver-station-best-practices.rst
+++ b/source/docs/software/driverstation/driver-station-best-practices.rst
@@ -1,77 +1,126 @@
 .. include:: <isonum.txt>
 
-# Driver Station Best Practices
+# Driver Station (Operator Console) 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).
 
-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.
+Want to ensure the driver station isn't a stopper for your team at the FIRST Robotics Competition (FRC\ |reg|) field? Building and configuring a solid driver station laptop and peripherals is an easy project. Read on to find lessons learned by many teams over thousands of matches.
 
-## Prior To Departing For The Competition
+## Selecting hardware
 
-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.
+Dedicate a laptop to be used solely for driving. 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 Driver Station application and associated Dashboard installed or running.
 
-.. 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.
+Use a business-class laptop for your driver station laptop. 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.
 
-4. Laptop recommended features
+Consider used laptops rather than new. The FRC Driver Station application 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.  There are thousands for sale every day on eBay. You might even get one donated by a used computer store.
 
-   a. RAM -- 8GB of RAM or greater
-   b. A display size of 13" or greater, with minimum resolution of 1440x1050.
-   c. Ports
+### Laptop recommended features
 
-      i. A built-in Ethernet port is highly preferred. Ensure that it's a full-sized port. The hinged Ethernet ports don't hold up to repeated use.
-      ii. Use an Ethernet port saver to make your Ethernet connection. This extends the life of the port on the laptop. This is particularly important if you have a consumer-grade laptop with a hinged Ethernet port.
-      iii. If the Ethernet port on your laptop is dodgy, either replace the laptop (recommended) or buy a USB Ethernet dongle from a reputable brand. Many teams find that USB Ethernet is less reliable than built-in Ethernet, primarily due to cheap hardware and bad drivers. The dongles given to rookies in the KOP have a reputation for working well.
-      iv. 2 USB ports minimum
+1.  8GB of RAM or greater
+#.  A display size of 14" or greater, with 1080p minimum resolution
+#.  Ports
 
-   d. A keyboard. It’s hard to quickly do troubleshooting on touch-only computers at the field.
-   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://frc-radio.vivid-hosting.net/).
+    a. A built-in Ethernet port is highly preferred. Ensure that it's a full-sized port. The hinged Ethernet ports don't hold up to repeated use.
+    #. If the Ethernet port on your laptop is dodgy, either replace the laptop (recommended) or buy a USB Ethernet dongle from a reputable brand.  See `Recommended USB Ethernet adapters`_ for a list. Many teams find that USB Ethernet is less reliable than built-in Ethernet, primarily due to cheap hardware and bad drivers. The dongles given to rookies in the KOP have a reputation for working well.
+    #. 2 USB ports minimum.  These can be USB-A or USB-C ports, depending on the peripherals you're using.
 
-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.
-7. Remove any 3rd party antivirus or antimalware software. Instead, use Windows Defender on Windows 10 or 11. Since you're only connecting to the internet for Windows and FRC software updating, the risk is low. Only install software on your driver station that's needed for driving. Your goal here is to eliminate variables that might interfere with proper operation. Remove any unneeded preinstalled software ("bloatware") that came with the machine. Don't use the laptop as your Steam machine for gaming back at the hotel the night before the event. Many teams go as far as having a separate programming laptop.
-8. Avoid managed Windows 10 or 11 installations from the school's IT department. These deployments are built for the school environment and often come with unwanted software that interferes with your robot's operation.
-9. Laptop battery / power
+#.  A keyboard. It’s hard to quickly do troubleshooting on touch-only computers at the field.
+#.  A solid-state disk (SSD), 256 GB or larger. If the laptop has a rotating disk, spend $50 and replace it with an SSD.
+#.  Supports Windows 11.  Given that it is at end of life, don't plan on support for Windows 10 beyond the 2026 competition year.
+#.  AMD or Intel CPU. The FRC Driver Station Application does not work on machines with ARM CPUs (e.g., Snapdragon).
+#.  A 2.4 and 5 GHz Wi-Fi radio.  6GHz support is optional but not necessary.  For the 2026 game, the `preferred practice configuration <https://frc-radio.vivid-hosting.net/overview/practicing-at-home>`__ does not require 6GHz, and the 2027 SystemCore has built-in 5 GHz connectivity.
 
-   a. Turn off Put the computer to sleep in your power plan for both battery and powered operation.
-   b. Turn off Battery Saver and set Power Mode to Best Performance.
-   c. Turn off USB Selective Suspend:
+## Building your driver station
 
-      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.
+.. figure:: images/driver-station-best-practices/driver_station_1.png
 
-   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.
+    Two level driver station with power and USB hub in lower level.  USB-C ethernet adapter provides field connectivity.
 
-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.
+.. figure:: images/driver-station-best-practices/driver_station_2.png
+
+    Driver station with integrated controller holders.  Controllers and field network are directly connected to laptop.
+
+.. figure:: images/driver-station-best-practices/driver_station_3.png
+
+    Single level driver station with external button controls for task automation.  USB-C ethernet/hub combo provides field connectivity.
+
+It's best if you combine your driver station laptop and all needed peripherals into a `single unit <https://www.chiefdelphi.com/t/show-me-your-operator-station-driver-station/435030>`__.
+
+Use an Ethernet port saver to make your Ethernet connection. This extends the life of the port on the laptop. This is particularly important if you have a consumer-grade laptop with a hinged Ethernet port.
+
+Robots often hit the driver station wall with large forces, which can push your driver station off the shelf.  Put hook tape on the bottom of the driver station to reduce the chance of that happening.  The Game Manual has details on the correct location of the tape.  Shorter driver stations have lower center of gravity and are more likely to stay on the shelf.
+
+When fastening down peripherals, it's best to use hook and loop tape.  This allows quick changes at the field when needed.
+
+Ensure that the USB ports on the laptop are accessible.
+
+## Setting up the laptop
+
+Once you've acquired your laptop, here's a list of things to do.
+
+#. If you're buying used, ensure you're starting from a fresh Windows install.
+#. Create one account to use both for software installation and driving.  This account must be a member of the Administrator group.
+#. Remove any 3rd party antivirus or antimalware software. Instead, use Windows Defender. Since you're only connecting to the internet for Windows and FRC software updating, the risk is low.
+#. Only install software on your driver station laptop that's needed for driving. Your goal here is to eliminate variables that might interfere with proper operation. Don't use the driver station laptop for programming.  Remove any unneeded preinstalled software ("bloatware") that came with the machine. Don't use the laptop for gaming back at the hotel the night before the event.
+#. Avoid managed Windows installations from the school's IT department. These deployments are built for the school environment and often come with unwanted software that interferes with your robot's operation.
+#. Make these power settings for both the Plugged in and On battery profiles, by navigating to Start -> Settings -> System -> Power and battery
+
+   a. Set "Make my device sleep after" to Never for both Plugged in and On battery
+   #. Turn off Energy Saver
+   #. Set Power Mode to Best Performance
+   #. 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.
+
+#. If you are running a non-English version of Windows, set the user to English prior to doing any software installation.  If your laptop has a non-English Single Language Edition, you should install an edition of Windows that is supported by the FRC Driver Station application and supports English.
+
+## Prior to leaving for the competition
+
+Items in this section require internet connectivity and should be done prior to arriving at the event.
+
+1. Install all Windows updates, then test the driver station with your robot. Keep running Windows Update until no updates show as pending.
+#. Pause updates. Navigate to Start -> Settings -> Windows Update, then set Pause updates to cover the time of the competition.
+#. Change "Active Hours" for Windows Updates to prevent updates from installing during competition hours. This helps if you forget to pause updates.  Navigate to Start -> Settings -> Windows Update -> Advanced options, then select Active Hours. Be sure to take timezone differences at your competition location into account.
+#. Bring a trusted USB and Ethernet cable for use connecting to the roboRIO.
 
 ## 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.
-3. Charge the driver station when it’s in the pit.
-4. Remove login passwords or ensure everyone on the drive team knows the password. You'd be surprised at how often drivers arrive at the field without knowing the password for the laptop.
-5. Ensure your LabView code is deployed permanently and set to "run as startup", using the instructions in the LabView Tutorial. If you must deploy code every time you turn the robot on, you’re doing it wrong.
-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.
+#. Turn off the Wi-Fi adapter, either using the dedicated hardware Wi-Fi switch or by using the Wi-Fi control in Quick Settings.
+#. Charge the driver station laptop when it’s in the pit.
+#. Ensure everyone on the drive team knows the password. You'd be surprised at how often drivers arrive at the field without knowing the password.
+#. LabVIEW users: Ensure your LabVIEW code is deployed permanently and set to "run as startup", using the instructions in the LabVIEW Tutorial. If you must deploy code every time you turn the robot on, you’re doing it wrong.
+#. Limit web browsing to FRC related web sites. This minimizes the chance of getting malware during the competition.
+#. Don't plan on using internet access at the event to make 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
 
 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.
-3. Bring your laptop charger to the field. Power is provided for you in each player station.
-4. Fasten your laptop with hook-and-loop tape to the player station shelf. You never know when your alliance partner will have an autonomous programming issue and blast the wall.
-5. Ensure joysticks and controllers are assigned to the correct USB ports.
+#. Close programs that aren’t needed during the match.
+#. Bring your laptop charger to the field. Power is provided in each player station.  Why?  Windows is less aggressive about power management when the laptop is plugged in, which means the FRC Driver Station application behaves more predictably.
+#. Fasten your laptop with hook-and-loop tape to the player station shelf. You never know when your alliance partner will have an autonomous programming issue and blast the wall.
+#. Ensure joysticks and controllers are functioning.
+
+   a. In the USB tab in the FRC Driver Station application, drag and drop to assign joysticks as needed.
+   #. Verify that buttons are working and joysticks return to zero position.
+   #. Use the rescan button (F1) if joysticks / controllers do not appear green.
+   #. 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.
+
+#. Ensure your :doc:`Dashboard is connected to the robot </docs/software/dashboards/troubleshooting-dashboard-connectivity>` after your driver station laptop connects to the robot.
+#. Ensure FRC Driver Station application is fully visible and in focus during the match to avoid Windows depriortizing it, and to ease troubleshooting.
+
+## Recommended USB Ethernet adapters
+
+Members of the FRC community report good results with these USB Ethernet adapters.
+
+* Henrety USB C to Ethernet Adapter
+* Siig SuperSpeed USB 3.0 LAN Hub
+* TP-Link UE330
+* uni USB to Ethernet Adapter with hub (both USB-A and USB-C styles)
+
+Don't be confused and use a USB RJ-45 extender.  These are reported to fry USB ports.
+
+.. image:: images/driver-station-best-practices/usb-rj45-bad.png
+    :scale: 25%
+    :alt: An adapter with a USB-A male connector and an RJ-45 connector, labeled USB RJ-45 extension adapter, overlaid with BAD in red text.
 
-   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.
-   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.
+## Credits
 
-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.
+The source document for this page 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).
diff --git a/source/docs/software/driverstation/driver-station-log-viewer.rst b/source/docs/software/driverstation/driver-station-log-viewer.rst
index a332f4fb6f..f2100cb2b9 100644
--- a/source/docs/software/driverstation/driver-station-log-viewer.rst
+++ b/source/docs/software/driverstation/driver-station-log-viewer.rst
@@ -50,9 +50,11 @@ The Graph Display contains the following information:
 5.  Event markers will be displayed on the graph indicating the time the event occurred. Errors will display in red; warnings will display in yellow. Hovering over an event marker will display information about the event in the Messages box at the bottom left of the screen.
 6.  Major events are shown as vertical lines across the graph display.
 
-To zoom in on a portion of the graph, click and drag around the desired viewing
+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.
 
+.. note:: The CTRE PDP 2.0 and AndyMark AMPD do not have buit in current logging and current logs will not be available in the graph display.
+
 ## Event List
 
 .. image:: images/driver-station-log-viewer/eventlist.png
@@ -73,7 +75,7 @@ Three filters are currently available in the Log Viewer:
 .. 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 :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.
+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
 
diff --git a/source/docs/software/driverstation/driver-station-timing-viewer.rst b/source/docs/software/driverstation/driver-station-timing-viewer.rst
index e3d7ed44b7..c1d678898a 100644
--- a/source/docs/software/driverstation/driver-station-timing-viewer.rst
+++ b/source/docs/software/driverstation/driver-station-timing-viewer.rst
@@ -11,7 +11,7 @@ To start the Driver Station Timing Viewer, select the gear icon and then select
 
 ## 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.
+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
diff --git a/source/docs/software/driverstation/driver-station.rst b/source/docs/software/driverstation/driver-station.rst
index 31197f3839..02d2221072 100644
--- a/source/docs/software/driverstation/driver-station.rst
+++ b/source/docs/software/driverstation/driver-station.rst
@@ -17,11 +17,11 @@ The FRC Driver Station can be launched by double-clicking the icon on the Deskto
 
 ## Driver Station Key Shortcuts
 
-  * :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.
-  * :kbd:`Backspace` - "A-Stop" the robot when in Practice Mode - Autonomous Enabled. The robot will be disabled until the Practice Mode reaches Teleop then will be automatically re-enabled. While disabled, the application background will flash orange indicating the robot will re-enable automatically.
+* :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.
+* :kbd:`Backspace` - "A-Stop" the robot when in Practice Mode - Autonomous Enabled. The robot will be disabled until the Practice Mode reaches Teleop then will be automatically re-enabled. While disabled, the application background will flash orange indicating the robot will re-enable automatically.
 
 .. only:: html
 
@@ -73,10 +73,10 @@ The Operations Tab is used to control the mode of the robot and provide addition
 
 1. Robot Mode - This section controls the Robot Mode.
 
-  - Teleoperated Mode causes the robot to run the code in the Teleoperated portion of the match.
-  - Autonomous Mode causes the robot to run the code in the Autonomous portion of the match.
-  - Practice Mode causes the robot to cycle through the same transitions as an FRC match after the Enable button is pressed (timing for practice mode can be found on the setup tab). When Practice Mode is in use, the DS will flash the background orange to indicate a pending enable (either the start of Autonomous or the start of Teleop after an A-Stop).
-  - :doc:`Test Mode </docs/software/basic-programming/using-test-mode>` is an additional mode where test code that doesn't run in a regular match can be tested.
+   - Teleoperated Mode causes the robot to run the code in the Teleoperated portion of the match.
+   - Autonomous Mode causes the robot to run the code in the Autonomous portion of the match.
+   - Practice Mode causes the robot to cycle through the same transitions as an FRC match after the Enable button is pressed (timing for practice mode can be found on the setup tab). When Practice Mode is in use, the DS will flash the background orange to indicate a pending enable (either the start of Autonomous or the start of Teleop after an A-Stop).
+   - :doc:`Test Mode </docs/software/basic-programming/using-test-mode>` is an additional mode where test code that doesn't run in a regular match can be tested.
 
 2. Enable/Disable - These controls enable and disable the robot. See also `Driver Station Key Shortcuts`_.
 3. Elapsed Time - Indicates the amount of time the robot has been enabled.
@@ -101,17 +101,17 @@ The Diagnostics Tab contains additional status indicators that teams can use to
 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.
 
-    - "Enet Link" indicates the computer has something connected to the ethernet port.
-    - "Robot Radio" indicates the ping status to the robot wireless bridge at 10.XX.YY.1.
-    - "Robot" indicates the ping status to the roboRIO using mDNS (with a fallback of a static 10.TE.AM.2 address).
-    - "FMS" indicates if the DS is receiving packets from FMS (this is NOT a ping indicator).
+   - "Enet Link" indicates the computer has something connected to the ethernet port.
+   - "Robot Radio" indicates the ping status to the robot wireless bridge at 10.XX.YY.1.
+   - "Robot" indicates the ping status to the roboRIO using mDNS (with a fallback of a static 10.TE.AM.2 address).
+   - "FMS" indicates if the DS is receiving packets from FMS (this is NOT a ping indicator).
 
 7. Network Indicators - The second section of indicators indicates status of network adapters and firewalls. These are provided for informational purposes; communication may be established even with one or more unlit indicators in this section.
 
-    - "Enet" indicates the IP address of the detected Ethernet adapter
-    - "WiFi" indicates if a wireless adapter has been detected as enabled
-    - "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)
+   - "Enet" indicates the IP address of the detected Ethernet adapter
+   - "WiFi" indicates if a wireless adapter has been detected as enabled
+   - "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. :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).
@@ -138,7 +138,7 @@ The USB Devices tab includes the information about the USB Devices connected to
 
 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. :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.
+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
diff --git a/source/docs/software/driverstation/images/driver-station-best-practices/driver_station_1.png b/source/docs/software/driverstation/images/driver-station-best-practices/driver_station_1.png
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diff --git a/source/docs/software/driverstation/images/driver-station-best-practices/usb-rj45-bad.png b/source/docs/software/driverstation/images/driver-station-best-practices/usb-rj45-bad.png
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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 40cc5b77b6..8aa11452a5 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
@@ -37,7 +37,7 @@ Replace the string after ``=`` with ``java -jar "C:\\PATH\\TO\\DASHBOARD.jar"``
 
 ### 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 ``Shuffleboard.vbs``, ``Smartdashboard.vbs``, or ``Elastic.vbs``. For example ``DashboardCmdLine = "wscript C:\\Users\\Public\\wpilib\\2025\\tools\\Elastic.vbs"``. Save the ``FRC DS Data Storage`` file.
+Replace the string after ``=`` with ``C:\\Users\\Public\\wpilib\\YYYY\\tools\\DASHBOARD.exe`` where ``YYYY`` is the year and ``DASHBOARD.exe`` is ``Shuffleboard.exe``, ``Smartdashboard.exe``, or ``Elastic.exe``. For example ``DashboardCmdLine = "wscript C:\\Users\\Public\\wpilib\\2026\\tools\\Elastic.exe"``. Save the ``FRC DS Data Storage`` file.
 
 ## Launch Driver Station
 
diff --git a/source/docs/software/frc-glossary.rst b/source/docs/software/frc-glossary.rst
index d700c447ed..eefe5ccb29 100644
--- a/source/docs/software/frc-glossary.rst
+++ b/source/docs/software/frc-glossary.rst
@@ -41,7 +41,7 @@
       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.
+      CCL Industrial Motor, Limited - [Chiaphua Components Limited](https://www.cclmotors.com/) 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.
@@ -59,7 +59,7 @@
       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.
+      [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 four officially supported programming languages.
@@ -152,7 +152,7 @@
       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 2025 season, the KOP chassis is the [AM14U6](https://www.andymark.com/products/am14u6-6-wheel-drop-center-robot-drive-base-2025-frc-kit-of-parts-drive-base).
+      The KOP contains a drive base (chassis) distributed to every team (that did not opt out) as part of the :term:`KOP`. For the 2026 season, the KOP chassis is the [AM14U6](https://www.andymark.com/products/am14u6-6-wheel-drop-center-robot-drive-base-2025-frc-kit-of-parts-drive-base).
 
    LabVIEW
       One of the four officially supported programming languages.
@@ -282,7 +282,7 @@
       A force applied at a distance from some axis of rotation
 
    trajectory
-      A trajectory is a smooth curve, with velocities and accelerations at each point along the curve, connecting two endpoints on the field.
+      A trajectory is a smooth curve, with velocities, and accelerations at each point along the curve, connecting two endpoints on the field.
 
    transitory
       In :term:`NetworkTables`, a :term:`topic` that will disappear after the last :term:`publisher` stops publishing.
diff --git a/source/docs/software/hardware-apis/index.rst b/source/docs/software/hardware-apis/index.rst
index 6308a94fe9..d35faa3098 100644
--- a/source/docs/software/hardware-apis/index.rst
+++ b/source/docs/software/hardware-apis/index.rst
@@ -2,7 +2,7 @@
 
 # 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.
+This section discusses the control of motors and pneumatics through motor controllers, solenoids, and pneumatics, and their interface with Java and C++ WPILib.
 
 .. toctree::
    :maxdepth: 1
@@ -24,24 +24,18 @@ A motor controller is responsible on your robot for making motors move. For brus
 
 ### 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 2025:
+Motor controllers come in lots of shapes, sizes, and feature sets. This is the full list of FRC\ |reg| Legal motor controllers as of 2026:
 
-- 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 :term:`PWM` only
 - Koors40 Motor Controller (P/N am-5600)
-- 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, WCP-0940) for controlling integral Falcon 500 or Kraken X60 only,
+- Talon FX Motor Controller (P/N 217-6515, 19-708850, am-6515, am-6515_Short, WCP-0940) for controlling integral Falcon 500, Kraken X60, or Kraken X44 only
 - Talon FXS Motor Controller (P/N 24-708883, WCP-1692)
 - 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)
 - Thrifty Nova (P/N TTB-0100)
 - Venom Motor with Controller (P/N BDC-10001) for controlling integral motor only​
-- Victor 884 Motor Controller (P/N: VICTOR-884-12/12)
-- Victor 888 Motor Controller (P/N: 217-2769)
 - Victor SP Motor Controller (P/N: 217-9090, am-2855, 14-868380)
 - Victor SPX Motor Controller (P/N: 217-9191, 17-868388, am-3748)
 
diff --git a/source/docs/software/hardware-apis/misc/addressable-leds.rst b/source/docs/software/hardware-apis/misc/addressable-leds.rst
index c0c3a0d4d3..d1a4db3c96 100644
--- a/source/docs/software/hardware-apis/misc/addressable-leds.rst
+++ b/source/docs/software/hardware-apis/misc/addressable-leds.rst
@@ -4,6 +4,15 @@ LED strips have been commonly used by teams for several years for a variety of r
 
 .. note:: LEDs can be controlled through this API while the robot is disabled.
 
+.. important:: The roboRIO can only control **one** ``AddressableLED`` object at a time through its PWM ports. Attempting to create multiple ``AddressableLED`` objects will result in a HAL allocation error. If you need to control multiple physical LED strips, you have several options:
+
+   - **Daisy-chain strips in series**: Connect multiple LED strips end-to-end as a single long strip, then use :ref:`buffer views <docs/software/hardware-apis/misc/addressable-leds:Controlling Sections of an LED Strip>` to control different sections independently
+   - **Use PWM Y-cables**: If you need identical patterns on multiple strips, use PWM Y-cables to send the same signal to multiple strips simultaneously
+
+.. seealso:: For detailed information about powering and best practices for addressable LEDs, see the [Adafruit NeoPixel Überguide](https://learn.adafruit.com/adafruit-neopixel-uberguide/powering-neopixels).
+
+.. warning:: WS2812B LEDs are designed for 5V, but roboRIO PWM/Servo ports output 6V. While the LEDs will function, this may reduce their lifespan. Consider using a voltage regulator or level shifter if longevity is a concern.
+
 ## 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 +28,7 @@ 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/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
          :language: java
          :lines: 32-47
          :lineno-match:
@@ -27,13 +36,13 @@ 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/v2025.3.2/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
          :language: c++
          :lines: 12-12, 18-27
          :linenos:
          :lineno-start: 12
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
          :language: c++
          :lines: 7-13
          :lineno-match:
@@ -134,7 +143,7 @@ The base rainbow pattern will look like this:
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
          :language: java
          :lines: 21-31
          :lineno-match:
@@ -142,7 +151,7 @@ The base rainbow pattern will look like this:
    .. tab-item:: C++
       :sync: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
          :language: c++
          :lines: 27-37
          :lineno-match:
@@ -154,7 +163,7 @@ Now that the rainbow pattern is defined, we only need to apply it.
    .. tab-item:: Java
       :sync: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
          :language: java
          :lines: 50-56
          :lineno-match:
@@ -162,7 +171,7 @@ Now that the rainbow pattern is defined, we only need to apply it.
    .. tab-item:: C++
       :sync: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
          :language: c++
          :lines: 15-20
          :lineno-match:
diff --git a/source/docs/software/hardware-apis/motors/pwm-controllers.rst b/source/docs/software/hardware-apis/motors/pwm-controllers.rst
index 0b63698378..ffc5466e07 100644
--- a/source/docs/software/hardware-apis/motors/pwm-controllers.rst
+++ b/source/docs/software/hardware-apis/motors/pwm-controllers.rst
@@ -12,7 +12,7 @@ The PWM signal the controllers use for an input is a little bit different. Even
 
 ## 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.
+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
 
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 0c96ba54bd..4e831f12bb 100644
--- a/source/docs/software/hardware-apis/motors/using-motor-controllers.rst
+++ b/source/docs/software/hardware-apis/motors/using-motor-controllers.rst
@@ -4,33 +4,144 @@ Motor controllers come in two main flavors: :term:`CAN` and :term:`PWM`. A CAN c
 
 ## 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 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.
+For a more detailed background on *how* PWM motor controllers 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.
 
+.. important:: The ``set()`` method accepts values from **-1.0 to 1.0**, where:
+
+   - **-1.0** = full speed reverse
+   - **0.0** = stopped
+   - **1.0** = full speed forward
+
+### Where to Put This Code
+
+**In Command-Based programs:**
+
+Motor controllers should be declared as member variables in your subsystem class. Create them in the subsystem constructor, and use them in command methods.
+
+.. tab-set-code::
+
+   ```java
+   public class IntakeSubsystem extends SubsystemBase {
+     private final Spark m_motor = new Spark(0);
+
+     public void runIntake() {
+       m_motor.set(0.8);
+     }
+
+     public void stopIntake() {
+       m_motor.set(0.0);
+     }
+   }
+   ```
+
+   ```c++
+   class IntakeSubsystem : public frc2::SubsystemBase {
+    public:
+     IntakeSubsystem() : m_motor{0} {}
+
+     void RunIntake() {
+       m_motor.Set(0.8);
+     }
+
+     void StopIntake() {
+       m_motor.Set(0.0);
+     }
+
+    private:
+     frc::Spark m_motor;
+   };
+   ```
+
+   ```python
+   class IntakeSubsystem(commands2.SubsystemBase):
+       def __init__(self):
+           super().__init__()
+           self.motor = wpilib.Spark(0)
+
+       def run_intake(self):
+           self.motor.set(0.8)
+
+       def stop_intake(self):
+           self.motor.set(0.0)
+   ```
+
+**In Timed Robot programs:**
+
+Motor controllers should be declared as member variables in your ``Robot`` class. Create them in ``robotInit()``, and use them in periodic methods or autonomous/teleop methods.
+
 .. tab-set-code::
 
    ```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
+   public class Robot extends TimedRobot {
+     private Spark m_intakeMotor;
+     private Joystick m_joystick;
+
+     @Override
+     public void robotInit() {
+       m_intakeMotor = new Spark(0);
+       m_joystick = new Joystick(0);
+     }
+
+     @Override
+     public void teleopPeriodic() {
+       // Run intake when button is pressed
+       if (m_joystick.getRawButton(1)) {
+         m_intakeMotor.set(0.8);
+       } else {
+         m_intakeMotor.set(0.0);
+       }
+     }
+   }
    ```
 
    ```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
+   class Robot : public frc::TimedRobot {
+    public:
+     Robot() : m_intakeMotor{0}, m_joystick{0} {}
+
+     void TeleopPeriodic() override {
+       // Run intake when button is pressed
+       if (m_joystick.GetRawButton(1)) {
+         m_intakeMotor.Set(0.8);
+       } else {
+         m_intakeMotor.Set(0.0);
+       }
+     }
+
+    private:
+     frc::Spark m_intakeMotor;
+     frc::Joystick m_joystick;
+   };
    ```
 
    ```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
+   class MyRobot(wpilib.TimedRobot):
+       def robotInit(self):
+           self.intake_motor = wpilib.Spark(0)
+           self.joystick = wpilib.Joystick(0)
+
+       def teleopPeriodic(self):
+           # Run intake when button is pressed
+           if self.joystick.getRawButton(1):
+               self.intake_motor.set(0.8)
+           else:
+               self.intake_motor.set(0.0)
    ```
 
+### Common Use Cases
+
+Motor controllers are used throughout the robot for many mechanisms:
+
+- **Intakes**: Spin wheels to collect game pieces
+- **Shooters**: Spin flywheels to launch game pieces
+- **Conveyors**: Move game pieces through the robot
+- **Arms/Elevators**: Raise and lower mechanisms (often with position control)
+- **Climbers**: Extend or retract climbing mechanisms
+
+For drivetrain usage, see :doc:`wpi-drive-classes`. For more complete examples, see :doc:`/docs/software/examples-tutorials/wpilib-examples`.
+
 ## 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.
+CAN motor controllers are available through vendors such as CTR Electronics (Talon FX), REV Robotics (SPARK MAX/FLEX), and others. 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 b36555cf6e..b5e430614e 100644
--- a/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst
+++ b/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst
@@ -68,7 +68,7 @@ Sometimes drivers feel that their drivetrain is driving too fast and want to lim
 
 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.
 
-The purpose of the Motor Safety mechanism is the same as the purpose of a watchdog timer, to disable mechanisms which may cause harm to themselves, people or property if the code locks up and does not properly update the actuator output. Motor Safety breaks this concept out on a per actuator basis so that you can appropriately determine where it is necessary and where it is not. Examples of mechanisms that should have motor safety enabled are systems like drive trains and arms. If these systems get latched on a particular value they could cause damage to their environment or themselves. An example of a mechanism that may not need motor safety is a spinning flywheel for a shooter. If this mechanism gets latched on a particular value it will simply continue spinning until the robot is disabled. By default Motor Safety is enabled for DifferentialDrive and MecanumDrive objects and disabled for all other motor controllers and servos.
+The purpose of the Motor Safety mechanism is the same as the purpose of a watchdog timer, to disable mechanisms which may cause harm to themselves, people, or property if the code locks up and does not properly update the actuator output. Motor Safety breaks this concept out on a per actuator basis so that you can appropriately determine where it is necessary and where it is not. Examples of mechanisms that should have motor safety enabled are systems like drive trains and arms. If these systems get latched on a particular value they could cause damage to their environment or themselves. An example of a mechanism that may not need motor safety is a spinning flywheel for a shooter. If this mechanism gets latched on a particular value it will simply continue spinning until the robot is disabled. By default Motor Safety is enabled for DifferentialDrive and MecanumDrive objects and disabled for all other motor controllers and servos.
 
 The Motor Safety feature operates by maintaining a timer that tracks how long it has been since the feed() method has been called for that actuator. Code in the Driver Station class initiates a comparison of these timers to the timeout values for any actuator with safety enabled every 5 received packets (100ms nominal). The set() methods of each motor controller class and the set() and setAngle() methods of the servo class call feed() to indicate that the output of the actuator has been updated.
 
@@ -116,28 +116,28 @@ DifferentialDrive is a method provided for the control of "skid-steer" or "West
 .. tab-set::
 
     .. tab-item:: Java
-     :sync: Java
+        :sync: Java
 
         .. 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)
+        :sync: C++ (Header)
 
         .. 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)
+         :sync: C++ (Source)
 
         .. 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
+        :sync: Python
 
         .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/d89b0587a1e1111239728140466c7dc4324d4005/TankDrive/robot.py
            :language: python
@@ -151,7 +151,7 @@ Many FRC\ |reg| drivetrains have more than 1 motor on each side. Classes derived
 .. tab-set::
 
     .. tab-item:: Java
-     :sync: Java
+        :sync: Java
 
         Class variables (e.g. in Robot.java or Subsystem):
 
@@ -166,14 +166,14 @@ Many FRC\ |reg| drivetrains have more than 1 motor on each side. Classes derived
             :lines: 56-62
 
     .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+        :sync: C++ (Header)
 
         .. 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)
+        :sync: C++ (Source)
 
         In Robot or Subsystem constructor:
 
@@ -182,21 +182,21 @@ Many FRC\ |reg| drivetrains have more than 1 motor on each side. Classes derived
             :lines: 23-29
 
     .. tab-item:: Python
-     :sync: Python
-
-       ```python
-       def robotInit(self):
-           leftLeader = wpilib.Spark(1)
-           leftFollower = wpilib.Spark(2)
-           leftLeader.addFollower(leftFollower)
-           leftLeader.setInverted(
-               True
-           )  # if you want to invert the entire side you can do so here
-           rightLeader = wpilib.Spark(3)
-           rightFollower = wpilib.Spark(4)
-           rightLeader.addFollower(rightFollower)
-           self.drive = wpilib.drive.DifferentialDrive(leftLeader, rightLeader)
-       ```
+        :sync: Python
+
+        ```python
+        def robotInit(self):
+            leftLeader = wpilib.Spark(1)
+            leftFollower = wpilib.Spark(2)
+            leftLeader.addFollower(leftFollower)
+            leftLeader.setInverted(
+                True
+            )  # if you want to invert the entire side you can do so here
+            rightLeader = wpilib.Spark(3)
+            rightFollower = wpilib.Spark(4)
+            rightLeader.addFollower(rightFollower)
+            self.drive = wpilib.drive.DifferentialDrive(leftLeader, rightLeader)
+        ```
 
 ### Drive Modes
 .. note::
@@ -272,9 +272,9 @@ MecanumDrive is a method provided for the control of holonomic drivetrains with
 
 The MecanumDrive class contains two different default modes of driving your robot's motors.
 
-  - driveCartesian: Angles are measured clockwise from the positive X axis. The robot's speed is independent from its angle or rotation rate.
+- driveCartesian: Angles are measured clockwise from the positive X axis. The robot's speed is independent from its angle or rotation rate.
 
-  - drivePolar: Angles are measured counter-clockwise from straight ahead. The speed at which the robot drives (translation) is independent from its angle or rotation rate.
+- drivePolar: Angles are measured counter-clockwise from straight ahead. The speed at which the robot drives (translation) is independent from its angle or rotation rate.
 
 .. tab-set-code::
 
@@ -298,15 +298,15 @@ The MecanumDrive class contains two different default modes of driving your robo
 
     ```python
     def teleopPeriodic(self):
-        // Drive using the X, Y, and Z axes of the joystick.
+        # 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.
+        # 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.
+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.
 
 The use of field-oriented driving makes often makes the robot much easier to drive, especially compared to a "robot-oriented" drive system where the controls are reversed when the robot is facing the drivers.
 
diff --git a/source/docs/software/hardware-apis/pneumatics/pressure.rst b/source/docs/software/hardware-apis/pneumatics/pressure.rst
index 2ba4d50a2a..eba552bb9c 100644
--- a/source/docs/software/hardware-apis/pneumatics/pressure.rst
+++ b/source/docs/software/hardware-apis/pneumatics/pressure.rst
@@ -13,16 +13,17 @@ Construct a ``Compressor`` object:
             .. tab-item:: Java
                :sync: 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
+               .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/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-4/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
+               .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
                   :language: c++
                   :lines: 54-55
+
     .. tab-item:: CTRE Pneumatics Control Module (PCM)
 
         .. tab-set::
@@ -55,7 +56,7 @@ Querying compressor current and state:
     .. tab-item:: C++ (Source)
        :sync: C++ (Source)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 26-28, 31-32, 35-37
 
@@ -119,14 +120,14 @@ 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-4/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/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-4/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 19-23
 
@@ -139,12 +140,12 @@ 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-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/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-4/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
+          :lines: 17-25
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
           :language: java
-          :lines: 40-41
+          :lines: 36-37
 
     .. tab-item:: C++ (Header)
        :sync: C++ (Header)
diff --git a/source/docs/software/hardware-apis/pneumatics/solenoids.rst b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
index 737f2dbed6..45f6c7ce0d 100644
--- a/source/docs/software/hardware-apis/pneumatics/solenoids.rst
+++ b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
@@ -15,19 +15,19 @@ Single solenoids in WPILib are controlled using the ``Solenoid`` class ([Java](h
     .. tab-item:: Java
        :sync: 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
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 30-32
           :lineno-match:
-       .. 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/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
-          :lines: 88-93
+          :lines: 72-77
           :lineno-match:
 
     .. tab-item:: C++ (Header)
        :sync: C++ (Header)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
           :language: c++
           :lines: 44-47
           :lineno-match:
@@ -35,7 +35,7 @@ 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-4/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 42-47
           :lineno-match:
@@ -50,20 +50,20 @@ Double solenoids are controlled by the ``DoubleSolenoid`` class in WPILib ([Java
     .. tab-item:: Java
        :sync: 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
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 34-37
           :lineno-match:
-       .. 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/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
-          :lines: 100, 102
+          :lines: 84, 86
           :linenos:
-          :lineno-start: 100
+          :lineno-start: 84
 
     .. tab-item:: C++ (Header)
        :sync: C++ (Header)
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-4/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
           :language: c++
           :lines: 49-52
           :lineno-match:
@@ -71,7 +71,7 @@ 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-4/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 54, 56
           :linenos:
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 812e78783f..8d3aac8e2b 100644
--- a/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
+++ b/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
@@ -18,11 +18,11 @@ An :code:`AnalogInput` may be initialized as follows:
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
       :language: java
       :lines: 17-18
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
       :language: c++
       :lines: 63-64
 
@@ -39,11 +39,11 @@ When oversampling is enabled, the FPGA will add multiple consecutive samples tog
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
       :language: java
       :lines: 25-28
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
       :language: c++
       :lines: 15-19
 
@@ -53,11 +53,11 @@ Averaging behaves much like oversampling, except the accumulated values are divi
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
       :language: java
       :lines: 30-32
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
       :language: c++
       :lines: 21-23
 
@@ -73,11 +73,11 @@ The :code:`getValue` method returns the raw instantaneous measured value from th
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
       :language: java
       :lines: 37-40
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
       :language: c++
       :lines: 25-28
 
@@ -87,11 +87,11 @@ The :code:`getVoltage` method returns the instantaneous measured voltage from th
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
       :language: java
       :lines: 42-44
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
       :language: c++
       :lines: 30-32
 
@@ -101,11 +101,11 @@ The :code:`getAverageValue` method returns the averaged value from the analog in
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
       :language: java
       :lines: 46-48
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
       :language: c++
       :lines: 34-36
 
@@ -115,11 +115,11 @@ The :code:`getAverageVoltage` method returns the averaged voltage from the analo
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
       :language: java
       :lines: 46-48
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
       :language: c++
       :lines: 38-40
 
@@ -131,11 +131,11 @@ Analog input channels 0 and 1 additionally support an accumulator, which integra
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
       :language: java
       :lines: 42-44
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
       :language: c++
       :lines: 42-54
 
@@ -145,11 +145,11 @@ Sometimes, it is necessarily to obtain matched measurements of the count and the
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analoginput/Robot.java
       :language: java
       :lines: 20-21, 67-71
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b96264f0421ea4ddce0d7b721d995e60db8ab5ad/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp
       :language: c++
       :lines: 66-68, 58-59
 
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 4b2cf78fca..722d6c795a 100644
--- a/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
+++ b/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
@@ -16,11 +16,11 @@ An AnalogPotentiometer can be initialized as follows:
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/55a97f0c11b072d18809e160a6f2bfc64f228e8d/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogpotentiometer/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogpotentiometer/Robot.java
       :language: java
       :lines: 16-21
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/55a97f0c11b072d18809e160a6f2bfc64f228e8d/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
       :language: c++
       :lines: 26-30
 
@@ -33,11 +33,11 @@ If the user would like to apply custom settings to the underlying :code:`AnalogI
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/55a97f0c11b072d18809e160a6f2bfc64f228e8d/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogpotentiometer/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogpotentiometer/Robot.java
       :language: java
       :lines: 23-30
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/55a97f0c11b072d18809e160a6f2bfc64f228e8d/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
       :language: c++
       :lines: 32-38
 
@@ -47,11 +47,11 @@ The scaled value can be read by simply calling the :code:`get` method:
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/55a97f0c11b072d18809e160a6f2bfc64f228e8d/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogpotentiometer/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogpotentiometer/Robot.java
       :language: java
       :lines: 40-41
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/55a97f0c11b072d18809e160a6f2bfc64f228e8d/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp
       :language: c++
       :lines: 21-22
 
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 77f6285364..aaa783a35c 100644
--- a/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst
+++ b/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst
@@ -14,11 +14,11 @@ A :code:`DigitalInput` can be initialized as follows:
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/digitalinput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/digitalinput/Robot.java
       :language: java
       :lines: 15-16
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
       :language: c++
       :lines: 21-22
 
@@ -28,11 +28,11 @@ The state of the :code:`DigitalInput` can be polled with the :code:`get` method:
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/digitalinput/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/digitalinput/Robot.java
       :language: java
       :lines: 20-21
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/DigitalInput/cpp/Robot.cpp
       :language: c++
       :lines: 15-17
 
@@ -46,11 +46,11 @@ An :code:`AnalogTrigger` may be initialized as follows.  As with :code:`AnalogPo
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogtrigger/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogtrigger/Robot.java
       :language: java
       :lines: 16-22
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibcExamples/src/main/cpp/snippets/AnalogTrigger/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogTrigger/cpp/Robot.cpp
       :language: c++
       :lines: 27-33
 
@@ -62,11 +62,11 @@ To convert the analog signal to a digital one, it is necessary to specify at wha
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogtrigger/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogtrigger/Robot.java
       :language: java
       :lines: 26-31
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibcExamples/src/main/cpp/snippets/AnalogTrigger/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogTrigger/cpp/Robot.cpp
       :language: c++
       :lines: 16-23
 
diff --git a/source/docs/software/hardware-apis/sensors/encoders-software.rst b/source/docs/software/hardware-apis/sensors/encoders-software.rst
index e82ede09c1..dffa51e373 100644
--- a/source/docs/software/hardware-apis/sensors/encoders-software.rst
+++ b/source/docs/software/hardware-apis/sensors/encoders-software.rst
@@ -37,13 +37,13 @@ A quadrature encoder can be instantiated as follows:
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
       :language: java
       :lines: 16-18
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
       :language: c++
-      :lines: 56-58
+      :lines: 53-55
 
 #### Decoding Type
 
@@ -57,13 +57,13 @@ The WPILib :code:`Encoder` class can decode encoder signals in three different m
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
       :language: java
       :lines: 20-22
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
       :language: c++
-      :lines: 60-62
+      :lines: 57-59
 
 ### Configuring Quadrature Encoder Parameters
 
@@ -75,13 +75,13 @@ The :code:`Encoder` class offers a number of configuration methods:
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
       :language: java
       :lines: 26-37
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
       :language: c++
-      :lines: 20-32
+      :lines: 17-29
 
 ### Reading information from Quadrature Encoders
 
@@ -95,13 +95,13 @@ Users can obtain the total distance traveled by the encoder with the :code:`getD
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
       :language: java
       :lines: 44-45
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
       :language: c++
-      :lines: 36-37
+      :lines: 33-34
 
 #### Rate
 
@@ -111,13 +111,13 @@ Users can obtain the current rate of change of the encoder with the :code:`getRa
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
       :language: java
       :lines: 47-48
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
       :language: c++
-      :lines: 39-40
+      :lines: 36-37
 
 #### Stopped
 
@@ -125,13 +125,13 @@ Users can obtain whether the encoder is stationary with the :code:`getStopped()`
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
       :language: java
       :lines: 50-51
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
       :language: c++
-      :lines: 42-43
+      :lines: 39-40
 
 #### Direction
 
@@ -139,13 +139,13 @@ Users can obtain the direction in which the encoder last moved with the :code:`g
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
       :language: java
       :lines: 53-54
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
       :language: c++
-      :lines: 45-46
+      :lines: 42-43
 
 #### Period
 
@@ -153,13 +153,13 @@ Users can obtain the period of the encoder pulses (in seconds) with the :code:`g
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
       :language: java
       :lines: 56-57
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
       :language: c++
-      :lines: 48-49
+      :lines: 45-46
 
 ### Resetting a Quadrature Encoder
 
@@ -167,13 +167,13 @@ To reset a quadrature encoder to a distance reading of zero, call the :code:`res
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java
       :language: java
       :lines: 59-60
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/b2486633862f86092354df5c1bd92f5db457afcb/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
       :language: c++
-      :lines: 51-52
+      :lines: 48-49
 
 ## Duty Cycle Encoders - The :code:`DutyCycleEncoder` class
 
@@ -197,13 +197,13 @@ A duty cycle encoder can be instantiated as follows:
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/0695a4db8912a65f175c814c30075cc3e87b313f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
       :language: java
       :lines: 15-16
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/0695a4db8912a65f175c814c30075cc3e87b313f/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
       :language: c++
-      :lines: 27-28
+      :lines: 25-26
 
 ### Configuring Duty Cycle Encoder Range and Zero
 
@@ -215,13 +215,13 @@ The zero position is useful for ensuring that the measured rotation corresponds
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/0695a4db8912a65f175c814c30075cc3e87b313f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
       :language: java
       :lines: 18-21
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/0695a4db8912a65f175c814c30075cc3e87b313f/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
       :language: c++
-      :lines: 30-33
+      :lines: 28-31
 
 ### Reading Rotation from Duty Cycle Encoders
 
@@ -231,13 +231,13 @@ Users can obtain the rotation measured by the encoder with the :code:`get()` met
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/0695a4db8912a65f175c814c30075cc3e87b313f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
       :language: java
       :lines: 28-29
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/0695a4db8912a65f175c814c30075cc3e87b313f/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
       :language: c++
-      :lines: 19-20
+      :lines: 17-18
 
 ### Detecting a Duty Cycle Encoder is Connected
 
@@ -245,13 +245,13 @@ As duty cycle encoders output a continuous set of pulses, it is possible to dete
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/0695a4db8912a65f175c814c30075cc3e87b313f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
       :language: java
       :lines: 31-32
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/0695a4db8912a65f175c814c30075cc3e87b313f/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
       :language: c++
-      :lines: 22-23
+      :lines: 20-21
 
 ## Analog Encoders - The :code:`AnalogEncoder` Class
 
@@ -269,13 +269,13 @@ An analog encoder can be instantiated as follows:
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogencoder/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogencoder/Robot.java
       :language: java
       :lines: 15-16
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
       :language: c++
-      :lines: 24-25
+      :lines: 22-23
 
 ### Configuring Analog Encoder Range and Zero
 
@@ -287,13 +287,13 @@ The zero position is useful for ensuring that the measured rotation corresponds
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogencoder/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogencoder/Robot.java
       :language: java
       :lines: 18-21
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
       :language: c++
-      :lines: 27-30
+      :lines: 25-28
 
 ### Reading Rotation from Analog Encoders
 
@@ -303,13 +303,13 @@ Users can obtain the rotation measured by the encoder with the :code:`get()` met
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogencoder/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogencoder/Robot.java
       :language: java
       :lines: 28-29
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/AnalogEncoder/cpp/Robot.cpp
       :language: c++
-      :lines: 19-20
+      :lines: 17-18
 
 ## Using Encoders in Code
 
@@ -323,13 +323,13 @@ Encoders can be used on a robot drive to create a simple "drive to distance" rou
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoderdrive/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoderdrive/Robot.java
       :language: java
       :lines: 17-47
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/EncoderDrive/cpp/Robot.cpp
       :language: c++
-      :lines: 41-49, 18-38
+      :lines: 39-47, 16-36
 
 
 ### Homing a Mechanism
@@ -340,11 +340,11 @@ Since quadrature encoders measure *relative* distance, it is often important to
 
 .. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoderhoming/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoderhoming/Robot.java
       :language: java
       :lines: 17-34
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/EncoderHoming/cpp/Robot.cpp
       :language: c++
-      :lines: 30-33, 18-27
+      :lines: 28-31, 16-25
 
diff --git a/source/docs/software/hardware-apis/sensors/limit-switch.rst b/source/docs/software/hardware-apis/sensors/limit-switch.rst
index a1787663ca..36ca258698 100644
--- a/source/docs/software/hardware-apis/sensors/limit-switch.rst
+++ b/source/docs/software/hardware-apis/sensors/limit-switch.rst
@@ -8,11 +8,11 @@ Limit switches can have "normally open" or "normally closed" outputs.  This will
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/limitswitch/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/limitswitch/Robot.java
       :language: java
       :lines: 17-50
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/02de5f710e2579f2079a28944e90b48b34d91cac/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/snippets/LimitSwitch/cpp/Robot.cpp
       :language: c++
       :lines: 40-43, 17-37
 
diff --git a/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst b/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst
index b736659747..0d5b858c58 100644
--- a/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst
+++ b/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst
@@ -16,16 +16,16 @@ The :code:`Ultrasonic` class ([Java](https://github.wpilib.org/allwpilib/docs/re
 .. tab-set::
 
    .. tab-item:: Java
-     :sync: Java
+      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
          :language: java
          :lines: 17-18
 
    .. tab-item:: C++
-     :sync: C++
+      :sync: C++
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Ultrasonic/include/Robot.h
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibcExamples/src/main/cpp/examples/Ultrasonic/include/Robot.h
          :language: c++
          :lines: 23-24
 
@@ -34,16 +34,16 @@ The measurement can then be retrieved in either inches or millimeters in Java; i
 .. tab-set::
 
    .. tab-item:: Java
-     :sync: Java
+      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
          :language: java
          :lines: 29-32
 
    .. tab-item:: C++
-     :sync: C++
+      :sync: C++
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
          :language: c++
          :lines: 18-22
 
@@ -62,23 +62,23 @@ Ultrasonic sensors are very useful for determining spacing during autonomous rou
 .. tab-set::
 
    .. tab-item:: Java
-     :sync: Java
+      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
          :language: java
          :lines: 19-68, 77-77
 
    .. tab-item:: C++ (Header)
-     :sync: C++ (Header)
+      :sync: C++ (Header)
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2025.3.2/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
          :language: c++
          :lines: 19-52
 
    .. tab-item:: C++ (Source)
-     :sync: C++ (Source)
+      :sync: C++ (Source)
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2025.3.2/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
          :language: c++
          :lines: 12-24
 
@@ -87,15 +87,15 @@ Additionally, ping-response ultrasonics can be sent to :ref:`Shuffleboard <docs/
 .. tab-set::
 
    .. tab-item:: Java
-     :sync: Java
+      :sync: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
          :language: java
          :lines: 22-24
 
    .. tab-item:: C++
-     :sync: C++
+      :sync: C++
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2025.3.2/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.2.1/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
          :language: c++
          :lines: 12-14
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 dc30d980f6..0fefbe2216 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
@@ -20,9 +20,9 @@
 
 5. Double click the "Teleop" vi inside of the Teleop Enabled case structure.  Look at its block diagram.  You will want to make two changes here:
 
-  - Replace Arcade Drive with the tank drive.vi.  This can be found by right clicking on the block diagram >> WPI Robotics Library >> Robot Drive >>  and clicking the Tank Drive VI.
+- Replace Arcade Drive with the tank drive.vi.  This can be found by right clicking on the block diagram >> WPI Robotics Library >> Robot Drive >>  and clicking the Tank Drive VI.
 
-  - Find the Index Array function that is after the Get Values.vi.  You will need to create two numeric constants and wire each into one of the index inputs.  You can determine what the values of each index should be by looking at the USB Devices tab in the FRC\ |reg| Driver Station.  Move the two joysticks to determine which number (index) they are tied to.  You will likely want to use the Y-axis index for each joystick.  This is because it is intuitive to push up on the joystick when you want the motors to go forward, and down when you when them to go in reverse.  If you select the X-axis index for each, then you will have to move the joystick left or right (x-axis directions) to get the robot motors to move.  In my setup, I’ve selected index 1 for my left motors Y-axis control and index 5 as the right motors Y-axis control.  You can see the adjustments in LabVIEW in the following image:
+- Find the Index Array function that is after the Get Values.vi.  You will need to create two numeric constants and wire each into one of the index inputs.  You can determine what the values of each index should be by looking at the USB Devices tab in the FRC\ |reg| Driver Station.  Move the two joysticks to determine which number (index) they are tied to.  You will likely want to use the Y-axis index for each joystick.  This is because it is intuitive to push up on the joystick when you want the motors to go forward, and down when you when them to go in reverse.  If you select the X-axis index for each, then you will have to move the joystick left or right (x-axis directions) to get the robot motors to move.  In my setup, I’ve selected index 1 for my left motors Y-axis control and index 5 as the right motors Y-axis control.  You can see the adjustments in LabVIEW in the following image:
 
 .. image:: images/tank-drive-tutorial/block-diagram-2.png
 
@@ -30,9 +30,9 @@
 
 7. The first thing to confirm in this VI is that your left and right motors are connected to the same PWM lines in LabVIEW as they are on your PDP (Power Distribution Panel).
 
-8. The second thing to confirm in this VI is that the "Open 2 Motor.vi" has the correct motor controller selected (Talon, Jaguar, Victor, etc.).
+8. The second thing to confirm in this VI is that the "Open 2 Motor.vi" has the correct motor controller selected (Talon, Victor, Spark, etc.).
 
-  For example, I am using Jaguar motor controllers and my motors are wired into PWM 8 and 9.  The image below shows the changes I need to make:
+For example, the image below shows motors wired into PWM 8 and 9:
 
 .. image:: images/tank-drive-tutorial/block-diagram-3.png
 
diff --git a/source/docs/software/networktables/client-side-program.rst b/source/docs/software/networktables/client-side-program.rst
index 1d88c14bf0..50febc11f2 100644
--- a/source/docs/software/networktables/client-side-program.rst
+++ b/source/docs/software/networktables/client-side-program.rst
@@ -9,7 +9,7 @@ A basic client program looks like the following example.
 .. tab-set::
 
     .. tab-item:: Java
-       :sync: Java
+        :sync: Java
 
         ```java
         import edu.wpi.first.networktables.DoubleSubscriber;
@@ -55,7 +55,7 @@ A basic client program looks like the following example.
         ```
 
     .. tab-item:: C++
-     :sync: C++
+        :sync: C++
 
         ```c++
         #include <chrono>
@@ -83,7 +83,7 @@ A basic client program looks like the following example.
         ```
 
     .. tab-item:: C++ (Handle-based)
-     :sync: C++ (Handle-based)
+        :sync: C++ (Handle-based)
 
         ```c++
         #include <chrono>
@@ -110,7 +110,7 @@ A basic client program looks like the following example.
         ```
 
     .. tab-item:: C
-       :sync: C
+        :sync: C
 
         ```c
         #include <stdio.h>
@@ -136,7 +136,7 @@ A basic client program looks like the following example.
         ```
 
     .. tab-item:: Python
-     :sync: Python
+        :sync: Python
 
 
         ```python
@@ -171,22 +171,22 @@ Example build.gradle files are provided in the [StandaloneAppSamples Repository]
 .. tab-set::
 
     .. tab-item:: Java
-     :sync: Java
+        :sync: Java
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/9020718b022ba220a2c5cc04ad12714d06e7a141/Java/build.gradle
-          :language: groovy
-          :linenos:
-          :emphasize-lines: 5
+        .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/9020718b022ba220a2c5cc04ad12714d06e7a141/Java/build.gradle
+            :language: groovy
+            :linenos:
+            :emphasize-lines: 5
 
     .. tab-item:: C++
-     :sync: C++
+        :sync: C++
 
-       Uncomment the appropriate platform as highlighted.
+        Uncomment the appropriate platform as highlighted.
 
-       .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/9020718b022ba220a2c5cc04ad12714d06e7a141/Cpp/build.gradle
-          :language: groovy
-          :linenos:
-          :emphasize-lines: 3, 14-15, 20-22
+        .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/9020718b022ba220a2c5cc04ad12714d06e7a141/Cpp/build.gradle
+            :language: groovy
+            :linenos:
+            :emphasize-lines: 3, 14-15, 20-22
 
 ### Building Python
 
diff --git a/source/docs/software/networktables/listening-for-change.rst b/source/docs/software/networktables/listening-for-change.rst
index 82181e2c62..5dc7b7421c 100644
--- a/source/docs/software/networktables/listening-for-change.rst
+++ b/source/docs/software/networktables/listening-for-change.rst
@@ -7,143 +7,143 @@ There are a few different ways to detect that a topic's value has changed; the e
 .. tab-set::
 
     .. tab-item:: Java
-     :sync: Java
+      :sync: Java
 
-        ```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);
+      ```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);
           }
-          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);
-            }
+          // 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);
           }
-          // may not be necessary for robot programs if this class lives for
-          // the length of the program
-          public void close() {
-            ySub.close();
+          // 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++
+      :sync: C++
 
-        ```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);
+      ```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);
           }
-          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);
-            }
+          // 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)
+      :sync: C++ (Handle-based)
 
-        ```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");
+      ```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);
           }
-          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);
-            }
+          // 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
+      :sync: Python
 
 
-        ```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).
 
@@ -166,204 +166,203 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
 .. tab-set::
 
     .. tab-item:: Java
-     :sync: Java
+      :sync: Java
 
-        ```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);
-                  }
-                });
-          }
-          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);
+      ```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);
+                }
+              });
+        }
+        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();
-          }
         }
-        ```
+        // 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++
+      :sync: C++
 
-        ```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);
-                  }
-                });
-          }
-          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);
+      ```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);
+                }
+              });
+        }
+        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);
-          }
-        };
-        ```
+        }
+        ~Example() {
+          nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+          inst.RemoveListener(connListenerHandle);
+          inst.RemoveListener(valueListenerHandle);
+          inst.RemoveListener(topicListenerHandle);
+        }
+      };
+      ```
 
     .. tab-item:: Python
-     :sync: Python
-
+      :sync: Python
 
-        ```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
-                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()
-        ```
+      ```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
+              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()
+      ```
 
diff --git a/source/docs/software/networktables/multiple-instances.rst b/source/docs/software/networktables/multiple-instances.rst
index 3a825bae74..024c48fc0e 100644
--- a/source/docs/software/networktables/multiple-instances.rst
+++ b/source/docs/software/networktables/multiple-instances.rst
@@ -13,7 +13,7 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
 .. tab-set::
 
     .. tab-item:: Java
-     :sync: Java
+        :sync: Java
 
         ```java
         // get the default NetworkTable instance
@@ -25,7 +25,7 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
         ```
 
     .. tab-item:: C++
-     :sync: C++
+        :sync: C++
 
         ```c++
         // get the default NetworkTable instance
@@ -37,7 +37,7 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
         ```
 
     .. tab-item:: C++ (Handle-based)
-     :sync: C++ (Handle-based)
+        :sync: C++ (Handle-based)
 
         ```c++
         // get the default NetworkTable instance
@@ -49,7 +49,7 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
         ```
 
     .. tab-item:: C
-       :sync: C
+        :sync: C
 
         ```c
         // get the default NetworkTable instance
@@ -61,7 +61,7 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
         ```
 
     .. tab-item:: Python
-     :sync: Python
+        :sync: Python
 
 
         ```python
diff --git a/source/docs/software/networktables/networktables-networking.rst b/source/docs/software/networktables/networktables-networking.rst
index 67aa39ec83..caa320c9d5 100644
--- a/source/docs/software/networktables/networktables-networking.rst
+++ b/source/docs/software/networktables/networktables-networking.rst
@@ -7,7 +7,7 @@ The advantage of the robot program being the server is that it's at a known netw
 .. tab-set::
 
     .. tab-item:: Java
-       :sync: Java
+        :sync: Java
 
         ```java
         NetworkTableInstance inst = NetworkTableInstance.getDefault();
@@ -15,7 +15,7 @@ The advantage of the robot program being the server is that it's at a known netw
         ```
 
     .. tab-item:: C++
-     :sync: C++
+        :sync: C++
 
         ```c++
         nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
@@ -23,7 +23,7 @@ The advantage of the robot program being the server is that it's at a known netw
         ```
 
     .. tab-item:: C++ (Handle-based)
-     :sync: C++ (Handle-based)
+        :sync: C++ (Handle-based)
 
         ```c++
         NT_Inst inst = nt::GetDefaultInstance();
@@ -31,7 +31,7 @@ The advantage of the robot program being the server is that it's at a known netw
         ```
 
     .. tab-item:: C
-       :sync: C
+        :sync: C
 
         ```c
         NT_Inst inst = NT_GetDefaultInstance();
@@ -39,7 +39,7 @@ The advantage of the robot program being the server is that it's at a known netw
         ```
 
     .. tab-item:: Python
-     :sync: Python
+        :sync: Python
 
 
         ```python
@@ -53,7 +53,7 @@ The advantage of the robot program being the server is that it's at a known netw
 .. tab-set::
 
     .. tab-item:: Java
-     :sync: Java
+        :sync: Java
 
         ```java
         NetworkTableInstance inst = NetworkTableInstance.getDefault();
@@ -68,7 +68,7 @@ The advantage of the robot program being the server is that it's at a known netw
         ```
 
     .. tab-item:: C++
-     :sync: C++
+        :sync: C++
 
         ```c++
         nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
@@ -83,7 +83,7 @@ The advantage of the robot program being the server is that it's at a known netw
         ```
 
     .. tab-item:: C++ (Handle-based)
-     :sync: C++ (Handle-based)
+        :sync: C++ (Handle-based)
 
         ```c++
         NT_Inst inst = nt::GetDefaultInstance();
@@ -98,7 +98,7 @@ The advantage of the robot program being the server is that it's at a known netw
         ```
 
     .. tab-item:: C
-       :sync: C
+        :sync: C
 
         ```c
         NT_Inst inst = NT_GetDefaultInstance();
@@ -113,7 +113,7 @@ The advantage of the robot program being the server is that it's at a known netw
         ```
 
     .. tab-item:: Python
-     :sync: Python
+        :sync: Python
 
 
         ```python
diff --git a/source/docs/software/networktables/nt4-migration-guide.rst b/source/docs/software/networktables/nt4-migration-guide.rst
index b4adc26f9e..b794b2051b 100644
--- a/source/docs/software/networktables/nt4-migration-guide.rst
+++ b/source/docs/software/networktables/nt4-migration-guide.rst
@@ -160,6 +160,8 @@ Force set operations have been removed, as it's no longer possible to change a t
 
 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).
 
+While NetworkTable-level listeners were removed, table-specific listening functionality can be achieved by using ``NetworkTableInstance.addListener()`` with a topic name prefix filter. By passing an array of topic name prefixes (such as ``["/datatable/"]``), the listener will only receive events for topics within that table. This is demonstrated in the :ref:`docs/software/networktables/listening-for-change:using networktableinstance to listen for changes` section.
+
 ## 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.
diff --git a/source/docs/software/networktables/publish-and-subscribe.rst b/source/docs/software/networktables/publish-and-subscribe.rst
index 35f0f5d006..7983a3e9fb 100644
--- a/source/docs/software/networktables/publish-and-subscribe.rst
+++ b/source/docs/software/networktables/publish-and-subscribe.rst
@@ -13,187 +13,186 @@ Publishing values is done via a ``set()`` operation. By default, this operation
 .. tab-set::
 
     .. tab-item:: Java
-       :sync: Java
-
-        ```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();
-          }
+      :sync: Java
+
+      ```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++
-
-        ```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);
-          }
-        };
-        ```
+      :sync: C++
+
+      ```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)
-
-        ```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.
-            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);
-          }
-        };
-        ```
+      :sync: C++ (Handle-based)
+
+      ```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.
+          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
-
-        ```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);
-        ```
+      :sync: C
+
+      ```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
-
-
-        ```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()
-        ```
+      :sync: Python
+
+      ```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
+              # 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
 
@@ -204,191 +203,191 @@ Subscribers have a range of different ways to read received values. It's possibl
 .. tab-set::
 
     .. tab-item:: Java
-     :sync: Java
-
-        ```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();
-          }
+      :sync: Java
+
+      ```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++
-
-        ```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();
-          }
-        };
-        ```
+      :sync: C++
+
+      ```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)
-
-        ```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.
-            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);
-          }
-        ```
+      :sync: C++ (Handle-based)
+
+      ```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.
+          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
-
-        ```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);
-        ```
+      :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_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
-
-        ```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()
-        ```
+      :sync: Python
+
+      ```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()
+      ```
 
 ## Using Entry to Both Subscribe and Publish
 
@@ -397,221 +396,221 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
 .. tab-set::
 
     .. tab-item:: Java
-       :sync: Java
-
-        ```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();
-          }
+      :sync: Java
+
+      ```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++
-
-        ```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();
-          }
-        };
-        ```
+      :sync: C++
+
+      ```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)
-
-        ```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.
-            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);
-          }
-        ```
+      :sync: C++ (Handle-based)
+
+      ```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.
+          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
-
-        ```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);
-        ```
+      :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
-
-
-        ```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()
-        ```
+      :sync: Python
+
+
+      ```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
 
@@ -620,190 +619,189 @@ For the most robust code, using the type-specific Publisher, Subscriber, and Ent
 .. tab-set::
 
     .. tab-item:: Java
-     :sync: Java
-
-        ```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();
-          }
+      :sync: Java
+
+      ```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++
-
-        ```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();
-          }
-        };
-        ```
+      :sync: C++
+
+      ```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
-
-
-        ```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()
-        ```
+      :sync: Python
+
+      ```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
 
@@ -812,181 +810,180 @@ While in most cases it's only necessary to subscribe to individual topics, it is
 .. tab-set::
 
     .. tab-item:: Java
-       :sync: Java
-
-        ```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();
+      :sync: Java
+
+      ```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++
-
-        ```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;
-            }
+      :sync: C++
+
+      ```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)
-
-        ```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
-            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);
+      :sync: C++ (Handle-based)
+
+      ```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
+          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
-
-        ```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);
-        ```
+      :sync: C
+
+      ```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);
+      ```
 
     .. tab-item:: Python
-     :sync: Python
-
-
-        ```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()
-        ```
+      :sync: Python
+
+      ```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
 
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 394761d1d8..87ccb1c1ec 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
@@ -10,7 +10,7 @@ Very often the values are for one or more areas of interest such as goals or gam
 
 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.
+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.
 
diff --git a/source/docs/software/networktables/tables-and-topics.rst b/source/docs/software/networktables/tables-and-topics.rst
index a0c9cfbbce..a079376708 100644
--- a/source/docs/software/networktables/tables-and-topics.rst
+++ b/source/docs/software/networktables/tables-and-topics.rst
@@ -13,7 +13,7 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
 .. tab-set::
 
     .. tab-item:: Java
-       :sync: Java
+        :sync: Java
 
         ```java
         NetworkTableInstance inst = NetworkTableInstance.getDefault();
@@ -31,7 +31,7 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
         ```
 
     .. tab-item:: C++
-     :sync: C++
+        :sync: C++
 
         ```c++
         nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
@@ -49,7 +49,7 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
         ```
 
     .. tab-item:: C++ (Handle-based)
-     :sync: C++ (Handle-based)
+        :sync: C++ (Handle-based)
 
         ```c++
         NT_Instance inst = nt::GetDefaultInstance();
@@ -67,7 +67,7 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
         ```
 
     .. tab-item:: Python
-     :sync: Python
+        :sync: Python
 
 
         ```python
diff --git a/source/docs/software/pathplanning/index.rst b/source/docs/software/pathplanning/index.rst
index ad81212d47..8fae5570e5 100644
--- a/source/docs/software/pathplanning/index.rst
+++ b/source/docs/software/pathplanning/index.rst
@@ -1,6 +1,6 @@
 # Path Planning
 
-Path Planning is the process of creating and following trajectories. These paths use the WPILib trajectory APIs for generation and a :ref:`LTV Unicycle Controller <docs/software/advanced-controls/trajectories/ltv:LTV Unicycle 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.
+Path Planning is the process of creating and following trajectories. These paths use the WPILib trajectory APIs for generation and a :ref:`LTV Unicycle Controller <docs/software/advanced-controls/trajectories/ltv:LTV Unicycle 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
 
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 1c917fa3f4..0cc9468537 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst
@@ -33,11 +33,11 @@ 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:
 
-  * Quadrature encoders for measuring the wheel rotation of each side of the drive.
-  * A gyroscope for measuring robot heading.
+* Quadrature encoders for measuring the wheel rotation of each side of the drive.
+* A gyroscope for measuring robot heading.
 
 2. A driver-station computer configured with:
 
-  * :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/advanced-controls/system-identification/introduction:Installing SysId>`.
+* :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/advanced-controls/system-identification/introduction:Installing SysId>`.
diff --git a/source/docs/software/python/pyproject_toml.rst b/source/docs/software/python/pyproject_toml.rst
index 4fb249883f..642c4d5920 100644
--- a/source/docs/software/python/pyproject_toml.rst
+++ b/source/docs/software/python/pyproject_toml.rst
@@ -15,22 +15,17 @@ The ``pyproject.toml`` file looks something like this:
 #
 [tool.robotpy]
 # Version of robotpy this project depends on
-robotpy_version = "2024.2.1.0"
+robotpy_version = "2026.1.1"
 # 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"
+components = [
+    # "all",
+    # "apriltag",
+    # "commands2",
+    # "cscore",
+    # "romi",
+    # "sim",
+    # "xrp",
 ]
 # Other pip packages to install
 requires = []
@@ -40,7 +35,9 @@ Each of the following will instruct the deploy process to install packages to th
 
 ``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.
+``components`` defines extra RobotPy components that can be installed, as only the core RobotPy libraries are installed by default.
+
+.. note:: ``components`` is equivalent to ``robotpy_extras`` in prior years
 
 ``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:
 
@@ -50,5 +47,5 @@ Each of the following will instruct the deploy process to install packages to th
 requires = ["numpy"]
 ```
 
-The packages that can be installed are stored on the [WPILib Artifactory server](https://wpilib.jfrog.io/ui/native/wpilib-python-release-2025/).
+Binary packages that can be installed are stored on the [WPILib Artifactory server](https://wpilib.jfrog.io/ui/native/wpilib-python-release-2026/).
 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/roborio-info/images/log-in.png b/source/docs/software/roborio-info/images/log-in.png
deleted file mode 100644
index fa5c15aefe..0000000000
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diff --git a/source/docs/software/roborio-info/images/open-putty.png b/source/docs/software/roborio-info/images/open-putty.png
deleted file mode 100644
index 3a131419a5..0000000000
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diff --git a/source/docs/software/roborio-info/roborio-brownouts.rst b/source/docs/software/roborio-info/roborio-brownouts.rst
index 47f5c8ab5c..8432dc059e 100644
--- a/source/docs/software/roborio-info/roborio-brownouts.rst
+++ b/source/docs/software/roborio-info/roborio-brownouts.rst
@@ -76,9 +76,11 @@ The NI roboRIO 2.0 adds the option for a software settable brownout level.  The
 
 ## 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.
+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 which is visible in the :doc:`Driver Station Log Viewer </docs/software/driverstation/driver-station-log-viewer>`
 
-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).
+Teams can also 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).
+
+.. note:: Only the CTRE PDP and Rev PDH have built-in current logging. The CTRE PDP 2.0 and AndyMark AMPD do not have current measurment capabilities, and teams would need to implement their own method of :doc:`logging </docs/software/telemetry/index>` the current draw. Most CAN motor controllers have current sensors that can be used for this.
 
 ## Identifying Brownouts
 
diff --git a/source/docs/software/roborio-info/roborio-ssh.rst b/source/docs/software/roborio-info/roborio-ssh.rst
index 70b959f8ae..124d198055 100644
--- a/source/docs/software/roborio-info/roborio-ssh.rst
+++ b/source/docs/software/roborio-info/roborio-ssh.rst
@@ -24,26 +24,28 @@ The "lvuser" account is the account used to run user code for all three language
 .. danger:: Changing the default ssh passwords for either "lvuser" or "admin" will prevent C++, Java, and Python teams from uploading code.
 
 ## 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
+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. OpenSSH is included by default on Windows, macOS, and Linux.
 
-### Open Putty
+### Connect via SSH
 
-.. image:: images/open-putty.png
-   :alt: Putty UI highlighting the Host Name field, the SSH radio button and the Open button.
+To connect to the roboRIO, open a terminal or command prompt and run:
 
-Open Putty (clicking OK at any security prompt). Then set the following settings:
+.. code-block:: shell
 
-1. Host Name: roboRIO-TEAM-frc.local (where TEAM is your team number, example shows team 40)
+   ssh admin@roboRIO-TEAM-frc.local
 
-2. Connection Type: SSH
+Replace ``TEAM`` with your team number (e.g., ``ssh admin@roboRIO-40-frc.local`` for team 40).
 
-Other settings can be left at defaults. Click Open to open the connection. If you see a prompt about SSH keys, click OK.
+If you are connected over USB you can use ``172.22.11.2`` as the hostname:
 
-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.
+.. code-block:: shell
+
+   ssh admin@172.22.11.2
+
+If your roboRIO is set to a static IP you can use that IP as the hostname if connected over Ethernet/wireless.
 
 ### Log In
 
-.. image:: images/log-in.png
-   :alt: PuTTY terminal window logged in to the roboRIO.
+When you see the password prompt, press enter (the password for both accounts is blank). You can also connect as the ``lvuser`` account by replacing ``admin`` with ``lvuser`` in the commands above.
 
-When you see the prompt, enter the desired username (see above for description) then press enter. At the password prompt press enter (password for both accounts is blank).
+If you see a prompt about host authenticity when connecting for the first time, type ``yes`` and press enter to continue.
diff --git a/source/docs/software/support/support-resources.rst b/source/docs/software/support/support-resources.rst
index 2e0e8f8225..bf97f0d2a9 100644
--- a/source/docs/software/support/support-resources.rst
+++ b/source/docs/software/support/support-resources.rst
@@ -9,7 +9,7 @@ In addition to the documentation here, there are a variety of other resources av
 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/frc/technical-resources)
+-  [FIRST Inspires Technical Resources Page](https://www.firstinspires.org/resources/library/frc/technical-resources)
 -  [CTRE Software & Resources Page](https://store.ctr-electronics.com/software/)
 -  [REV Robotics Documentation](https://docs.revrobotics.com/docs/)
 -  [Vivid Hosting](https://frc-radio.vivid-hosting.net/)
@@ -18,8 +18,8 @@ In addition to this site there are a few other places teams may check for docume
 
 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)
+-  [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
diff --git a/source/docs/software/telemetry/3rd-party-libraries.rst b/source/docs/software/telemetry/3rd-party-libraries.rst
index 688ec55221..d627c45c3d 100644
--- a/source/docs/software/telemetry/3rd-party-libraries.rst
+++ b/source/docs/software/telemetry/3rd-party-libraries.rst
@@ -4,6 +4,6 @@
 
 Several third-party logging utilities and frameworks exist that provide functionality beyond what is currently provided by WPILib:
 
-  * [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>`.
-  * [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.
+* [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>`.
+* [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/robot-telemetry-with-annotations.rst b/source/docs/software/telemetry/robot-telemetry-with-annotations.rst
index dfc901ddb6..4e75998429 100644
--- a/source/docs/software/telemetry/robot-telemetry-with-annotations.rst
+++ b/source/docs/software/telemetry/robot-telemetry-with-annotations.rst
@@ -52,6 +52,7 @@ Currently, annotation logging supports the following data types:
 * 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)
+  * ``Mechanism2D`` objects will not be logged as they do not implement the ``Sendable`` interface in a way that is compatible with annotation logging.
 * Any ``BooleanSupplier``, ``IntSupplier``, ``LongSupplier``, or ``DoubleSupplier`` (note: this includes command triggers!)
 
 
diff --git a/source/docs/software/vision-processing/introduction/cameraserver-class.rst b/source/docs/software/vision-processing/introduction/cameraserver-class.rst
index 663db8e440..97d3486c25 100644
--- a/source/docs/software/vision-processing/introduction/cameraserver-class.rst
+++ b/source/docs/software/vision-processing/introduction/cameraserver-class.rst
@@ -44,7 +44,7 @@ The cscore library provides the lower level implementation to:
 
 - 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)
+- 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
 
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 3648cfedb2..e53c14a81e 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
@@ -11,7 +11,7 @@ There are many options for choosing the components for vision processing and whe
 
 ## 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.
+**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
 
@@ -31,7 +31,7 @@ Using functions provided by the CameraServer class, the video stream can be sent
 
 When vision code is running on the DS computer, the video is streamed back to the Driver Station laptop for processing. Even the older Classmate laptops are substantially faster at vision processing than the roboRIO. You can write your own vision program using a language of your choosing. Python makes a good choice since there is a native NetworkTables implementation and the OpenCV bindings are very good.
 
-After the images are processed, the key values such as the target position, distance or anything else you need can be sent back to the robot with NetworkTables. This approach generally has higher latency, as delay is added due to the images needing to be sent to the laptop. Bandwidth limitations also limit the maximum resolution and FPS of the images used for processing.
+After the images are processed, the key values such as the target position, distance, or anything else you need can be sent back to the robot with NetworkTables. This approach generally has higher latency, as delay is added due to the images needing to be sent to the laptop. Bandwidth limitations also limit the maximum resolution and FPS of the images used for processing.
 
 The video stream can be displayed on Shuffleboard or SmartDashboard.
 
diff --git a/source/docs/software/vision-processing/roborio/cameraserver-webserver.rst b/source/docs/software/vision-processing/roborio/cameraserver-webserver.rst
index b446e356b7..c8226063b6 100644
--- a/source/docs/software/vision-processing/roborio/cameraserver-webserver.rst
+++ b/source/docs/software/vision-processing/roborio/cameraserver-webserver.rst
@@ -9,7 +9,7 @@ When CameraServer opens a camera, it creates a webpage that you can use to view
 .. 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.
+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
 
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 05dc64ad9a..cd2603538d 100644
--- a/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst
+++ b/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst
@@ -96,8 +96,8 @@ If you're interested in just switching what the driver sees, and are using Smart
     ```toml
     [tool.robotpy]
     ...
-    # Add cscore to the robotpy-extras list
-    robotpy_extras = ["cscore"]
+    # Add cscore to the components list
+    components = ["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.
@@ -259,8 +259,8 @@ By default, the cscore library is pretty aggressive in turning off cameras not i
     ```toml
     [tool.robotpy]
     ...
-    # Add cscore to the robotpy-extras list
-    robotpy_extras = ["cscore"]
+    # Add cscore to the components list
+    components = ["cscore"]
     ```
 
 .. note::
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 4fa284ca16..67431bc345 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
@@ -9,12 +9,12 @@ The following program starts automatic capture of a USB camera like the Microsof
 
 .. tab-set-code::
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
       :language: java
       :lines: 7-19
       :lineno-match:
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
       :language: c++
       :lines: 7-8, 16-18, 20, 25-31
 
@@ -33,7 +33,7 @@ In the following example a thread created in ``Robot`` constructor gets the Came
    .. tab-item:: Java
       :sync: tabcode-java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
          :language: java
          :lines: 7-65
          :lineno-match:
@@ -41,7 +41,7 @@ In the following example a thread created in ``Robot`` constructor gets the Came
    .. tab-item:: c++
       :sync: tabcode-c++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
          :language: c++
          :lines: 5-24, 26-27, 32, 36-69, 71-77
 
@@ -81,13 +81,13 @@ In the following example a thread created in ``Robot`` constructor gets the Came
          :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):
+      You need to update ``pyproject.toml`` contents to include cscore in the components list (this only shows the portions you need to update):
 
       ```toml
       [tool.robotpy]
       ...
-      # Add cscore to the robotpy-extras list
-      robotpy_extras = ["cscore"]
+      # Add cscore to the components list
+      components = ["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/the-raspberry-pi-frc-console.rst b/source/docs/software/vision-processing/wpilibpi/the-raspberry-pi-frc-console.rst
index ea7f58e1b5..a1a4537559 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
@@ -126,7 +126,7 @@ The running application can be changed by selecting one of the choices in the dr
 
 .. figure:: images/the-raspberry-pi-frc-console/application-2.png
 
-When selecting one of the Upload options, a file chooser is presented where the jar, executable or Python program can be
+When selecting one of the Upload options, a file chooser is presented where the jar, executable, or Python program can be
 selected and uploaded to the rPi. In the following picture an Uploaded Java jar is chosen and the "Choose File" button will
 select a file and clicking on the "Save" button will upload the selected file.
 
diff --git a/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst b/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
index a63070fa3b..8b1d7cdea7 100644
--- a/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
+++ b/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
@@ -13,9 +13,10 @@ The WPILibPi image comes with all the necessary libraries to make your own visio
    CameraServer.enableLogging()
    camera = CameraServer.startAutomaticCapture()
    camera.setResolution(width, height)
-   sink = cs.getVideo()
+   sink = CameraServer.getVideo()
+   input_img = np.zeros(shape=(height, width, 3), dtype=np.uint8)
    while True:
-      time, input_img = cvSink.grabFrame(input_img)
+      time, input_img = sink.grabFrame(input_img)
       if time == 0: # There is an error
          continue
    ```
@@ -37,12 +38,13 @@ Sometimes, you may want to send processed video frames back to the CameraServer
    #
    # CameraServer initialization code here
    #
-   output = cs.putVideo("Name", width, height)
+   output = CameraServer.putVideo("Name", width, height)
+   input_img = np.zeros(shape=(height, width, 3), dtype=np.uint8)
    while True:
-      time, input_img = cvSink.grabFrame(input_img)
-         if time == 0: # There is an error
-            output.notifyError(sink.getError())
-            continue
+      time, input_img = sink.grabFrame(input_img)
+      if time == 0: # There is an error
+         output.notifyError(sink.getError())
+         continue
       #
       # Insert processing code here
       #
diff --git a/source/docs/software/vscode-overview/3rd-party-libraries.rst b/source/docs/software/vscode-overview/3rd-party-libraries.rst
index eb0539536b..be1c49ce6f 100644
--- a/source/docs/software/vscode-overview/3rd-party-libraries.rst
+++ b/source/docs/software/vscode-overview/3rd-party-libraries.rst
@@ -42,17 +42,14 @@ Vendor dependencies are installed on a per-project basis (so each robot project
    .. tab-item:: Python
       :sync: python
 
-      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``
+      All RobotPy project dependencies are specified in ``pyproject.toml``. You can specify optional WPILib components by adding the component name to ``components``.
 
       .. seealso:: :doc:`/docs/software/python/pyproject_toml`
 
       Optional WPILib components:
 
       +----------+----------------+---------------------+
-      |          | robotpy_extras | requires            |
+      |          | components     | requires            |
       +==========+================+=====================+
       | Apriltag | apriltag       | robotpy-apriltag    |
       +----------+----------------+---------------------+
@@ -65,29 +62,41 @@ Vendor dependencies are installed on a per-project basis (so each robot project
       | XRP      | xrp            | robotpy-xrp         |
       +----------+----------------+---------------------+
 
+      To add vendor libraries to your project, you must add the PyPI package name to ``requires``.
+
       Optional vendor-specific components (not all are available at the beginning of the season):
 
-      +---------------------+-----------+-------------------+---------------------------+
-      |                     | Origin    | robotpy_extras    | requires                  |
-      +=====================+===========+===================+===========================+
-      | ChoreoLib           | Vendor    |                   | sleipnirgroup-choreolib   |
-      +---------------------+-----------+-------------------+---------------------------+
-      | CTRE Phoenix 6      | Vendor    | phoenix6          | phoenix6                  |
-      +---------------------+-----------+-------------------+---------------------------+
-      | CTRE Phoenix 5      | Community | phoenix5          | robotpy-ctre              |
-      +---------------------+-----------+-------------------+---------------------------+
-      | PathPlannerLib      | Vendor    | pathplannerlib    | robotpy-pathplannerlib    |
-      +---------------------+-----------+-------------------+---------------------------+
-      | PhotonVision        | Vendor    | photonvision      | photonlibpy               |
-      +---------------------+-----------+-------------------+---------------------------+
-      | Playing With Fusion | Community | playingwithfusion | robotpy-playingwithfusion |
-      +---------------------+-----------+-------------------+---------------------------+
-      | REVLib              | Community | rev               | robotpy-rev               |
-      +---------------------+-----------+-------------------+---------------------------+
-      | Studica             | Community | navx              | robotpy-navx              |
-      +---------------------+-----------+-------------------+---------------------------+
-      | URCL                | Community |                   | robotpy-urcl              |
-      +---------------------+-----------+-------------------+---------------------------+
+      +---------------------+-----------+---------------------------+
+      |                     | Origin    | requires                  |
+      +=====================+===========+===========================+
+      | ChoreoLib           | Vendor    | sleipnirgroup-choreolib   |
+      +---------------------+-----------+---------------------------+
+      | CTRE Phoenix 6      | Vendor    | phoenix6                  |
+      +---------------------+-----------+---------------------------+
+      | CTRE Phoenix 5      | Community | robotpy-ctre              |
+      +---------------------+-----------+---------------------------+
+      | PathPlannerLib      | Vendor    | robotpy-pathplannerlib    |
+      +---------------------+-----------+---------------------------+
+      | PhotonVision        | Vendor    | photonlibpy               |
+      +---------------------+-----------+---------------------------+
+      | Playing With Fusion | Community | robotpy-playingwithfusion |
+      +---------------------+-----------+---------------------------+
+      | REVLib              | Community | robotpy-rev               |
+      +---------------------+-----------+---------------------------+
+      | Studica             | Community | robotpy-navx              |
+      +---------------------+-----------+---------------------------+
+      | URCL                | Community | robotpy-urcl              |
+      +---------------------+-----------+---------------------------+
+
+      When using ``requires``, you should specify a version by appending ``==<version>`` to the package name, e.g. ``robotpy-commands-v2==2024.0.0``. If you do not specify a version, the latest version will be installed.
+
+      To check what version of packages are currently installed, run the command ``pip list``.
+
+      Note that pinning versions may cause issues with incompatibilities between different components. Unpinning all versions, installing, then re-pinning to the latest set is a good practice when updating.
+
+      Pinning versions is a good practice to do after most robot code is written and validated, before and during a competition. However, outside of this window, remaining on the latest version of the components is recommended, as it will ensure you have the latest bug fixes and features.
+
+      See https://pip.pypa.io/en/stable/topics/repeatable-installs/ for more information on how to specify versions.
 
    .. tab-item:: Java/C++ (Legacy)
       :sync: javacpplegacy
@@ -145,4 +154,4 @@ Vendor dependencies are installed on a per-project basis (so each robot project
    .. tab-item:: Python
       :sync: python
 
-      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.
+      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 them 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.
diff --git a/source/docs/software/vscode-overview/creating-robot-program.rst b/source/docs/software/vscode-overview/creating-robot-program.rst
index 02379be68f..93818e5640 100644
--- a/source/docs/software/vscode-overview/creating-robot-program.rst
+++ b/source/docs/software/vscode-overview/creating-robot-program.rst
@@ -22,12 +22,12 @@ The :code:`TimedRobot` class is the base class recommended for most users.  It p
 
 .. tab-set-code::
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
       :language: java
       :lines: 7-53
       :lineno-match:
 
-   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
       :language: c++
       :lines: 5-29
       :lineno-match:
@@ -126,7 +126,13 @@ The elements of the New Project Creator Window are explained below:
 5. **Project Name**: The name of the robot project.  This also specifies the name that the project folder will be given if the Create New Folder box is checked.
 6. **Create a New Folder**: If this is checked, a new folder will be created to hold the project within the previously-specified folder.  If it is *not* checked, the project will be located directly in the previously-specified folder.  An error will be thrown if the folder is not empty and this is not checked.
 7. **Team Number**: The team number for the project, which will be used for package names within the project and to locate the robot when deploying code.
-8. **Enable 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.
+8. **Enable Desktop Support**: Enables unit test and simulation support (see :doc:`/docs/software/wpilib-tools/robot-simulation/introduction`).
+
+   - **Java**: This option has no effect and can be left checked or unchecked
+   - **C++**: Checking this option enables desktop compilation, which is required for simulation and unit tests
+   - **Romi/XRP**: This option has no effect for Romi and XRP templates and can be left checked or unchecked
+
+   .. note:: While WPILib fully supports desktop builds, some third-party vendor libraries may not. If a library doesn't support desktop compilation, your C++ code may not compile or may crash when running simulation.
 
 Once all the above have been configured, click "Generate Project" and the robot project will be created.
 
diff --git a/source/docs/software/vscode-overview/importing-last-years-robot-code.rst b/source/docs/software/vscode-overview/importing-last-years-robot-code.rst
index 19eb0eee63..bb2f404686 100644
--- a/source/docs/software/vscode-overview/importing-last-years-robot-code.rst
+++ b/source/docs/software/vscode-overview/importing-last-years-robot-code.rst
@@ -6,7 +6,7 @@ Due to changes in the project, it is necessary to update the build files for a p
 
 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 2025. 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.
+.. important:: The import process copies your project source files from the current directory to a new directory and completely regenerates the gradle files. 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
 
@@ -14,7 +14,7 @@ To make it easy for teams to import previous years gradle projects into the curr
 
 When you open a previous year's project, you will be prompted to import that project. Click :guilabel:`yes`.
 
-Alternately, you can chose to import it from the menu. Press :kbd:`Ctrl+Shift+P` and type "WPILib" or click the WPILib icon to locate the WPILib commands. Begin typing "Import a WPILib 2020-2024 Gradle project" and select it from the dropdown as shown below.
+Alternately, you can chose to import it from the menu. Press :kbd:`Ctrl+Shift+P` and type "WPILib" or click the WPILib icon to locate the WPILib commands. Begin typing "Import a WPILib 2020-2025 Gradle project" and select it from the dropdown as shown below.
 
 .. image:: images/importing-previous-project/ImportGradleMenu.png
 
diff --git a/source/docs/software/vscode-overview/vscode-basics.rst b/source/docs/software/vscode-overview/vscode-basics.rst
index 54e30b5a73..8cca393900 100644
--- a/source/docs/software/vscode-overview/vscode-basics.rst
+++ b/source/docs/software/vscode-overview/vscode-basics.rst
@@ -26,7 +26,7 @@ In the following example "wpilib" is typed into the search box after activating
 
 |WPILib Commands|
 
-The WPILib extension provides the FRC\ |reg| specific functionality related to creating projects and project components, building and downloading code to the roboRIO and more. You can access the WPILib commands one of two ways:
+The WPILib extension provides the FRC\ |reg| specific functionality related to creating projects and project components, building, and downloading code to the roboRIO and more. You can access the WPILib commands one of two ways:
 
 - 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
diff --git a/source/docs/software/what-is-wpilib.rst b/source/docs/software/what-is-wpilib.rst
index 43a0a69b64..63dcd3ab9e 100644
--- a/source/docs/software/what-is-wpilib.rst
+++ b/source/docs/software/what-is-wpilib.rst
@@ -26,16 +26,16 @@ WPILib is an open-source library - the C++ and Java source code is in the [allwp
 
 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)
+- [C++ source code](https://github.com/wpilibsuite/allwpilib/tree/main/wpilibc/src/main/native/cpp)
 
- - [Python source code](https://github.com/robotpy/mostrobotpy)
+- [Python source code](https://github.com/robotpy/mostrobotpy)
 
 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:
 
- - [Java documentation](https://github.wpilib.org/allwpilib/docs/release/java/)
+- [Java documentation](https://github.wpilib.org/allwpilib/docs/release/java/)
 
- - [C++ documentation](https://github.wpilib.org/allwpilib/docs/release/cpp/)
+- [C++ documentation](https://github.wpilib.org/allwpilib/docs/release/cpp/)
 
- - [Python documentation](https://robotpy.readthedocs.io/projects/robotpy/en/stable/)
+- [Python documentation](https://robotpy.readthedocs.io/projects/robotpy/en/stable/)
diff --git a/source/docs/software/wpilib-tools/outlineviewer/index.rst b/source/docs/software/wpilib-tools/outlineviewer/index.rst
index 0a2767c894..ce40a599c0 100644
--- a/source/docs/software/wpilib-tools/outlineviewer/index.rst
+++ b/source/docs/software/wpilib-tools/outlineviewer/index.rst
@@ -2,13 +2,13 @@
 
 .. image:: /docs/controls-overviews/images/control-system-software/outline-viewer.png
 
-OutlineViewer is a utility used to view, modify and add to the contents of the NetworkTables for debugging purposes. It displays all key value pairs currently in the NetworkTables and can be used to modify the value of existing keys or add new keys to the table. OutlineViewer is included in the Java and C++ language installations.
+OutlineViewer is a utility used to view, modify, and add to the contents of the NetworkTables for debugging purposes. It displays all key value pairs currently in the NetworkTables and can be used to modify the value of existing keys or add new keys to the table. OutlineViewer is included in the Java and C++ language installations.
 
 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 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, Romi or XRP.
+.. 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/index.rst b/source/docs/software/wpilib-tools/roborio-team-number-setter/index.rst
index 5595d9cc1e..d5ba4ddb9f 100644
--- a/source/docs/software/wpilib-tools/roborio-team-number-setter/index.rst
+++ b/source/docs/software/wpilib-tools/roborio-team-number-setter/index.rst
@@ -7,6 +7,8 @@ The roboRIO Team Number Setter is a cross-platform utility that can be used to s
 
 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`.
 
+.. note:: The desktop shortcut for the roboRIO Team Number Setter doesn't work in WPILib release 2026.1.1. However, the instructions above for starting the tool from VS Code and the start menu shortcut work. See :ref:`Known Issues <docs/yearly-overview/known-issues:roborio team number setter desktop shortcut broken on windows>`
+
 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
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 6dd8880e82..e3a1651b5e 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
@@ -4,11 +4,11 @@
 
 The goal of this tutorial is to provide guidance on implementing simulation capabilities for a differential-drivetrain robot. By the end of this tutorial, you should be able to:
 
- 1. Understand the basic underlying concepts behind the WPILib simulation framework.
- 2. Create a drivetrain simulation model using your robot's physical parameters.
- 3. Use the simulation model to predict how your real robot will move given specific voltage inputs.
- 4. Tune feedback constants and squash common bugs (e.g. motor inversion) before having access to physical hardware.
- 5. Use the Simulation GUI to visualize robot movement on a virtual field.
+1. Understand the basic underlying concepts behind the WPILib simulation framework.
+2. Create a drivetrain simulation model using your robot's physical parameters.
+3. Use the simulation model to predict how your real robot will move given specific voltage inputs.
+4. Tune feedback constants and squash common bugs (e.g. motor inversion) before having access to physical hardware.
+5. Use the Simulation GUI to visualize robot movement on a virtual field.
 
 .. image:: images/simgui.png
 
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 6e38199b5c..2bb38048e8 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
@@ -6,13 +6,13 @@ In order to accurately determine how your physical drivetrain will respond to gi
 
 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 :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).
- - Standard deviations of measurement noise: this represents how much measurement noise you expect from your real sensors. The measurement noise is an array with 7 elements, with each element representing the standard deviation of measurement noise in x, y, heading, left velocity, right velocity, left position, and right position respectively. This option can be omitted in C++ or set to ``null`` in Java if measurement noise is not desirable.
+- 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 :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).
+- Standard deviations of measurement noise: this represents how much measurement noise you expect from your real sensors. The measurement noise is an array with 7 elements, with each element representing the standard deviation of measurement noise in x, y, heading, left velocity, right velocity, left position, and right position respectively. This option can be omitted in C++ or set to ``null`` in Java if measurement noise is not desirable.
 
 You can calculate the measurement noise of your sensors by taking multiple data points of the state you are trying to measure and calculating the standard deviation using a tool like Python. For example, to calculate the standard deviation in your encoders' velocity estimate, you can move your robot at a constant velocity, take multiple measurements, and calculate their standard deviation from the known mean. If this process is too tedious, the values used in the example below should be a good representation of average noise from encoders.
 
@@ -65,12 +65,12 @@ You can also use the gains produced by :ref:`System Identification <docs/softwar
 
 This constructor takes the following parameters:
 
- - A linear system representing the drivetrain -- this can be created using the identification gains.
- - The track width (distance between the left and right wheels).
- - 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 radius of the drive wheels.
- - Standard deviations of measurement noise: this represents how much measurement noise you expect from your real sensors. The measurement noise is an array with 7 elements, with each element representing the standard deviation of measurement noise in x, y, heading, left velocity, right velocity, left position, and right position respectively. This option can be omitted in C++ or set to ``null`` in Java if measurement noise is not desirable.
+- A linear system representing the drivetrain -- this can be created using the identification gains.
+- The track width (distance between the left and right wheels).
+- 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 radius of the drive wheels.
+- Standard deviations of measurement noise: this represents how much measurement noise you expect from your real sensors. The measurement noise is an array with 7 elements, with each element representing the standard deviation of measurement noise in x, y, heading, left velocity, right velocity, left position, and right position respectively. This option can be omitted in C++ or set to ``null`` in Java if measurement noise is not desirable.
 
 You can calculate the measurement noise of your sensors by taking multiple data points of the state you are trying to measure and calculating the standard deviation using a tool like Python. For example, to calculate the standard deviation in your encoders' velocity estimate, you can move your robot at a constant velocity, take multiple measurements, and calculate their standard deviation from the known mean. If this process is too tedious, the values used in the example below should be a good representation of average noise from encoders.
 
@@ -140,11 +140,11 @@ You can calculate the measurement noise of your sensors by taking multiple data
 
 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:
 
- - 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 diameter of the wheels installed on the drivetrain.
- - The moment of inertia of the drive base (optional).
- - Standard deviations of measurement noise: this represents how much measurement noise you expect from your real sensors. The measurement noise is an array with 7 elements, with each element representing the standard deviation of measurement noise in x, y, heading, left velocity, right velocity, left position, and right position respectively. This option can be omitted in C++ or set to ``null`` in Java if measurement noise is not desirable.
+- 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 diameter of the wheels installed on the drivetrain.
+- The moment of inertia of the drive base (optional).
+- Standard deviations of measurement noise: this represents how much measurement noise you expect from your real sensors. The measurement noise is an array with 7 elements, with each element representing the standard deviation of measurement noise in x, y, heading, left velocity, right velocity, left position, and right position respectively. This option can be omitted in C++ or set to ``null`` in Java if measurement noise is not desirable.
 
 You can calculate the measurement noise of your sensors by taking multiple data points of the state you are trying to measure and calculating the standard deviation using a tool like Python. For example, to calculate the standard deviation in your encoders' velocity estimate, you can move your robot at a constant velocity, take multiple measurements, and calculate their standard deviation from the known mean. If this process is too tedious, the values used in the example below should be a good representation of average noise from encoders.
 
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 6fad34b314..c1943e96fb 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
@@ -1,8 +1,8 @@
 # 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/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.
+* ``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/updating-drivetrain-model.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst
index 0a3cda94b2..698759f142 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
@@ -5,9 +5,9 @@ Now that the drivetrain model has been made, it needs to be updated periodically
 
 There are three main steps to updating the model:
 
- 1. Set the :term:`input` of the drivetrain model. These are the motor voltages from the two sides of the drivetrain.
- 2. Advance the model forward in time by the nominal periodic timestep (Usually 20 ms). This updates all of the drivetrain's states (i.e. pose, encoder positions and velocities) as if 20 ms had passed.
- 3. Update simulated sensors with new positions, velocities, and angles to use in other places.
+1. Set the :term:`input` of the drivetrain model. These are the motor voltages from the two sides of the drivetrain.
+2. Advance the model forward in time by the nominal periodic timestep (Usually 20 ms). This updates all of the drivetrain's states (i.e. pose, encoder positions and velocities) as if 20 ms had passed.
+3. Update simulated sensors with new positions, velocities, and angles to use in other places.
 
 .. tab-set-code::
    ```java
diff --git a/source/docs/software/wpilib-tools/robot-simulation/introduction.rst b/source/docs/software/wpilib-tools/robot-simulation/introduction.rst
index 66d23b2e18..fefb5e46af 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/introduction.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/introduction.rst
@@ -41,7 +41,7 @@ Often a team may want to test their code without having an actual robot availabl
       .. image:: images/vscode-pick-extension.png
          :alt: Picking Sim GUI simulation extension
 
-     The :guilabel:`Sim GUI` option will be selected by default. This will launch the :doc:`Simulation GUI <simulation-gui>`. You can also launch simulation without a GUI by unchecking :guilabel:`Sim GUI` in which case your console output in Visual Studio Code should look like the below.
+      The :guilabel:`Sim GUI` option will be selected by default. This will launch the :doc:`Simulation GUI <simulation-gui>`. You can also launch simulation without a GUI by unchecking :guilabel:`Sim GUI` in which case your console output in Visual Studio Code should look like the below.
 
       ```console
       ********** Robot program starting **********
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 0a8e646abe..e5a62ac365 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst
@@ -4,13 +4,13 @@ Because :ref:`state-space notation <docs/software/advanced-controls/state-space/
 
 - In normal user code:
 
-   - PID or similar control algorithms generate voltage commands from encoder (or other sensor) readings
-   - Motor outputs are set
+  - PID or similar control algorithms generate voltage commands from encoder (or other sensor) readings
+  - Motor outputs are set
 
 - In simulation periodic code:
 
-   - 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
+  - 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
 
@@ -42,7 +42,7 @@ 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/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
          :lines: 46-58
          :lineno-match:
@@ -50,7 +50,7 @@ In the following example, we simulate an elevator given the mass of the moving c
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
          :language: c++
          :lines: 51-61
          :lineno-match:
@@ -62,12 +62,12 @@ Next, :code:`teleopPeriodic`/:code:`TeleopPeriodic` (Java/C++) uses a simple PID
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
          :language: java
          :lines: 30-39
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
          :lines: 99-106
          :lineno-match:
@@ -75,12 +75,12 @@ Next, :code:`teleopPeriodic`/:code:`TeleopPeriodic` (Java/C++) uses a simple PID
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
          :language: c++
          :lines: 20-28
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
          :language: c++
          :lines: 42-50
          :lineno-match:
@@ -96,7 +96,7 @@ 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/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
          :lines: 79-92
          :lineno-match:
@@ -104,7 +104,7 @@ Finally, the simulated encoder's distance reading is set using the simulated ele
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
          :language: c++
          :lines: 20-35
          :lineno-match:
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 f070fd7d68..8c84b5c9bd 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst
@@ -16,7 +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/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/Intake.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/Intake.java
          :language: java
          :lines: 7-
 
@@ -24,14 +24,14 @@ 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/v2025.3.2/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.h
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.1.1/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/v2025.3.2/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.1.1/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
          :language: c++
          :lines: 5-
 
@@ -51,14 +51,14 @@ 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/v2025.3.2/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.1.1/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/v2025.3.2/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
+      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2026.1.1/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
          :language: c++
          :lines: 5-
 
@@ -70,9 +70,9 @@ For more advanced usage of JUnit and Google Test, see the framework docs.
 
 For Java tests to run, make sure that your ``build.gradle`` file contains the following block:
 
-.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2025.3.1/vscode-wpilib/resources/gradle/java/build.gradle
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2026.2.1/vscode-wpilib/resources/gradle/java/build.gradle
    :language: groovy
-   :lines: 77-80
+   :lines: 78-81
    :lineno-match:
 
 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.
diff --git a/source/docs/software/wpilib-tools/robotbuilder/index.rst b/source/docs/software/wpilib-tools/robotbuilder/index.rst
index 500adb8708..2eeb37a3ba 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/index.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/index.rst
@@ -1,5 +1,7 @@
 # RobotBuilder
 
+.. warning:: RobotBuilder is deprecated and will be removed for 2027 due to its declining usage and burden of updating for the 2027 control system.
+
 .. toctree::
    :maxdepth: 2
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/index.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/index.rst
index 9cc1ab749f..039e2e720a 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/index.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/index.rst
@@ -1,5 +1,7 @@
 # RobotBuilder - Introduction
 
+.. warning:: RobotBuilder is deprecated and will be removed for 2027 due to its declining usage and burden of updating for the 2027 control system.
+
 .. toctree::
    :maxdepth: 1
 
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 5553bfd317..ace4986ab9 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-overview.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-overview.rst
@@ -2,6 +2,8 @@
 
 # RobotBuilder Overview
 
+.. warning:: RobotBuilder is deprecated and will be removed for 2027 due to its declining usage and burden of updating for the 2027 control system.
+
 RobotBuilder is an application designed to aid the robot development process. RobotBuilder can help you:
 
 - Generating boilerplate code.
@@ -40,7 +42,7 @@ For more information see :doc:`Creating a Subsystem <robotbuilder-creating-subsy
 
 .. image:: images/robotbuilder-overview-3.png
 
-Each subsystem consists of a number of actuators, sensors and controllers that it uses to perform its operations. These sensors and actuators are added to the subsystem with which they are associated.  Each of the sensors and actuators comes from the RobotBuilder palette and is dragged to the appropriate subsystem. For each, there are usually other properties that must be set such as port numbers and other parameters specific to the component.
+Each subsystem consists of a number of actuators, sensors, and controllers that it uses to perform its operations. These sensors and actuators are added to the subsystem with which they are associated.  Each of the sensors and actuators comes from the RobotBuilder palette and is dragged to the appropriate subsystem. For each, there are usually other properties that must be set such as port numbers and other parameters specific to the component.
 
 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.
 
@@ -73,7 +75,7 @@ For more information see :doc:`Testing with Smartdashboard <robotbuilder-testing
 
 .. image:: images/robotbuilder-overview-5.png
 
-The operator interface consists of joysticks, gamepads and other HID input devices. You can add operator interface components (joysticks, joystick buttons) to your program in RobotBuilder. It will automatically generate code that will initialize all of the components and allow them to be connected to commands.
+The operator interface consists of joysticks, gamepads, and other HID input devices. You can add operator interface components (joysticks, joystick buttons) to your program in RobotBuilder. It will automatically generate code that will initialize all of the components and allow them to be connected to commands.
 
 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.
 
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 10581420dd..732f33ada4 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/starting-robotbuilder.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/starting-robotbuilder.rst
@@ -14,7 +14,7 @@ Press :kbd:`Ctrl+Shift+P` and type "WPILib" or click the WPILib logo in the top
 
 ## Option 2 - Shortcuts
 
-Shortcuts are installed to the Windows Start Menu and the ``2025 WPILib Tools`` folder on the desktop.
+Shortcuts are installed to the Windows Start Menu and the ``2026 WPILib Tools`` folder on the desktop.
 
 ## Option 3 - Running from the Script
 
@@ -22,4 +22,4 @@ Shortcuts are installed to the Windows Start Menu and the ``2025 WPILib Tools``
 
 The install process installs the tools to ``~/wpilib/YYYY/tools`` (where YYYY is the year and ~ is ``C:\Users\Public`` on Windows).
 
-Inside this folder you will find ``.vbs`` (Windows) and ``.sh`` (macOS/Linux) files that you can use to launch each tool. These scripts help launch the tools using the correct JDK and are what you should use to launch the tools.
+Inside this folder you will find ``.exe`` (Windows) and no extension (macOS/Linux) executables that you can use to launch each tool. These scripts help launch the tools using the correct JDK and are what you should use to launch the tools.
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 68ba873820..371c08bef6 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
@@ -17,7 +17,7 @@ Create a subsystem called Drive Train. Its responsibility will be to handle the
 Inside the Drive Train, create a Differential Drive object. The Differential Drive object can contain a left motor controller and a right motor controller.
 
 .. image:: images/driving-with-joysticks-speed-controller.png
-   :alt: Dragging motor controller from pallete to tree
+   :alt: Dragging motor controller from palette to tree
 
 Create two Motor Controllers in the Differential Drive, and two more outside the Differential Drive, inside the Drive Train subsystem.
 
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 fe0cd91482..69137e4fd8 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
@@ -15,11 +15,11 @@ The claw at the end of a robot arm is a subsystem operated by a single VictorSPX
    .. tab-item:: Java
       :sync: java
 
-       .. literalinclude:: ../resources/RBGearsBot2025Java/src/main/java/frc/robot/subsystems/Claw.java
-          :language: Java
-          :lines: 11-
-          :emphasize-lines: 63-77
-          :lineno-match:
+      .. literalinclude:: ../resources/RBGearsBot2025Java/src/main/java/frc/robot/subsystems/Claw.java
+         :language: Java
+         :lines: 11-
+         :emphasize-lines: 63-77
+         :lineno-match:
 
    .. tab-item:: C++
       :sync: c++
diff --git a/source/docs/xrp-robot/getting-to-know-xrp.rst b/source/docs/xrp-robot/getting-to-know-xrp.rst
index 636329ccc1..3cee6617e5 100644
--- a/source/docs/xrp-robot/getting-to-know-xrp.rst
+++ b/source/docs/xrp-robot/getting-to-know-xrp.rst
@@ -10,7 +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:
 
diff --git a/source/docs/xrp-robot/hardware-and-imaging.rst b/source/docs/xrp-robot/hardware-and-imaging.rst
index d4de20b43a..3f2fd29dae 100644
--- a/source/docs/xrp-robot/hardware-and-imaging.rst
+++ b/source/docs/xrp-robot/hardware-and-imaging.rst
@@ -1,9 +1,9 @@
-# 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
+1. XRP Kit [from SparkFun](https://www.sparkfun.com/experiential-robotics-platform-xrp-kit.html) or [from DigiKey](https://www.digikey.com/en/products/detail/sparkfun-electronics/28009/262663824) - Available at a discount for educational institutions or FIRST teams. See individual vendors for details.
+2. [USB-C cable](https://www.amazon.com/dp/B01GGKYN0A). Beta versions of XRP use a [Micro-USB cable](https://www.amazon.com/dp/B07232M876) - 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
diff --git a/source/docs/xrp-robot/index.rst b/source/docs/xrp-robot/index.rst
index 7e35f60c95..97bc7a99c5 100644
--- a/source/docs/xrp-robot/index.rst
+++ b/source/docs/xrp-robot/index.rst
@@ -2,6 +2,8 @@
 
 The XRP, powered by [Worcester Polytechnic Institute](http://wpi.edu), 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.
 
+.. tip:: A course that teaches programming using the XRP Robot is available via [FIRST Training](https://training.firstinspires.org/catalog?labels=%5B%22Topics%22%5D&values=%5B%22Programming%22%5D). [Part 1](https://training.firstinspires.org/courses/java-programming-part-1) takes users through setup of the hardware and software, methods, objects, conditionals, variables, and equations. [Part 2](https://training.firstinspires.org/courses/java-programming-part-2) covers command based programming, driving and inputs, advanced conditionals and logical operators, command groups, arrays and loops, and errors and troubleshooting.
+
 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.
 
 .. image:: images/xrp25.png
diff --git a/source/docs/xrp-robot/programming-xrp.rst b/source/docs/xrp-robot/programming-xrp.rst
index 98dc3bb1ac..5800c649af 100644
--- a/source/docs/xrp-robot/programming-xrp.rst
+++ b/source/docs/xrp-robot/programming-xrp.rst
@@ -38,7 +38,7 @@ 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/v2025.3.1/vscode-wpilib/resources/gradle/javaxrp/build.gradle
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2026.2.1/vscode-wpilib/resources/gradle/javaxrp/build.gradle
    :language: groovy
    :lines: 44-47
    :lineno-match:
diff --git a/source/docs/yearly-overview/2026-game-data.rst b/source/docs/yearly-overview/2026-game-data.rst
new file mode 100644
index 0000000000..51dd644ad5
--- /dev/null
+++ b/source/docs/yearly-overview/2026-game-data.rst
@@ -0,0 +1,105 @@
+.. include:: <isonum.txt>
+
+# 2026 Game Data Details
+
+In the 2026 *FIRST*\ |reg| Robotics Competition game, the first goal to go inactive is determined by the alliance that scores more Fuel in Auto. The field will transmit the alliance to all 6 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
+
+### Timing
+
+Data is sent to both alliances simultaneously after Fuel scored in Auto is finished being assessed, approximately 3 seconds after the end of Auto. Between the beginning of the match and this point, the Game Data will be an empty string.
+
+### Data format
+
+The alliance will be provided as a single character representing the color of the alliance whose goal will go inactive first (i.e. 'R' = red, 'B' = blue). This alliance's goal will be active in Shifts 2 and 4.
+
+## 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.
+
+### C++/Java/Python
+
+In C++, Java, and Python 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 selected alliance is sent.
+
+.. tab-set-code::
+
+  ```java
+  import edu.wpi.first.wpilibj.DriverStation;
+  String gameData;
+  gameData = DriverStation.getGameSpecificMessage();
+  if(gameData.length() > 0)
+  {
+    switch (gameData.charAt(0))
+    {
+      case 'B' :
+        //Blue case code
+        break;
+      case 'R' :
+        //Red case code
+        break;
+      default :
+        //This is corrupt data
+        break;
+    }
+  } else {
+    //Code for no data received yet
+  }
+  ```
+
+  ```c++
+  #include <frc/DriverStation.h>
+  std::string gameData;
+  gameData = frc::DriverStation::GetGameSpecificMessage();
+  if(gameData.length() > 0)
+  {
+    switch (gameData[0])
+    {
+      case 'B' :
+        //Blue case code
+        break;
+      case 'R' :
+        //Red case code
+        break;
+      default :
+        //This is corrupt data
+        break;
+    }
+  } else {
+    //Code for no data received yet
+  }
+  ```
+
+  ```python
+  data = wpilib.DriverStation.getGameSpecificMessage()
+  if data:
+      match data:
+          case "B":
+              # Blue case code
+              ...
+          case "R":
+              # Red case code
+              ...
+          case _:
+              # This is corrupt data
+              ...
+  else:
+      # Code for no data received yet
+      ...
+  ```
+
+### 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.
+
+LabVIEW teams will likely want to query the data in the Teleop or PeriodicTasks VIs and may choose to gate the query behind a button press or other action. The code below reads the data and then uses a case structure to react differently to each of the 3 possible cases (empty, or either of the 2 letters).
+
+.. image:: images/2020-Game-Data/labview-game-data-code2026.png
+  :alt: Making a decision what to do about the game data received using a case structure.
+
+## Testing Game Specific Data
+
+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/labview-game-data-code2026.png b/source/docs/yearly-overview/images/2020-Game-Data/labview-game-data-code2026.png
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diff --git a/source/docs/yearly-overview/images/known-issues/labview-getting-started-2024.png b/source/docs/yearly-overview/images/known-issues/labview-getting-started-2024.png
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diff --git a/source/docs/yearly-overview/index.rst b/source/docs/yearly-overview/index.rst
index 68f7381740..1b5125e52f 100644
--- a/source/docs/yearly-overview/index.rst
+++ b/source/docs/yearly-overview/index.rst
@@ -1,4 +1,4 @@
-# 2025 Overview
+# 2026 Overview
 
 .. toctree::
    :maxdepth: 1
@@ -6,3 +6,4 @@
    known-issues
    yearly-changelog
    returning-quickstart
+   2026-game-data
diff --git a/source/docs/yearly-overview/known-issues.rst b/source/docs/yearly-overview/known-issues.rst
index 21c29e02a1..ed4ef3f530 100644
--- a/source/docs/yearly-overview/known-issues.rst
+++ b/source/docs/yearly-overview/known-issues.rst
@@ -6,15 +6,6 @@ This article details known issues (and workarounds) for FRC\ |reg| Control Syste
 
 ## Open Issues
 
-### LabVIEW Getting Started page reports 2024
-
-**Issue:** The LabVIEW Getting Started page shows 2024 instead of 2025.
-
-.. image:: images/known-issues/labview-getting-started-2024.png
-  :alt: LabVIEW Getting Started window showing 2024
-
-**Workaround:** This is an issue with the LabVIEW update. You can confirm that the proper version is installed by opening the Driver station and confirming the version in the titlebar is 25.0
-
 ### Driver Station randomly disabled
 
 **Issue:** The Driver Station contains tighter safety mechanisms introduced in 2024 to protect against control issues. Some teams have seen this cause the robot to disable.
@@ -66,13 +57,13 @@ The proper value to look is as MemAvailable, rather then MemFree (which is what
 
 **Workaround:** We are currently investigating the root cause, but FIRST volunteers have been made aware and the recommendation is to reboot the roboRIO when this occurs.
 
- .. 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.
+.. 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.
 
 ### 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.
 
-**Workaround:** The only surefire mitigation is to use the MXP I2C port or another device to read the I2C data. Accessing the device less frequently and/or using a different roboRIO may significantly reduce the likelihood/frequency of lockups, it will be up to each team to assess their tolerance of the risk of lockup. This lockup can not be definitively identified on the field and a field fault will not be called for a match where this behavior is believed to occur. This lockup is a CPU/kernel hang, the roboRIO will completely stop responding and will not be accessible via the DS, webpage or SSH. If you can access your roboRIO via any of these methods, you are experiencing a different issue.
+**Workaround:** The only surefire mitigation is to use the MXP I2C port or another device to read the I2C data. Accessing the device less frequently and/or using a different roboRIO may significantly reduce the likelihood/frequency of lockups, it will be up to each team to assess their tolerance of the risk of lockup. This lockup can not be definitively identified on the field and a field fault will not be called for a match where this behavior is believed to occur. This lockup is a CPU/kernel hang, the roboRIO will completely stop responding and will not be accessible via the DS, webpage, or SSH. If you can access your roboRIO via any of these methods, you are experiencing a different issue.
 
 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.
 
@@ -113,8 +104,8 @@ Delete your Gradle cache located under ``~$USER_HOME/.gradle``. Windows machines
 **Workaround:**
 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.
+#. 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
 
@@ -122,12 +113,12 @@ There are two known workarounds:
 
 **Workaround:**
 
-  #. Close all  files in VS Code, but leave VS Code open
-  #. Delete c_cpp_properties.json file in the .vscode folder, if it exists
-  #. Run the "Refresh C++ Intellisense" command in VS Code.
-  #. In the bottom right you should see something that looks like a platform (linuxathena or windowsx86-64 etc). If it’s not linuxathena click it and set it to linuxathena (release)
-  #. Wait ~1 min
-  #. Open the main cpp file (not a header file). Intellisense should now be working
+#. Close all  files in VS Code, but leave VS Code open
+#. Delete c_cpp_properties.json file in the .vscode folder, if it exists
+#. Run the "Refresh C++ Intellisense" command in VS Code.
+#. In the bottom right you should see something that looks like a platform (linuxathena or windowsx86-64 etc). If it’s not linuxathena click it and set it to linuxathena (release)
+#. 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
 
@@ -151,21 +142,13 @@ python -m robotpy installer niweb disable
 
 .. seealso:: [Github issue](https://github.com/robotpy/mostrobotpy/issues/61)
 
-## Fixed by Game Tools 2025 Patch 1
-
-### Game Tools install fails due to outdated NI Package Manager
-
-**Issue:** An offiline installation of NI Game Tools may fail due to outdated NI Package Manager
-
-.. image:: images/known-issues/game-tools-package-manager.png
-  :alt: Game Tools error message requireing update to NI Package Manager.
-
-**Workaround:** Install the latest [National Instruments Package Manager](https://www.ni.com/en/support/downloads/software-products/download.package-manager.html) (Note: Click on link for "Install Offline") and then restart Game Tools installation.
+## Fixed in WPILib 2026.2.1
 
-## Fixed by Elastic 2025.0.2 (WPILib Installer 2025.3.1)
+### roboRIO Team Number Setter desktop shortcut broken on Windows
 
-### Elastic camera streams are very laggy
+**Issue:** The :doc:`roboRIO Team Number Setter </docs/software/wpilib-tools/roborio-team-number-setter/index>` desktop shortcut is broken in the 2026.1.1 release, but the software is still installed.
 
-**Issue:** Camera streams displayed in Elastic are laggy and have low FPS.
+**Workaround:** There are several other ways to start the roboRIO Team Number Setter
 
-**Workaround:** This is an issue that was fixed in Elastic 2025.0.2. Update Elastic by running the latest WPILib installer or Elastic installer.
+1. Use the icon in the Windows start menu
+2. Use the Visual Studio Code :guilabel:`Start Tool` feature
diff --git a/source/docs/yearly-overview/yearly-changelog.rst b/source/docs/yearly-overview/yearly-changelog.rst
index 3777df905b..3c8d75a417 100644
--- a/source/docs/yearly-overview/yearly-changelog.rst
+++ b/source/docs/yearly-overview/yearly-changelog.rst
@@ -1,27 +1,18 @@
 .. include:: <isonum.txt>
 
-# New for 2025
+# New for 2026
 
-A number of improvements have been made to FRC\ |reg| Control System software for 2025. 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 2026. 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
 
-Due to internal GradleRIO changes, it is necessary to update projects from previous years. After :doc:`Installing WPILib for 2025 </docs/zero-to-robot/step-2/wpilib-setup>`, any 2024 projects must be :doc:`imported </docs/software/vscode-overview/importing-last-years-robot-code>` to be compatible.
+Due to internal GradleRIO changes, it is necessary to update projects from previous years. After :doc:`Installing WPILib for 2026 </docs/zero-to-robot/step-2/wpilib-setup>`, any 2025 projects must be :doc:`imported </docs/software/vscode-overview/importing-last-years-robot-code>` to be compatible.
 
 ## 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.
-
-- The Dependency Manager in VS Code will help teams :doc:`discover and install vendordeps </docs/software/vscode-overview/3rd-party-libraries>`.
-- Added :doc:`Elastic Dashboard </docs/software/dashboards/elastic>` a driver focused dashboard.
-- Added :doc:`annotation based logging (Epilogue) </docs/software/telemetry/robot-telemetry-with-annotations>` for Java
-- Added :doc:`WPIcal </docs/software/wpilib-tools/wpical/index>` tool for calibrating FRC Apriltags to correct for field setup error
-- The :doc:`Java units library </docs/software/basic-programming/java-units>` 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<?>``.
-- Add :doc:`persistent alerts API </docs/software/telemetry/persistent-alerts>`. Alerts are displayed on supported dashboards such as Shuffleboard and Elastic.
-- Add :ref:`LED pattern API <docs/software/hardware-apis/misc/addressable-leds:LED Patterns>` for easily animating addressable LEDs
-- Java 17 must be used as Java Source and Target compatibility have been bumped to Java 17. Java 17 has been used since 2023.
+.. note:: The WPILib team is heavily working on the 2027 Systemcore control system, and thus there are less changes for 2026 then in previous years.
 
 Supported Operating Systems and Architectures:
  * Windows 10 & 11, 64 bit only. 32 bit and Arm are not supported
@@ -30,174 +21,93 @@ Supported Operating Systems and Architectures:
 
 .. 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.
+.. note:: [Windows 10 support from Microsoft ended 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
 
 ### General Library
 
-- Add persistent alerts API. Alerts are displayed on supported dashboards such as Shuffleboard and Elastic.
-- Add LED pattern API for easily animating addressable LEDs
-- Breaking: Remove deprecated ``Gyro`` and ``Accelerometer`` interface
-- Breaking: Remove deprecated ``Notifier.SetHandler`` function
-- Remove ``RobotInit`` usage in examples. Use constructor instead. RobotInit may be deprecated in the future.
-- Deprecate ``AxisCamera``
-- C++: Add ``FRC_ReportWarning``
-- Implement ``Sendable`` for HID classes
-- Include sendable type information in topic metadata
-- ``GenericHID.setRumble``: Fix Java integer overflow
-- Rename SysId example to SysIdRoutine
-- Add ``Timer.isRunning`` method
-- Add Java unit support for RobotController
-- Add a functional interface for MecanumDriveMotorVoltages and deprecate old interface
-- Add ``Koors40`` Motor Controller
-- 2025.2.1: Add 2025 field image and april tag map
-- 2025.3.1: Add april tag map for AndyMark field. See [Team Update 12](https://firstfrc.blob.core.windows.net/frc2025/Manual/TeamUpdates/TeamUpdate12.pdf) for more information.
+- Add ``Preferences.getNetworkTable()``
+- Disambiguate HID Sendable names
+- Add X44 and Minion to ``DCMotor``
+- Add a few method overloads that use units
+- Java: Add javac plugin for detecting common error cases at compile time
+- 2026.2.1: Add 2026 Apriltag maps and field images
 
 #### Commands
 
-- Breaking: Remove deprecated ``CommandBase``
-- Remove deprecated ``TrapzoidProfileCommand`` API
-- Breaking: Remove deprecated C++ method ``TransferOwnership``
-- Deprecate ``PIDCommand``, ``PIDSubsystem``, ``ProfiledPIDCommand``, ``ProfiledPIDSubsystem``, ``TrapezoidProfileSubsystem``
-- Deprecate ``TrapezoidProfileCommand``. Use :doc:`TrapezoidProfile Directly </docs/software/commandbased/profile-subsystems-commands>`
-- Cache controller ``BooleanEvents`` / ``Triggers`` and directly construct ``Triggers``, fixing issues if ``BooleanEvents`` / ``Triggers`` are created in loops
-- Add deadband trigger methods to ``CommandGenericHID``
-- Make requirements private
-- Add ``setRumble`` and ``isConnected`` to ``CommandGenericHID``
-- Add ``StartRun`` command factory
-- Rename ``deadlineWith`` to ``deadlineFor``
-- Fix double composition error message truncation
-- Add ``withDeadline`` modifier
+- Mark CommandPtr class as ``[[nodiscard]]``
+- Deprecate ``Command.schedule()``, use ``CommandScheduler.getInstance().schedule(Command...)`` instead
+- Add ``Subsystem.idle()``
 
 #### NetworkTables
 
-- Server round robin message processing
-- Client: only connect to IPv4 addresses
-- Deprecate setNetworkTablesFlushEnabled
-- Set NetworkTables 3 client network identity
+- Check id ranges in control messages
 
 #### Data Logging
 
-- Added :doc:`annotation based logging (Epilogue) </docs/software/telemetry/robot-telemetry-with-annotations>` for Java
-- Logging the console can be enabled with ``DatalogManager.logConsoleOutput``
-- DataLog: Add last value and change detection
-- DataLogManager: Fix behavior when low on space
-- Epilogue: Autogenerate nicer data names by default, not just raw element names
-- 2025.3.2: Epilogue: Make nonloggable type warnings configurable
+- Add superclass field & method logging to Epilogue
+- Use reflection to access non-public superclass fields in Epilogue
+- Optimize time and memory usage of epilogue backends
+- Support logging of protobuf-serializable types with Epilogue
 
 #### Hardware interfaces
 
-- Breaking: Rewrite ``DutyCycleEncoder`` and ``AnalogEncoder`` to simplify and remove rollover detection that was broken
-- Add ``getVoltage`` to ``PWMMotorController``
-- Add support for Sharp IR sensors
-- Fix edge cases of CAN ID validation and reporting for CTRE and REV devices
-- Report Radio LED state
-- Correct maximum length of DS console send
-- C++: Refactor AnalogTrigger to use shared_ptr
-- Add ``RobotController.GetCommsDisableCount()``
-- Expose sticky hardware and firmware faults in PDH and PH
-- Fix potential race in CANAPI
-- Fix REV PH disabled solenoid list
-- remove CANDeviceInterface
-- Refactor and clean up ADIS IMU classes
-- Propagate ``PWMMotorController`` ``stopMotor()`` and ``disable()`` to followers
-- ``Compressor``: Add more Sendable data
-- Fix ``PowerDistribution.GetAllCurrents()``
-- Fix ``AsynchronousInterrupt``
-- 2025.3.1: AddressableLED: add support for other color orders
+- Remove Jaguar (and other) motor controllers [not legal for 2026](https://community.firstinspires.org/2025-robot-rules-preview-for-2026)
 
 #### Math
 
-- Breaking: Remove deprecated TrapezoidProfile constructors
-- Breaking: Remove deprecated MatBuilder factory
-- Deprecate ``RamseteController``. Use ``LTVUnicycleController`` instead
-- Breaking: Remove deprecated ``MatBuilder`` constructor. Use ``MatBuilder.fill`` instead
-- Discretize ``SimpleMotorFeedForward``, ``ArmFeedForward`` and ``ElevatorFeedForward``
-- ``SwerveDrivePoseEstimator``: Fix stationary module emitting error when calculating angle
-- Add ``DCMotor.getCurrent()`` overload accepting torque
-- Add ``cosineScale`` method to ``SwerveModuleState`` and instance optimize
-- Make trajectory constraints use ``Rectangle2d`` and ``Ellipse2d``
-- Add Protobuf and Struct support to many more classes
-- Add ``getAccumulatedError()`` to ``PIDController``
-- Remove ``WheelPositions`` interface/concept
-- Add ``kinematics.copyInto()``
-- Add geometry classes for ``Rectangle2d`` and ``Ellipse2d``
-- Add reset methods to ``Odometry`` and ``PoseEstimator``
-- Add ArmFeedforward calculate() overload that takes current and next velocity instead of acceleration
-- Fix C++ pose estimator poseEstimate initialization
-- Fix PIDController error tolerance getters
-- Add time-varying RKDP
-- Add 2D to 3D geometry constructors
-- 2025.2.1: Implement Translation3d.RotateAround
-- 2025.3.1: Add Pose2d and Pose3d RotateAround
-- 2025.3.1: Fix infinite loop in ArmFeedforward::Calculate(xₖ, vₖ, vₖ₊₁)
-- 2025.3.1: Add setters for Feedforward gains
-- 2025.3.2: Make LinearSystemSim setState() update output
-- 2025.3.2: Fix another infinite loop in ArmFeedforward
-- 2025.3.2: Add Translation2d/Translation3d slew rate limiter
-- 2025.3.2: Fix feedforward returning NaN when kᵥ = 0
-- 2025.3.2: Add Debouncer type and time setters
-- 2025.3.2: Fix singularities in Ellipse2d::Nearest()
-- 2025.3.2: Fix UnscentedKalmanFilter and improve math docs
+- Upgrade to Eigen 5.0.0
+- fix null pointer when calling ``TrapezoidProfile.timeLeftUntil``
+- Fix Debouncer type-changing behavior
+- Fix coordinate frame docs in ``HolonomicDriveController``
+- Support dynamic matrix sizes in StateSpaceUtil
+- Add dynamic size support for numerical jacobian computation
+- Add dynamic size support for angle statistics
+- Add ``nearest()`` method to ``Pose3d`` (mirroring ``Pose2d``)
+- Add ``Translation3d.nearest()``
+- Add ``copyDirectionPow`` to ``MathUtil`` for joystick input shaping
+- Fix ``TrapezoidProfile`` limiting velocity incorrectly
+- Add vector product and squared length operations to Translation2d/3d
+- Add structs for TrapezoidProfile.State and ExponentialProfile.State
+- Fix units overload resolution
+- Add 2D variants of ``MathUtil.applyDeadband`` and ``MathUtil.copySignPow`` for circular joystick inputs
+- Scale transforms instead of twists in PoseEstimator
+- C++: Fix ``ElevatorSim::GetCurrentDraw()``
+- Correct mil unit
+- Add miles per hour conversion methods to ``Units.java``
+- Fix ``ResetTranslation`` and ``ResetRotation`` in ``PoseEstimator`` and ``PoseEstimator3d`` causing the robot to teleport
+- 2026.2.1: Fix Rotation3d interpolation and document extrinsic vs intrinsic
+- 2025.2.1: Add multi tap boolean stream filter and multi tap trigger modifier (double tap detector)
 
 ### Simulation
 
-- Breaking: Remove gearing input from ``FlywheelSim`` and ``DCMotorSim`` and calculate from the LinearSystem and DCMotor inputs
-- Add ``SendableChooserSim``
-- Fix Java sim timing on Windows
-- Fix interrupt edges being flipped in sim
-- Don't send joystick data during auto
-- Initialize DIO to true in sim
-- Clamp battery voltage to 0
-- Fix: Update FMS widget when real DS is connected
-- Fix DS GUI System Joysticks window auto-hiding
-
 ### Romi/XRP
 
-- XRP: Add ``GetRotation2d`` to ``Gyro``
-- XRP: Add Support for Encoder Period
-- XRP: Add ``GetLED`` to ``OnBoardIO``
-- XRP & Romi: Changed applicable C++ methods to use units library
+- XRP: Add support for new Sparkfun RP2350 board
 
 ### Java units
 
-- 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<?>``.
-- Add resistance units
-- Use div instead of divide
-- Add absolute value and copy sign functionality
-- 2025.3.1: Add Measure.per overloads for all known unit types
+- Add InchesPerSecondPerSecond unit
+- Rename ``AngularMomentumUnit.mult`` to ``per``
 
 ### CameraServer
 
-- Update to OpenCV 4.10.0
-- Wake up even if no frames received
-- Fix wakeup on sink destruction
-- HttpCamera: Send width/height/fps stream settings
-- HttpCamera: Auto-detect mode from stream if not set
-- Sink: add ability to get most recent frame instead of waiting
-- 2025.2.1: Use frame time in Linux UsbCameraImpl
+- Fix USB video mode handling on macOS
+- Add UVC Protocol Support for USB Camera Controls on macOS
+- Fix memory leak in usbviewer example
+- Resolve macOS camera freeze with specific devices
 
 ### Util
 
-- Breaking: Remove ``RuntimeLoader``
-- Deprecate ``RuntimeDetector``
-- Add a simple web server for serving files. Example: ``WebServer.start(5800, Filesystem.getDeployDirectory());``
-
-## Branding
-
-- WPILib has a new logo.
-
-.. image:: /assets/wpilib-generic.svg
-  :alt: WPILib Logo
+- Add nested struct schemas before parent schema
+- C++: Add reverse iterators to ``wpi::circular_buffer`` and ``wpi::static_circular_buffer``, make other iterators bidirectional
 
 ## Shuffleboard
 
-- Expose orientation property for NumberSlider
-- Add :doc:`persistent alerts widget </docs/software/telemetry/persistent-alerts>`
-- Correct FieldData de/serialization
-- 2025.2.1: Add 2025 field image
-- 2025.3.1: After many reports of a variety of issues, many of the resource optimations have been reverted. Performance should be similar to 2024 Shuffleboard.
+.. warning:: Shuffleboard is deprecated and will be removed for 2027 due to its lack of a maintainer and resource utilization issues. Users can find :doc:`additional modern dashboard options here </docs/software/dashboards/dashboard-intro>`
+
+- Add deprecated message
 
 ## SmartDashboard
 
@@ -205,76 +115,71 @@ Supported Operating Systems and Architectures:
 
 .. warning:: SmartDashboard is deprecated and will be removed for 2027 due to its usage of Network Tables v3. Users can find :doc:`additional modern dashboard options here </docs/software/dashboards/dashboard-intro>`
 
-- No changes other than build updates were made to SmartDashboard
+- Add deprecated messsage
 
 ## Glass / OutlineViewer / Simulation GUI
 
-- Save input after clicking away
-- Check for struct descriptor size 0
-- Align Field2d border and image padding for custom images
-- Add Alerts widget
-- Fix minimum widget width
-- 2025.2.1: Add 2025 field image
-- 2025.2.1: Make picking a Field2d field JSON more obvious
-- 2025.3.2: Update default field to 2025 for Field2D
+- Fix NT int64 value display
+- Add GUI context getter hooks
 
 ## GradleRIO
 
-- Use Gradle 8.11
-- Use shell scripts for launching tools on Linux / macOS, since macOS doesn't ship Python any more
-- Add method to delete files on roboRIO that have been deleted in the deploy directory. :ref:`Set deleteOldFiles to true <docs/software/basic-programming/deploy-directory:Deleting Unused Deploy Files>` in the frcStaticFileDeploy block
-- Gradle now consolidates Java compile errors at the bottom of the terminal to aid discoverability https://docs.gradle.org/8.11/release-notes.html#error-warning
-- 2025.3.1: Warn if multiple versions of the same vendordep is found
-- 2025.3.2: Disable code reboot while killing robot process, which was causing high CPU usage every other code reboot for some teams
+- Use processstarter for launching tools
 
 ## WPILib All in One Installer
 
-- Update to VS Code 1.96.2
+- Update to VS Code 1.05.1
 - VS Code extension updates: cpptools 1.23.2, javaext 1.38
-- Use shell scripts for launching tools on Linux / macOS, since macOS doesn't ship Python any more
-- Only install scripts if they are used by a specific platform
-- Make shortcuts use the app icon
-- Add AppArmor file for electron apps for Ubuntu 24.04, which must be :ref:`manually installed <docs/zero-to-robot/step-2/wpilib-setup:Post-Installation>`
+- Ignore settings sync of settings/extensions
+- Use processstarter for tools
+- Show deprecated message on Windows 10
+- Use unique icons for tools
+- Fix platform detection for multiple vscode on apple silicon
+- 2026.2.1: Catch download failures and show URL
+- 2026.2.1: No longer install Python VS Code extensions
 
 ## Visual Studio Code Extension
 
-- Add :doc:`Dependency Manager extension </docs/software/vscode-overview/3rd-party-libraries>` for easier finding and updating of 3rd party libraries
-- Add gradle clean command
-- Use shell scripts for launching tools on Linux / macOS, since macOS doesn't ship Python any more
-- Add option to importer to import XRP project
-- Importer: Update for Java Units changes
-- Extract WPILib Utility on mac
-- Define java.configuration.runtimes in settings.json to ensure WPILib JDK is used
-- Improve intellisense by hiding items not likely to be used in Robot Programs
+- Disable java project manager dependency notification
+- Use processstarter for launching tools
+- Improve display name for WPILib extension settings
+- Defer building code when vendor instructions shown
+- Add more context to debugJNI flag in java gradle template
+- Add deprecated message to standalone utility
+- Fix blank window after installing dependency from local copy
+- Import Romi and XRP vendordeps
+- Hide the chat sidebar by default
+- Hide recommended vscode extensions to install
+- Move source backup in jar to backup directory and save more build files
+- Check for WPILib project before running most commands
+- 2026.2.1: Improve robustness of preferences file detection
 
 ## RobotBuilder
 
-- Remove robotInit in favor of Robot constructor
+.. warning:: RobotBuilder is deprecated and will be removed for 2027 due to its declining usage and burden of updating for the 2027 control system.
+
+- Remove Jaguar (and other) motor controllers [not legal for 2026](https://community.firstinspires.org/2025-robot-rules-preview-for-2026)
 
 ## SysId
 
-- Fix crash when all data is filtered out during analysis
-- Remove obsolete WPILib & CTRE presets, rename CTRE presets
-- Clamp feedback measurement delay to zero or higher
-- 2025.3.2: Refactor feedback analysis
+- Remove Phoenix5 CANcoder preset
+- 2026.2.1: Fix crash on partially empty raw data
 
 ## PathWeaver
 
 .. warning:: PathWeaver is deprecated and will be removed for 2027. Users may find :doc:`Choreo </docs/software/pathplanning/choreo/index>` or [PathPlanner](https://github.com/mjansen4857/pathplanner) more useful. They both have an intuitive user interface and swerve support.
 
-- Fix finding deploy directory when outputdir blank
-- 2025.2.1: Add 2025 field image
+- No updates other than build updates were made to PathWeaver
 
 ## AdvantageScope
 
-- Update to [2025 AdvantageScope](https://docs.advantagescope.org/whats-new)
+- Update to [2026 AdvantageScope](https://docs.advantagescope.org/whats-new)
 
 ## Elastic
 
-Elastic is bundled in the installer! Elastic is a simple and modern dashboard. :doc:`Read more here </docs/software/dashboards/elastic>`.
+- Update to 2026.0.0 Elastic. [2026.0.0-beta-1 changelog](https://github.com/Gold872/elastic-dashboard/releases/tag/v2026.0.0-beta-1) [2026.0.0 changelog](https://github.com/Gold872/elastic-dashboard/releases/tag/v2026.0.0)
+- 2026.2.1: Upgraded to 2026.1.1 Elastic. [2026.1.1 changelog](https://github.com/Gold872/elastic-dashboard/releases/tag/v2026.1.1) [2026.1.0 changelog](https://github.com/Gold872/elastic-dashboard/releases/tag/v2026.1.0)
 
 ## WPIcal
 
-WPIcal is new WPILib tool for calibrating FRC Apriltags to correct for field setup error. :doc:`Read more here </docs/software/wpilib-tools/wpical/index>`.
-
-- 2025.2.1: Add JSON combiner which allows users to combine multiple AprilTag layouts
+- No updates other than build updates were made to WPIcal
diff --git a/source/docs/zero-to-robot/introduction.rst b/source/docs/zero-to-robot/introduction.rst
index 0ea2f9f8c9..b1e4e5c50d 100644
--- a/source/docs/zero-to-robot/introduction.rst
+++ b/source/docs/zero-to-robot/introduction.rst
@@ -2,7 +2,7 @@
 
 # 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.
+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?
 
diff --git a/source/docs/zero-to-robot/step-1/basic-robot-wiring.rst b/source/docs/zero-to-robot/step-1/basic-robot-wiring.rst
index 06537a5787..214cf82cf1 100644
--- a/source/docs/zero-to-robot/step-1/basic-robot-wiring.rst
+++ b/source/docs/zero-to-robot/step-1/basic-robot-wiring.rst
@@ -54,7 +54,6 @@ Locate the following control system components and tools
 
 
 - Kit Materials:
-
       - Power Distribution Hub (:term:`PDH`) / Power Distribution Panel (:term:`PDP`)
       - roboRIO
       - Pneumatics Hub (:term:`PH`) / Pneumatics Control Module (:term:`PCM`)
@@ -78,7 +77,6 @@ Locate the following control system components and tools
       - 1/4" or 1/2" (6-12 mm) plywood
 
 - Tools Required:
-
       - Wago Tool or small flat-head screwdriver
       - Very small flat head screwdriver (eyeglass repair size)
       - Wire cutters, strippers, and crimpers
@@ -166,17 +164,17 @@ Using the Dual Lock or hardware, fasten all components to the board. Note that i
    .. tab-item:: REV
       :sync: REV
 
-         .. image:: images/how-to-wire-a-simple-robot/circuit-breaker-REV.jpg
-           :alt: Show the circuit breaker wired to the PDH.
+      .. image:: images/how-to-wire-a-simple-robot/circuit-breaker-REV.jpg
+        :alt: Show the circuit breaker wired to the PDH.
 
 
-         Requires: 6 AWG (16 :math:`mm^2`) red wire, 1x 6 AWG (16 :math:`mm^2`) terminal lugs, 7/16" (11 mm) wrench
+      Requires: 6 AWG (16 :math:`mm^2`) red wire, 1x 6 AWG (16 :math:`mm^2`) terminal lugs, 7/16" (11 mm) wrench
 
-         Secure one terminal lug to the end of the 6 AWG (16 :math:`mm^2`) red wire. Using the 7/16" (11 mm) wrench, remove the nut from the "AUX" side of the 120A main breaker and place the terminal over the stud. Loosely secure the nut (you may wish to remove it shortly to cut and strip the other end of the wire). Measure out the length of wire required to reach the positive terminal of the PDH.
+      Secure one terminal lug to the end of the 6 AWG (16 :math:`mm^2`) red wire. Using the 7/16" (11 mm) wrench, remove the nut from the "AUX" side of the 120A main breaker and place the terminal over the stud. Loosely secure the nut (you may wish to remove it shortly to cut and strip the other end of the wire). Measure out the length of wire required to reach the positive terminal of the PDH.
 
-         1. Cut and strip the other end of the red wire.
-         2. Using the 7/16" (11 mm) wrench, secure the wire to the "AUX" side of the 120A main breaker.
-         3. Lift the lever on the positive (red) input terminal of the PDH, insert the wire, then close the terminal.
+      1. Cut and strip the other end of the red wire.
+      2. Using the 7/16" (11 mm) wrench, secure the wire to the "AUX" side of the 120A main breaker.
+      3. Lift the lever on the positive (red) input terminal of the PDH, insert the wire, then close the terminal.
 
    .. tab-item:: CTR
       :sync: CTR
@@ -227,25 +225,25 @@ Using the Dual Lock or hardware, fasten all components to the board. Note that i
    .. tab-item:: REV
       :sync: REV
 
-         .. image:: images/how-to-wire-a-simple-robot/pdh-motor-power.jpg
-           :alt: Wiring power from the PDH to motor controllers.
+      .. image:: images/how-to-wire-a-simple-robot/pdh-motor-power.jpg
+        :alt: Wiring power from the PDH to motor controllers.
 
-         .. image:: images/how-to-wire-a-simple-robot/spark-power.jpg
-           :alt: Wiring power to a Spark Motor Controller with ring terminals.
+      .. image:: images/how-to-wire-a-simple-robot/spark-power.jpg
+        :alt: Wiring power to a Spark Motor Controller with ring terminals.
 
-         Requires: Wire Stripper
-         Terminal Controllers only: 10 or 12 AWG (4 - 6 :math:`mm^2`) wire , 10 or 12 AWG (4 - 6 :math:`mm^2`) fork/ring terminals, wire crimper
+      Requires: Wire Stripper
+      Terminal Controllers only: 10 or 12 AWG (4 - 6 :math:`mm^2`) wire , 10 or 12 AWG (4 - 6 :math:`mm^2`) fork/ring terminals, wire crimper
 
-         For SPARK MAX or other wire integrated motor controllers (top image):
+      For SPARK MAX or other wire integrated motor controllers (top image):
 
-         - Cut and strip the red and black power input wires, then insert into one of the Wago terminal pairs.
+      - Cut and strip the red and black power input wires, then insert into one of the Wago terminal pairs.
 
-         For terminal motor controllers (bottom image):
+      For terminal motor controllers (bottom image):
 
-         1. Cut red and black wire to appropriate length to reach from one of the Wago terminal pairs to the input side of the motor controller (with a little extra for the length that will be inserted into the terminals on each end)
-         2. Strip one end of each of the wires, then insert into the Wago terminals.
-         3. Strip the other end of each wire, and crimp on a ring or fork terminal
-         4. Attach the terminal to the motor controller input terminals (red to +, black to -)
+      1. Cut red and black wire to appropriate length to reach from one of the Wago terminal pairs to the input side of the motor controller (with a little extra for the length that will be inserted into the terminals on each end)
+      2. Strip one end of each of the wires, then insert into the Wago terminals.
+      3. Strip the other end of each wire, and crimp on a ring or fork terminal
+      4. Attach the terminal to the motor controller input terminals (red to +, black to -)
 
    .. tab-item:: CTR
       :sync: CTR
@@ -311,19 +309,19 @@ After making the connection check to be sure that it is clean and secure:
    .. tab-item:: REV
       :sync: REV
 
-         .. image:: images/how-to-wire-a-simple-robot/roborio-power-REV.jpg
-           :alt: Power coming from the PDH to the roboRIO.
+      .. image:: images/how-to-wire-a-simple-robot/roborio-power-REV.jpg
+        :alt: Power coming from the PDH to the roboRIO.
 
-         .. image:: images/how-to-wire-a-simple-robot/roborio-power-pdh.jpg
-           :alt: Power going into the roboRIO.
+      .. image:: images/how-to-wire-a-simple-robot/roborio-power-pdh.jpg
+        :alt: Power going into the roboRIO.
 
-         Requires: 10A mini fuse, Wire stripper, very small flat screwdriver, 18 AWG (1 :math:`mm^2`) Red and Black
+      Requires: 10A mini fuse, Wire stripper, very small flat screwdriver, 18 AWG (1 :math:`mm^2`) Red and Black
 
-         1. Insert the 10A fuse into the PDH in one of the non-switchable fused channels (20-22).
-         2. Strip ~5/16" (~8 mm) on both the red and black 18 AWG (1 :math:`mm^2`) wire and connect to the corresponding terminals on the PDH channel where the fuse was installed
-         3. Measure the required length to reach the power input on the roboRIO. Take care to leave enough length to route the wires around any other components such as the battery and to allow for any strain relief or cable management.
-         4. Cut and strip the wire.
-         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.
+      1. Insert the 10A fuse into the PDH in one of the non-switchable fused channels (20-22).
+      2. Strip ~5/16" (~8 mm) on both the red and black 18 AWG (1 :math:`mm^2`) wire and connect to the corresponding terminals on the PDH channel where the fuse was installed
+      3. Measure the required length to reach the power input on the roboRIO. Take care to leave enough length to route the wires around any other components such as the battery and to allow for any strain relief or cable management.
+      4. Cut and strip the wire.
+      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.
 
    .. tab-item:: CTR
       :sync: CTR
@@ -481,22 +479,22 @@ Requires: an Ethernet cable
    .. tab-item:: REV
       :sync: REV
 
-         .. image:: images/how-to-wire-a-simple-robot/ph-pdh-power.jpg
-           :alt: PH CAN connection.
+      .. image:: images/how-to-wire-a-simple-robot/ph-pdh-power.jpg
+        :alt: PH CAN connection.
 
-         .. image:: images/how-to-wire-a-simple-robot/ph.jpg
-           :alt: PH CAN connection.
+      .. image:: images/how-to-wire-a-simple-robot/ph.jpg
+        :alt: PH CAN connection.
 
-         Requires: Wire stripper, small flat screwdriver (optional), yellow/green twisted CAN cable
+      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.
+      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
@@ -526,7 +524,7 @@ Requires: an Ethernet cable
       .. image:: images/how-to-wire-a-simple-robot/pwm.jpg
         :alt: PWM Cables going from the roboRIO to the Spark Motor Controller.
 
-      This section details how to wire the SPARK MAX controllers using PWM signaling. This is a recommended starting point as it is less complex and easier to troubleshoot than CAN operation. The SPARK MAXs (and many other FRC motor controllers) can also be wired using :ref:`CAN<docs/hardware/hardware-basics/can-wiring-basics:CAN Wiring Basics>` which unlocks easier configuration, advanced functionality, better diagnostic data and reduces the amount of wire needed.
+      This section details how to wire the SPARK MAX controllers using PWM signaling. This is a recommended starting point as it is less complex and easier to troubleshoot than CAN operation. The SPARK MAXs (and many other FRC motor controllers) can also be wired using :ref:`CAN<docs/hardware/hardware-basics/can-wiring-basics:CAN Wiring Basics>` which unlocks easier configuration, advanced functionality, better diagnostic data, and reduces the amount of wire needed.
 
       Requires: 4x SPARK MAX PWM adapters (if using SPARK MAX), 4x PWM cables (if controllers without integrated wires or adapters, otherwise optional), 2x PWM Y-cable (Optional)
 
@@ -645,6 +643,6 @@ 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/brushless/spark-max/gs).
 
 From here, you should connect to the roboRIO and try uploading your code!
diff --git a/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/can-bus-sparks.jpg b/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/can-bus-sparks.jpg
index d12e9ab4ab..c0907ba8a5 100644
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diff --git a/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/pdh-motor-power.jpg b/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/pdh-motor-power.jpg
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diff --git a/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/zipties-kitbot.jpg b/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/zipties-kitbot.jpg
index 2da0037b4f..1f77c36151 100644
Binary files a/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/zipties-kitbot.jpg and b/source/docs/zero-to-robot/step-1/images/how-to-wire-a-simple-robot/zipties-kitbot.jpg differ
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 8eae7c8536..2d8f332e62 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
@@ -24,34 +24,34 @@ Locate the following control system components and tools
   - roboRIO
   - Vivid Hosting VH-109 radio (may be already installed on Kitbot)
   - Robot Signal Light (:term:`RSL`) (may be already installed on Kitbot)
-  - 5x SPARK MAX
+  - 6x SPARK MAX
   - 120A Circuit breaker
   - 4x 40A Circuit breaker
   - 1x 30A Circuit breaker
   - 6 AWG (16 :math:`mm^2`) Red wire
   - 18 AWG (1 :math:`mm^2`) Red/Black wire
-  - (Optional) REV PoE Injector cable or similar
-  - 12 Wago 221 inline splicing connector with lever
+  - Vivid Hosting PoE Injector cable or similar
+  - 14 Wago 221 inline splicing connector with lever
   - 2x Anderson SB50 battery connectors
   - 6 AWG (16 :math:`mm^2`) Terminal lugs
   - 12V Battery
   - Red/Black Electrical tape
   - Dual Lock material or fasteners
   - Zip ties
-  - 1/2" or 3/4" (12-19 mm) plywood
+  - 1/2in (12mm) plywood
 
 - Tools Required:
 
   - Very small flat head screwdriver (eyeglass repair size)
   - Wire cutters, wire stripper (6, 10, 18, 22 AWGs), and terminal crimper (6AWG terminal) or vice
-  - 7/16" (11 mm may work if imperial is unavailable) box end wrench or nut driver
-  - Additional 7/16" wrench/nut driver or Philips head screw driver
+  - 7/16in (11mm may work if imperial is unavailable) box end wrench or nut driver
+  - Additional 7/16in wrench/nut driver or Philips head screw driver
   - Scissors
-  - Drill with 1/4" (6mm) bit
+  - Drill with 1/4in (6mm) bit
 
 ## Create the Base for the Control System
 
-The instructions below heavily rely on the wiring pre-attached to components. The layout provided is designed around using a pair of matching 19.75 in x 6.5 in. (500mm x 165mm) boards which mount to the top of the inner rails of the AM14U chassis. Teams are welcome to modify this design and layout but note that additional connectors and wire may be required.
+The instructions below heavily rely on the wiring pre-attached to components. The layout provided is designed around using a single board which mounts to the top of the inner rails of the AM14U chassis. Teams are welcome to modify this design and layout but note that additional connectors and wire may be required.
 
 ## Layout the Core Control System Components
 
@@ -59,9 +59,8 @@ The instructions below heavily rely on the wiring pre-attached to components. Th
     :alt: A basic wiring layout of the components on the Kitbot boards
 
 
-Lay out the components on the board. An example layout is shown in the image above. If you are wiring the boards before installing on the Kitbot, note that the boards should be spaced approximately 4 in. apart (~100mm). The radio and RSL will be mounted directly to the Kitbot superstructure. The instructions below recommend wiring the SPARK MAX controllers before securing components to the board. This will insure that the pre-attached wiring reaches each component as needed, but will make securing the components a little trickier.
+Lay out the components on the board. An example layout is shown in the image above. The radio and RSL will be mounted directly to the Kitbot superstructure. It is recommended to wire as much as possible before installing the board in the robot, the board is difficult to work on while installed. The board has very little clearance between the PDH and the bottom of the hopper, locate the PDH as far towards the back of the robot as possible while still allowing room for wires between the PDH and roboRIO.
 
-.. tip:: The layout and subsequent images show 6 Spark MAX controllers. The Kitbot design only utilizes 5 controllers, you can wire the extra controller to facilitate future additions or omit it.
 
 ## Motor Controller Power
 
@@ -77,7 +76,7 @@ Connect each motor controller's input power (red/black side with no white) to th
   1. Strip approximately 1/2 in. (~12mm) of insulation off the red and black power input wires for one SPARK MAX. While the SPARK MAX wire is 12 AWG, because it is high strand count, the 10 AWG size on your wire strippers may work better.
   #. Lift both levers on the PDH for one high current channel until they latch open (the red and black terminals for one channel are indicated by the white label across them below and behind the terminals).
   #. Carefully insert the stripped wire all the way into the terminals and press the latches back down to secure the wires.
-  #. Repeat for each controller. You likely want to skip some channels to account for the width of the controllers.
+  #. Repeat for each controller. Pay attention to which controllers wire to which channel to ensure all controllers will reach without extension.
 
   .. tip:: If the wire end has become a bit messy and is hard to insert cleanly, a small twist (~ 1/2 a turn) may help. Do not heavily twist the wire, this prevents the terminal inside the PDH from making solid contact with the wire.
 
@@ -89,23 +88,23 @@ Connect each motor controller's input power (red/black side with no white) to th
 
 Requires: Recloseable fastener, scissors, drill with bit
 
-Cable ties plus reclosable fastener make a great pair for securing robot electronics. The cable ties help hold the components down while the recloseable fastener helps hold them in place. The instructions below describe securing your electronics with this method, though you may choose to use hardware (nuts and bolts) to secure components instead.
+Cable ties plus reclosable fastener make a great pair for securing robot electronics. The cable ties help hold the components down while the recloseable fastener helps hold them in place. The instructions below describe securing your electronics with this method, though you may choose to use hardware (nuts and bolts) to secure some components instead.
 
 .. collapse:: Details
 
-  1. Secure each item down with recloseable fastener. One easy way to do this is to secure the two sides of the fastener together, peel one backing, secure the fastener(s) to the component, then peel the other backing and carefully press the component into place on the board. To ensure you have enough fastener for both electronics and the protective panels, some recommended lengths are provided below:
+  1. Secure each item down with recloseable fastener. One easy way to do this is to secure the two sides of the fastener together, peel one backing, secure the fastener(s) to the component, then peel the other backing and carefully press the component into place on the board. To ensure you have enough fastener for both electronics and the battery door, some recommended lengths are provided below:
 
-    - SPARK MAX: 2x 1 in. pieces each
-    - roboRIO: 4x 1 in. pieces
-    - PDH: 3x 2 in. pieces (or 4x 1 in.)
-    - 120A Breaker: 2x 2 in. pieces
+     - SPARK MAX: 2x 1 in. pieces each
+     - roboRIO: 4x 1 in. pieces
+     - PDH: 3x 2 in. pieces (or 4x 1 in.)
+     - 120A Breaker: 2x 2 in. pieces
 
   2. Mark hole locations for drilling ziptie holes
 
-    - SPARK MAX: 2x holes centered between each SPARK MAX (1 aligned with each ziptie notch) plus 2x just outside each outer controller. 2 cable ties will pass through each hole.
-    - PDH: 1 hole directly underneath each device mounting hole (4x total), 1 holes just outside the device footprint near each mounting hole (4x total)
-    - roboRIO: 1 hole directly underneath each ziptie notch (4x total), 1 hole just outside the device footprint near each mounting hole (4x total)
-    - 120A breaker: 1 hole directly underneath each device mounting hole (2x total), 1 hole just outside the device footprint near each mounting hole (2x total)
+     - SPARK MAX: 2x holes centered between each SPARK MAX (1 aligned with each ziptie notch) plus 2x just outside each outer controller. 2 cable ties will pass through each hole.
+     - PDH: 1 hole directly underneath each device mounting hole (4x total), 1 holes just outside the device footprint near each mounting hole (4x total)
+     - roboRIO: 1 hole directly underneath each ziptie notch (4x total), 1 hole just outside the device footprint near each mounting hole (4x total)
+     - 120A breaker: 1 hole directly underneath each device mounting hole (2x total), 1 hole just outside the device footprint near each mounting hole (2x total)
 
   3. Remove components and drill holes. Using a "rocking" or "peeling" motion can often help remove components from recloseable fastener without removing the fastener adhesive.
   #. Place the components back down on the boards. You may wish to wait to actually secure components with cable ties until wiring is complete. Some cable ties may be able to double as wire management.
@@ -117,17 +116,17 @@ Cable ties plus reclosable fastener make a great pair for securing robot electro
 
 Requires: SPARK MAX CAN Cables and Cable retention clips (found in SPARK MAX boxes)
 
-The SPARK MAX controllers and PDH will communicate with the roboRIO over CAN. Connect the SPARK MAX CAN cables in a chain, skipping the 2nd controller and coming back to it, as shown by the red arrows.
+The SPARK MAX controllers and PDH will communicate with the roboRIO over CAN. Connect the SPARK MAX CAN cables in a chain, skipping the 3rd controller and coming back to it, as shown by the red arrows.
 
 .. collapse:: Details
 
-  1. Starting with the roboRIO, insert a SPARK MAX CAN Cable into the first and **third** SPARK MAX. In order for the included wires to reach, we'll skip the second SPARK MAX for now.
-  #. Take either end of the cable from the 1st SPARK MAX and connect to the matching cable from the 3rd SPARK MAX.
+  1. Insert a SPARK MAX CAN Cable into each SPARK MAX.
+  #. Starting with the single SPARK MAX near the roboRIO, take either end of the CAN cable and connect to the opposite end of the CAN cable from the SPARK MAX closest to the battery notch.
   #. Secure the connection by placing a Cable retention clip over the joined connectors.
-  #. Insert a CAN Cable into the 4th SPARK MAX. Using the remaining end from the 3rd SPARK MAX, connect to the 4th SPARK MAX and secure with a retention clip.
-  #. Continue down the line until the 5th (6th if wiring the extra controller) SPARK MAX is connected to the chain.
-  #. Insert a CAN Cable into the 2nd SPARK MAX. Connect the last SPARK MAX in the chain to the 2nd SPARK MAX and secure with a clip.
-  #. You should now have a chain that connects all the SPARK MAX controllers together with a free end connected to each of the 2 SPARK MAXes closest to the roboRIO.
+  #. Using the remaining end from the SPARK MAX near the battery notch **skipping the controller directly above** connect to the third SPARK MAX in the cluster of four.
+  #. Then connect from the third SPARK MAX to the fourth in the group, followed by the SPARK MAX closest to the PDH.
+  #. Finally, connect the last SPARK MAX, that you skipped earlier.
+  #. You should now have a chain that connects all the SPARK MAX controllers together with a free end on the SPARK MAX closest to the roboRIO and on the second controller in from the battery notch.
   #. You may want to use cable ties to organize the extra CAN wire before moving on.
 
 ## CAN Bus connections - PDH and roboRIO
@@ -141,9 +140,9 @@ Connect one free end of the CAN bus chain to the PDH and the other to the roboRI
 
 .. collapse:: Details
 
-  1. Locate the free end of the CAN cable connected to the SPARK MAX closest to the roboRIO. Cut off the connector and strip 5/16 in. (~8 mm) of both the yellow and green wire.
+  1. Locate the free end of the CAN cable connected to the SPARK MAX in the group of four. Cut off the connector and strip 5/16in (~8mm) of both the yellow and green wire.
   #. Insert each wire into the corresponding terminal on the roboRIO by holding down the white button with a fingernail or screw driver while inserting the wire. Give the wire a sharp tug to ensure it has been inserted properly.
-  #. Locate the remaining free end of the CAN chain (attached to the 2nd SPARK MAX from the roboRIO). Cut off the connector and strip 3/8 in. (~9 mm) of both the yellow and green wire.
+  #. Locate the remaining free end of the CAN chain (attached to the single isolated SPARK MAX). Cut off the connector and strip 3/8in (~9mm) of both the yellow and green wire.
   #. Insert each wire into either matching colored terminal of the PDH by either depressing the button or opening the latch (depending on PDH version).
   #. Ensure the PDH CAN termination switch (labeled "TERM" and located next to the CAN terminals) is set to ON. If not, adjust with a small screw driver.
 
@@ -152,15 +151,15 @@ Connect one free end of the CAN bus chain to the PDH and the other to the roboRI
 .. image:: images/how-to-wire-a-simple-robot/terminal-lug-REV.jpg
   :alt: Highlights the location of the terminal lugs on the PDH and circuit breaker.
 
-Requires: Battery Connector, 1x 6 AWG (16 :math:`mm^2`) terminal lugs, 7/16" (11 mm) Box end
+Requires: Battery Connector, 1x 6 AWG (16 :math:`mm^2`) terminal lugs, 7/16in (11mm) Box end
 
 Attach the red wire from the battery connector to the main breaker using a terminal lug and attach the black side to the power input of the PDH.
 
 .. collapse:: Details
 
-  1. Attach terminal lug to positive (red) wire of battery connector. Strip .75" off the black wire.
+  1. Attach terminal lug to positive (red) wire of battery connector. Strip .75in off the black wire.
   #. Lift the lever above the black main power input terminal on the PDH until it clicks into place. Insert the wire. Pull the lever down to secure the wire.
-  #. 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
+  #. Using a 7/16in (11mm) 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
@@ -169,14 +168,14 @@ Attach the red wire from the battery connector to the main breaker using a termi
   :alt: Show the circuit breaker wired to the PDH.
 
 
-Requires: 6 AWG (16 :math:`mm^2`) red wire, 1x 6 AWG (16 :math:`mm^2`) terminal lugs, 7/16" (11 mm) wrench
+Requires: 6 AWG (16 :math:`mm^2`) red wire, 1x 6 AWG (16 :math:`mm^2`) terminal lugs, 7/16in (11mm) wrench
 
 Connect 6AWG wire between the second terminal of the 120A circuit breaker and the red power input of the PDH
 
 .. collapse:: Details
 
   1. Secure one terminal lug to the end of the 6 AWG (16 :math:`mm^2`) red wire.
-  #. Using the 7/16" (11 mm) wrench, remove the nut from the "AUX" side of the 120A main breaker and place the terminal over the stud.
+  #. Using the 7/16in (11mm) wrench, remove the nut from the "AUX" side of the 120A main breaker and place the terminal over the stud.
   #. Loosely secure the nut (you may wish to remove it shortly to cut and strip the other end of the wire). Measure out the length of wire required to reach the positive terminal of the PDH.
   #. Cut and strip the other end of the red wire.
   #. Using the 7/16" (11 mm) wrench, secure the wire to the "AUX" side of the 120A main breaker.
@@ -214,50 +213,50 @@ Using 18AWG wire, connect a non-switchable fused channel of the PDH (20-22) with
   #. 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.
 
 
-## Pause
+## Radio Power
 
-.. image:: images/how-to-wire-a-simple-robot/stop.png
-  :alt: Giant red stop sign.
+.. image:: images/how-to-wire-a-simple-robot/radio-pdh-power-kitbot.jpg
+  :alt: Power going from the PDH to the radio.
 
-If you are preparing the wiring outside the robot, pause at this point. The remaining wiring must be completed after the boards are installed on the robot.
+Requires: Vivid Hosting PoE adapter cable
 
+Connect the PoE adapter cable to a non-switchable fused channel (20-22) with a 10A fuse to power the VH-109 radio.
 
-## Radio Power
+.. collapse:: Details
 
-.. image:: images/how-to-wire-a-simple-robot/radio-pdh-power.jpg
-  :alt: Power going from the PDH to the radio.
+  1. Insert the 10A fuse into the PDH in one of the non-switchable fused channels (20-22).
+  #. Lift the levers of the PDH terminals for that channel, insert the ferrules from the red and black wires on the PoE adapter into the corresponding terminals, then close the levers.
+  #. Connect the Ethernet plug of the PoE adapter to the roboRIO.
 
-.. image:: images/how-to-wire-a-simple-robot/radio-power-kitbot.jpg
-  :alt: Power going into the radio.
+.. warning:: The Vivid PoE adapter works opposite of the REV PoE adapter. The REV PoE adapter can not be directly substituted for the 2026 KitBot. If the Vivid PoE adapter is not available, wire power directly to the radio 12V port and connect the roboRIO to the AUX2 port if the radio is not the V1.5 hardware revision.
 
-Requires: Wire stripper, small flat screwdriver (optional), 18 AWG (1 :math:`mm^2`) red and black wire:
 
-Using 18AWG wire, connect a non-switchable fused channel (20-22) with a 10A fuse to the power input of the VH-109 radio.
+## Circuit Breakers
 
-.. collapse:: Details
+.. image:: images/how-to-wire-a-simple-robot/40A-breaker-REV.jpg
+  :alt: Installing 40A breakers in the PDP.
+
+Requires: 6x 40A circuit breakers
+
+Insert 40-amp Circuit Breakers into the positions on the PDH corresponding with the Wago connectors the motor controllers are connected to. Note that the white graphic indicates which breakers are associated with which terminal pairs.
 
-  1. Insert the 10A fuse into the PDH in one of the non-switchable fused channels (20-22).
-  #. Strip ~5/16" (~8 mm) on the end of the red and black 18 AWG (1 :math:`mm^2`) wire and connect the wire to the corresponding terminals on the PDH.
-  #. Measure the length required to reach the power input terminals on the VH-109 radio. Take care to leave enough length to route the wires along the robot (not just dangling in the air) and to allow for any strain relief or cable management.
-  #. Cut and strip ~5/16" (~8 mm) from the end of the wire.
-  #. Use a finger or small screw driver to hold down the button on each VH-109 power input terminal while inserting the corresponding wire.
 
+## Pause
 
-## Ethernet Cables
+.. image:: images/how-to-wire-a-simple-robot/stop.png
+  :alt: Giant red stop sign.
 
-.. image:: images/how-to-wire-a-simple-robot/radio-ethernet-kitbot.jpg
-  :alt: Picture of the KitBot showing radio ethernet cable with PoE injector.
+If you are preparing the wiring outside the robot, pause at this point. The remaining wiring must be completed after the board is installed on the robot.
 
-Requires: 1x Ethernet cable, (Optional) 1x REV PoE injector or similar
 
-Connect an Ethernet cable from the RJ45 (Ethernet) socket of the roboRIO to the socket of the REV PoE injector. Either remove or individually insulate the red and black power wires of the injector (the injector is not long enough to reach the PDH with the KitBot wiring layout). Connect the plug end of the REV PoE injector into the port on the VH-109 labeled RIO.
+## Ethernet Cable
 
-.. collapse:: Alternative
+.. image:: images/how-to-wire-a-simple-robot/rio-port.png
+  :alt: Picture of the radio highlighting the rio port.
 
-    .. image:: images/how-to-wire-a-simple-robot/radio-ethernet-kitbot-alt.jpg
-        :alt: Picture of the KitBot showing radio ethernet cable plugged into VH-109 AUX port.
+Requires: 1x Ethernet cable
 
-    Connect an Ethernet cable from the RJ45 (Ethernet) socket of the roboRIO to the port on the VH-109 radio labeled AUX2. The corresponding DIP switch on the radio must be in the off (default) position.
+Connect an Ethernet cable from the RJ45 (Ethernet) socket of the PoE adapter to the RIO port on the VH-109 radio.
 
 
 ## Robot Signal Light
@@ -279,32 +278,22 @@ Using the 2 Pin Molex cable, connect the roboRIO RSL port to 2 terminals of the
   #. Connect the two-pin connector to the RSL port on the roboRIO. The black wire should be closest to the outside of the roboRIO.
 
 
-## Circuit Breakers
-
-.. image:: images/how-to-wire-a-simple-robot/40A-breaker-REV.jpg
-  :alt: Installing 40A breakers in the PDP.
-
-Requires: 6x 40A circuit breakers
-
-Insert 40-amp Circuit Breakers into the positions on the PDH corresponding with the Wago connectors the motor controllers are connected to. Note that the white graphic indicates which breakers are associated with which terminal pairs.
-
-
 ## Motor Power
 
 .. image:: images/how-to-wire-a-simple-robot/motor-power-wago.jpg
   :alt: Connecting power from the motor to the motor controller.
 
-Requires: Wire stripper, 12x Wago 221 terminals, 12AWG wire
+Requires: Wire stripper, 14x Wago 221 terminals, 12AWG wire
 
-For each motor, use the Wago 221 terminals to connect the output of the motor controller to the motor. Note that for the roller motor, an additional intermediate connection is recommended in order to have the necessary length to route the wire safely along robot elements.
+For each motor, use the Wago 221 terminals to connect the output of the motor controller to the motor. A recommended arrangement is to use the isolated SPARK MAX for the feeder motor, the other single SPARK MAX for the intake/launcher, and the four grouped SPARK MAXes for the Drivetrain, split into pairs for each side. Note that for the intake/launcher motor, an additional intermediate connection is recommended in order to have the necessary length to route the wire safely along robot elements.
 
 .. collapse:: Details
 
   1. Using the print on the side of the 221 connector (upper left image) as a guide, strip 11mm from the end of one wire.
-  #. Lift the orange lever fo the 221 connector until it latches up, then insert the wire fully into the terminal. Flip the lever back down.
+  #. Lift the orange lever of the 221 connector until it latches up, then insert the wire fully into the terminal. Flip the lever back down.
   #. Using the inspection window on the bottom of the connector, check that the wire is fully inserted by verifying the wire is visible beyond the metal funnel of the terminal.
-  #. Repeat this process to connect each drivetrain CIM motor to a motor controller output, red-to-red, black-to-black.
-  #. For the roller motor, it is recommend to use 12AWG wire as an extension. Attach 12AWG wire to the motor wires, then run the wire along robot components until you reach the motor contoller. Cut and strip the 12AWG extension wire and secure to the motor controller output.
+  #. Repeat this process to connect each drivetrain CIM motor and the feeder motor directly to a motor controller output, red-to-red, black-to-black.
+  #. For the intake/launcher motor, it is recommend to use 12AWG wire as an extension. Attach 12AWG wire to the motor wires, then run the wire along robot components until you reach the motor contoller. Cut and strip the 12AWG extension wire and secure to the motor controller output.
 
 
 ## STOP
@@ -329,6 +318,8 @@ 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 and protected. Secure wires to robot components to make them less likely to be caught and pulled by other robots, or when performing robot maintenance. Make sure wires are not pulled too tight (don't put any strain on connection points) and that they do not have enough slack to reach moving components (such as drivetrain belts) while the robot is operating.
 
+.. warning:: If you are passing wires through any of the openings in the KitBot sheet metal, it is recommended to shield the edge of the metal, the wires passing through, or both, to avoid wire damage. Electrical tape or Gaffers tape work well for this purpose.
+
 ## 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.
@@ -337,7 +328,7 @@ 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/brushless/spark-max/gs).
 
 From here, you should continue on to install software and configure your radio and roboRIO, then load up the provided KitBot 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 62ef90dbf9..d6d7a04d94 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
@@ -16,11 +16,9 @@ The LabVIEW runtime components required for the Driver Station and Imaging Tool
 
 - Windows 10 or higher (Windows 10, 11).
 
-.. important:: FRC Game Tools requires an x86 CPU due to its dependency on LabVIEW. Do not use a device with an ARM CPU.
-
 ## Download Game Tools
 
-Navigate to the  [FRC Game Tools](https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html#553883) from NI.
+Navigate to the [FRC Game Tools](https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html) page from NI.
 
 .. image:: images/labview/ni-login.png
    :alt: The login button for the NI installer.
@@ -36,7 +34,7 @@ If you wish to install on other machines offline, click :guilabel:`Install Offli
 
 .. 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 2025 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 2026 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 (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.
 
@@ -70,34 +68,6 @@ In the dialog box that appears, select all entries. The easiest way to do this i
 
       .. 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
-
-.. 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
-
-.. 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
-
-.. 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
-
-.. 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
 
 .. image:: images/update-suite/additional-software.png
@@ -112,6 +82,13 @@ If you see this screen, click :guilabel:`Next`.
 
 Select :guilabel:`I accept…` then click :guilabel:`Next`
 
+### 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`.
+
 ### Review Summary
 
 .. image:: images/update-suite/review-summary.png
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index 40d1a94218..fcefcb7463 100644
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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 e55b8910f4..08b71fd939 100644
--- a/source/docs/zero-to-robot/step-2/labview-setup.rst
+++ b/source/docs/zero-to-robot/step-2/labview-setup.rst
@@ -14,7 +14,7 @@ Download and installation times will vary widely with computer and internet conn
 
 .. 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.
 
-Before installing the new version of LabVIEW it is recommended to remove any old versions. The new version will likely co-exist with the old version, but all testing has been done with FRC 2024 only. Make sure to back up any team code located in the "User\\LabVIEW Data" directory before un-installing. Then click Start >> Add or Remove Programs. Locate the entry labeled "NI Software", and select Uninstall.
+Before installing the new version of LabVIEW it is recommended to remove any old versions. The new version will likely co-exist with the old version, but all testing has been done with FRC 2026 only. Make sure to back up any team code located in the "User\\LabVIEW Data" directory before un-installing. Then click Start >> Add or Remove Programs. Locate the entry labeled "NI Software", and select Uninstall.
 
 .. image:: images/labview/uninstall_control_panel.png
    :alt: Add or Remove -> NI Software
@@ -30,7 +30,7 @@ In the dialog box that appears, select all entries. The easiest way to do this i
 
 ## Getting LabVIEW installer
 
-Download the [LabVIEW for FRC 2025 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 2026 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.
@@ -139,7 +139,7 @@ Overall installation progress will be tracked in this window
 
 You will be prompted whether to enable the NI update service. You can choose to not enable the update service.
 
-.. 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).
+.. 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
 
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 a87163cc61..b6b7c7f7a2 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
@@ -16,7 +16,7 @@ This documentation can be downloaded for offline viewing. The link to download t
 
 ### All Teams
 
--  [2025 FRC Game Tools](https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html#553883) (Note: Click on link for "Install Offline")
+-  [2026 FRC Game Tools](https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html)
 
 ### LabVIEW Teams
 
diff --git a/source/docs/zero-to-robot/step-2/python-setup.rst b/source/docs/zero-to-robot/step-2/python-setup.rst
index f6451d52ea..dd9b0bfa70 100644
--- a/source/docs/zero-to-robot/step-2/python-setup.rst
+++ b/source/docs/zero-to-robot/step-2/python-setup.rst
@@ -4,7 +4,7 @@ This guide is intended for Python teams. Java and C++ teams can skip to :doc:`wp
 
 ## Prerequisites
 
-You must install a supported version of Python on a supported operating system. Every year we upgrade RobotPy to the latest available version of Python. In 2025 we support Python 3.9/3.10/3.11/3.12/3.13, but only 3.13 is available for the roboRIO.
+You must install a supported version of Python on a supported operating system. Every year we upgrade RobotPy to the latest available version of Python. In 2026 we support Python 3.10/3.11/3.12/3.13/3.14, but only 3.14 is available for the roboRIO.
 
 Supported Operating Systems and Architectures:
  * Windows 10 & 11, 64 bit only. 32 bit and Arm are not supported
@@ -27,7 +27,7 @@ Once you have installed Python, you can use pip to install RobotPy on your devel
 
       .. 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 2022 redistributable](https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170#latest-microsoft-visual-c-redistributable-version) package is required to be installed.
+      .. warning:: On Windows, the [Visual Studio 2022 redistributable](https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170#latest-supported-redistributable-version) package is required to be installed.
 
       Run the following command from cmd or Powershell to install the core RobotPy packages:
 
@@ -105,7 +105,7 @@ Once you have installed Python, you can use pip to install RobotPy on your devel
       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-2025/simple robotpy
+      python3 -m pip install --extra-index-url=https://wpilib.jfrog.io/artifactory/api/pypi/wpilib-python-release-2026/simple robotpy
       ```
 
       **source install**
@@ -118,7 +118,7 @@ Once you have installed Python, you can use pip to install RobotPy on your devel
 
          Our ARM wheels are built for Debian 12 (Bookworm) with GCC 12.
 
-      If you need to build with a specific compiler version, you can specify them using the :envvar:`CC` and :envvar:`CXX` environment variables:
+      If you need to build with a specific compiler version, you can specify them using the ``CC`` and ``CXX`` environment variables:
 
       ```sh
       export CC=gcc-12 CXX=g++-12
@@ -155,7 +155,9 @@ If you already have a RobotPy robot project, you can use that to download the pi
       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.
+This will create a ``robot.py`` and ``pyproject.toml`` file. The ``robot.py`` file contains a skeleton structure to help you get started writing your robot code. The ``pyproject.toml`` file should be customized and details the requirements needed to run your robot code, among other things.
+
+.. important:: The ``robotpy deploy`` command requires that you have written working robot code. The generated ``robot.py`` is just a starting point - you cannot deploy to the roboRIO until you have implemented your robot-specific code. See the :doc:`RobotPy Programming Guide </docs/software/python/index>` for information on writing robot code.
 
 .. 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>`
 
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 4718658b1d..0864e0b922 100644
--- a/source/docs/zero-to-robot/step-2/wpilib-setup.rst
+++ b/source/docs/zero-to-robot/step-2/wpilib-setup.rst
@@ -11,7 +11,7 @@ Supported Operating Systems and Architectures:
 
 .. 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, or switch to one of the supported Linux distributions listed.
+.. note:: [Windows 10 support from Microsoft ended 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, or switch to one of the supported Linux distributions listed.
 
 .. note:: C++ compilation is memory intensive. A minimum of 32 GB of RAM is recommended for C++ teams.
 
@@ -23,9 +23,9 @@ WPILib is designed to install to different folders for different years, so that
 
 .. only:: not prbuild
 
-   .. wpilibrelease:: v2025.3.2
+   .. wpilibrelease:: v2026.2.1
 
-[You can download the latest release of the installer from GitHub](https://github.com/wpilibsuite/allwpilib/releases/latest/).
+[You can also 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.
 
@@ -139,7 +139,7 @@ After installation is complete, you will be presented with the finished screen.
 .. image:: images/wpilib-setup/installer-finish.png
    :alt: Installer finished screen.
 
-.. important:: WPILib installs a separate version of VS Code. It does not use an already existing installation. Each year has it's own copy of the tools appended with the year. IE: ``WPILib VS Code 2025``. Please launch the WPILib VS Code and not a system installed copy!
+.. important:: WPILib installs a separate version of VS Code. It does not use an already existing installation. Each year has it's own copy of the tools appended with the year. IE: ``WPILib VS Code 2026``. Please launch the WPILib VS Code and not a system installed copy!
 
 Congratulations, the WPILib development environment and tooling is now installed on your computer! Press Finish to exit the installer.
 
@@ -173,7 +173,7 @@ Some operating systems require some final action to complete installation.
       The above will fix the following error:
 
       ```console
-      The SUID sandbox helper binary was found, but is not configured correctly. Rather than run without sandboxing I'm aborting now. You need to make sure that ~/wpilib/2025/advantagescope/chrome-sandbox is owned by root and has mode 4755.
+      The SUID sandbox helper binary was found, but is not configured correctly. Rather than run without sandboxing I'm aborting now. You need to make sure that ~/wpilib/2026/advantagescope/chrome-sandbox is owned by root and has mode 4755.
       ```
 
 
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 47eec6add1..fcc20d0e0e 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
@@ -52,7 +52,7 @@ After launching, the roboRIO Imaging Tool will scan for available roboRIOs and i
 
 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.
+.. 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, 25.5 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:
 
diff --git a/source/docs/zero-to-robot/step-3/openmesh.rst b/source/docs/zero-to-robot/step-3/openmesh.rst
index ea1c74b433..7b9172b823 100644
--- a/source/docs/zero-to-robot/step-3/openmesh.rst
+++ b/source/docs/zero-to-robot/step-3/openmesh.rst
@@ -5,7 +5,7 @@
 
 
 Prior to 2025 the official radio used in FRC was an OM5P-AN or OM5P-AC Radio.
-As of the 2025 season the OpenMesh radio is still being used in Taiwan and China.
+As of the 2026 season the OpenMesh radio is still being used in Taiwan and China.
 
 .. warning:: This page is either for teams looking to use the OM5P radio to test or teams in China and Taiwan. For the current robot radio please see :ref:`docs/zero-to-robot/step-3/radio-programming:Programming your Radio`
 
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 20225b770e..49efe3c5cb 100644
--- a/source/docs/zero-to-robot/step-3/radio-programming.rst
+++ b/source/docs/zero-to-robot/step-3/radio-programming.rst
@@ -13,7 +13,7 @@ The recommended setup requires: 2 VH-109 radios, 1 VH-117 :term:`PoE` Wall Adapt
 Please see the :ref:`docs/zero-to-robot/step-3/radio-programming:Alternative Setup Discussion` if you do not currently have this hardware.
 
 .. image:: images/radio-programming/VH-109-2-radios.drawio.svg
-   :alt: Connectivity diagram of VH-109 on robot connected to VH-109 on Driver station, powered by VH-117 POE wall adapter, with DS and programming laptops connected to it
+   :alt: Connectivity diagram of VH-109 on robot connected to VH-109 on Driver station, powered by VH-117 POE wall adapter, with DS, and programming laptops connected to it
    :width: 500
 
 ## Getting to the Web Configuration Page
@@ -105,6 +105,8 @@ To enable standalone mode:
 2. Flip DIP switch 3 to the "ON" position.
 3. Connect devices directly to the 2.4GHz network hosted by the radio, using the 2.4 GHz WPA/SAE key from configuration.
 
+.. warning:: Due to poor performance, Vivid-Hosting does not recommend using this method for practicing at home. You should only use this method in extreme cases. School campuses tend to have noisy 2.4GHz environments, which can significantly degrade wireless performance.
+
 Advantages:
 
 - Simple setup with no need for additional hardware.
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 6a858c8787..1a0ee96b3e 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
@@ -5,7 +5,7 @@ Once everything is installed, we're ready to create a robot program.  WPILib com
 * :ref:`create_java_cpp_project`
 * :ref:`create_python_project`
 
-.. 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)).
+.. 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/brushless/spark-max/gs)).
 
 .. _create_java_cpp_project:
 
@@ -107,11 +107,11 @@ First, here is what a simple code can look like for a Drivetrain with PWM contro
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.0.0-alpha-2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
       :language: java
       :linenos:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.0.0-alpha-2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.1.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
       :language: c++
       :linenos:
 
@@ -133,7 +133,7 @@ Now let's look at various parts of the code.
          .. tab-item:: Java
             :sync: java
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
                :language: java
                :lines: 7-12
                :linenos:
@@ -141,7 +141,7 @@ Now let's look at various parts of the code.
          .. tab-item:: C++
             :sync: c++
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 5-9
                :lineno-match:
@@ -253,7 +253,7 @@ Our code needs to reference the components of WPILib that are used. In C++ this
          .. tab-item:: Java
             :sync: java
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
                :language: java
                :lines: 19-25
                :lineno-match:
@@ -261,7 +261,7 @@ Our code needs to reference the components of WPILib that are used. In C++ this
          .. tab-item:: C++
             :sync: c++
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 50-60
                :lineno-match:
@@ -296,12 +296,12 @@ Our code needs to reference the components of WPILib that are used. In C++ this
          .. tab-item:: C++
             :sync: c++
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 12-13
                :lineno-match:
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 17-23
                :lineno-match:
@@ -362,12 +362,12 @@ Our code needs to reference the components of WPILib that are used. In C++ this
          .. tab-item:: C++
             :sync: c++
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 12-13
                :lineno-match:
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 17-23
                :lineno-match:
@@ -413,12 +413,12 @@ Our code needs to reference the components of WPILib that are used. In C++ this
          .. tab-item:: C++
             :sync: c++
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 12-13
                :lineno-match:
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 17-23
                :lineno-match:
@@ -458,7 +458,7 @@ The sample robot in our examples will have an Xbox Controller on USB port 0 for
    .. tab-item:: Java
       :sync: java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
          :language: java
          :lines: 27-28,32-36
          :linenos:
@@ -467,7 +467,7 @@ The sample robot in our examples will have an Xbox Controller on USB port 0 for
    .. tab-item:: C++
       :sync: c++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
          :language: c++
          :lines: 12-13,17-24
          :linenos:
@@ -486,12 +486,12 @@ The ``Robot`` constructor for our sample program inverts the right side of the d
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
       :language: java
       :lines: 38-54
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
       :language: c++
       :lines: 25-36
       :lineno-match:
@@ -509,12 +509,12 @@ The ``AutonomousInit`` method is run once each time the robot transitions to aut
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
       :language: java
       :lines: 56-64
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
       :language: c++
       :lines: 38-45
       :lineno-match:
@@ -530,12 +530,12 @@ Like in Autonomous, the Teleop mode has a ``TeleopInit`` and ``TeleopPeriodic``
 
 .. tab-set-code::
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
       :language: java
       :lines: 66-73
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2025.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2026.2.1/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
       :language: c++
       :lines: 45-48
       :lineno-match:
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 64247b18ac..3c471aa6ba 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
@@ -2,7 +2,7 @@
 
 # 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>`.
+.. 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
 
diff --git a/source/index.rst b/source/index.rst
index b1b7c18731..3695b64377 100644
--- a/source/index.rst
+++ b/source/index.rst
@@ -24,7 +24,7 @@ Community translations can be found in a variety of languages in the menu toward
 
       ^^^
 
-      If you are a returning team, please check out the overview of changes from 2024 to 2025, known issues, and quick start guide for updating.
+      If you are a returning team, please check out the overview of changes from 2025 to 2026, known issues, and quick start guide for updating.
 
       +++
 
@@ -63,7 +63,7 @@ Community translations can be found in a variety of languages in the menu toward
 
       ^^^
 
-      The Zero-to-Robot tutorial will guide you through preparation, wiring and programming a basic robot!
+      The Zero-to-Robot tutorial will guide you through preparation, wiring, and programming a basic robot!
 
       +++
 
@@ -253,7 +253,7 @@ Community translations can be found in a variety of languages in the menu toward
 
       ^^^
 
-      Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool and more.
+      Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool, and more.
 
       +++
 
diff --git a/source/redirects.txt b/source/redirects.txt
index ef98272f7d..afbdef6b0e 100644
--- a/source/redirects.txt
+++ b/source/redirects.txt
@@ -309,3 +309,4 @@
 "docs/software/wpilib-tools/choreo/index.rst" "docs/software/pathplanning/choreo/index.rst"
 "docs/networking/networking-introduction/om5p-ac-radio-modification.rst" "docs/zero-to-robot/step-3/radio-programming.rst"
 "docs/software/driverstation/programming-radios-for-fms-offseason.rst" "docs/zero-to-robot/step-3/radio-programming.rst"
+"docs/yearly-overview/2026-Game-Data.rst" "docs/yearly-overview/2026-game-data.rst"
diff --git a/source/requirements.txt b/source/requirements.txt
index d838165d0d..6babd26418 100644
--- a/source/requirements.txt
+++ b/source/requirements.txt
@@ -1,109 +1,1178 @@
-alabaster==0.7.16 ; python_version >= "3.9" and python_version < "3.13"
-apeye-core==1.1.5 ; python_version >= "3.9" and python_version < "3.13"
-apeye==1.4.1 ; python_version >= "3.9" and python_version < "3.13"
-autodocsumm==0.2.13 ; python_version >= "3.9" and python_version < "3.13"
-babel==2.16.0 ; python_version >= "3.9" and python_version < "3.13"
-beautifulsoup4==4.12.3 ; 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]==0.14.0 ; python_version >= "3.9" and python_version < "3.13"
-certifi==2024.8.30 ; python_version >= "3.9" and python_version < "3.13"
-cffi==1.17.1 ; 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==1.3.0 ; python_version >= "3.9" and python_version < "3.13"
-cssutils==2.11.1 ; 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.post1 ; python_version >= "3.9" and python_version < "3.13"
-doc8==1.1.2 ; python_version >= "3.9" and python_version < "3.13"
-docutils==0.21.2 ; python_version >= "3.9" and python_version < "3.13"
-domdf-python-tools==3.9.0 ; python_version >= "3.9" and python_version < "3.13"
-filelock==3.16.1 ; 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==1.0.0 ; python_version >= "3.9" and python_version < "3.13"
-gitdb==4.0.11 ; python_version >= "3.9" and python_version < "3.13"
-gitpython==3.1.43 ; python_version >= "3.9" and python_version < "3.13"
-html5lib==1.1 ; python_version >= "3.9" and python_version < "3.13"
-idna==3.10 ; python_version >= "3.9" and python_version < "3.13"
-imagesize==1.4.1 ; python_version >= "3.9" and python_version < "3.13"
-importlib-metadata==8.5.0 ; python_version >= "3.9" and python_version < "3.10"
-importlib-resources==6.4.5 ; python_version >= "3.9" and python_version < "3.10"
-jinja2==3.1.5 ; python_version >= "3.9" and python_version < "3.13"
-jsmin==3.0.1 ; python_version >= "3.9" and python_version < "3.13"
-kiwisolver==1.4.7 ; 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==2.1.5 ; python_version >= "3.9" and python_version < "3.13"
-matplotlib==3.9.2 ; 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"
-more-itertools==10.5.0 ; python_version >= "3.9" and python_version < "3.13"
-msgpack==1.1.0 ; 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==1.26.4 ; python_version >= "3.9" and python_version < "3.13"
-packaging==24.1 ; python_version >= "3.9" and python_version < "3.13"
-pathspec==0.12.1 ; python_version >= "3.9" and python_version < "3.13"
-pbr==6.1.0 ; python_version >= "3.9" and python_version < "3.13"
-pillow==10.4.0 ; python_version >= "3.9" and python_version < "3.13"
-platformdirs==4.3.6 ; python_version >= "3.9" and python_version < "3.13"
-pycparser==2.22 ; platform_python_implementation != "CPython" and python_version >= "3.9" and python_version < "3.13"
-pygments==2.18.0 ; python_version >= "3.9" and python_version < "3.13"
-pyparsing==3.1.4 ; python_version >= "3.9" and python_version < "3.13"
-python-dateutil==2.9.0.post0 ; 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==0.18.6 ; python_version >= "3.9" and python_version < "3.13"
-scipy==1.13.1 ; python_version >= "3.9" 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==2.6 ; python_version >= "3.9" and python_version < "3.13"
-sphinx-autodoc-typehints==2.3.0 ; python_version >= "3.9" and python_version < "3.13"
-sphinx-contributors==0.2.7 ; 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==0.6.1 ; python_version >= "3.9" and python_version < "3.13"
-sphinx-hoverxref==1.4.0 ; python_version >= "3.9" and python_version < "3.13"
-sphinx-jinja2-compat==0.3.0 ; python_version >= "3.9" and python_version < "3.13"
-sphinx-last-updated-by-git==0.3.8 ; python_version >= "3.9" and python_version < "3.13"
-sphinx-notfound-page==1.0.4 ; 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==3.0.2 ; python_version >= "3.9" and python_version < "3.13"
-sphinx-tabs==3.4.5 ; python_version >= "3.9" and python_version < "3.13"
-sphinx-toolbox==3.8.0 ; python_version >= "3.9" and python_version < "3.13"
-sphinx==7.4.7 ; python_version >= "3.9" and python_version < "3.13"
-sphinxcontrib-applehelp==2.0.0 ; python_version >= "3.9" and python_version < "3.13"
-sphinxcontrib-devhelp==2.0.0 ; python_version >= "3.9" and python_version < "3.13"
-sphinxcontrib-htmlhelp==2.1.0 ; 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==2.0.0 ; python_version >= "3.9" and python_version < "3.13"
-sphinxcontrib-serializinghtml==2.0.0 ; python_version >= "3.9" and python_version < "3.13"
-sphinxcontrib-svg2pdfconverter==1.2.2 ; python_version >= "3.9" and python_version < "3.13"
-sphinxcontrib-video==0.4.1 ; python_version >= "3.9" and python_version < "3.13"
-sphinxext-delta==0.3.1 ; 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==0.10.0 ; 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==0.3.1 ; 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==0.6.0 ; python_version >= "3.9" and python_version < "3.13"
-sphinxext-toptranslators==0.1.3 ; python_version >= "3.9" and python_version < "3.13"
-stevedore==5.3.0 ; 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==1.3.0 ; python_version >= "3.9" and python_version < "3.13"
-tomli==2.0.2 ; python_version >= "3.9" and python_version < "3.11"
-typing-extensions==4.12.2 ; python_version >= "3.9" and python_version < "3.13"
-urllib3==1.26.20 ; python_version >= "3.9" and python_version < "3.13"
-webencodings==0.5.1 ; python_version >= "3.9" and python_version < "3.13"
-zipp==3.20.2 ; python_version >= "3.9" and python_version < "3.10"
-zopfli==0.2.3 ; python_version >= "3.9" and python_version < "3.13"
+# This file was autogenerated by uv via the following command:
+#    uv export --frozen --no-dev --no-editable -o source/requirements.txt
+alabaster==0.7.16 \
+    --hash=sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65 \
+    --hash=sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92
+    # via sphinx
+apeye==1.4.1 \
+    --hash=sha256:14ea542fad689e3bfdbda2189a354a4908e90aee4bf84c15ab75d68453d76a36 \
+    --hash=sha256:44e58a9104ec189bf42e76b3a7fe91e2b2879d96d48e9a77e5e32ff699c9204e
+    # via sphinx-toolbox
+apeye-core==1.1.5 \
+    --hash=sha256:5de72ed3d00cc9b20fea55e54b7ab8f5ef8500eb33a5368bc162a5585e238a55 \
+    --hash=sha256:dc27a93f8c9e246b3b238c5ea51edf6115ab2618ef029b9f2d9a190ec8228fbf
+    # via apeye
+autodocsumm==0.2.14 \
+    --hash=sha256:2839a9d4facc3c4eccd306c08695540911042b46eeafcdc3203e6d0bab40bc77 \
+    --hash=sha256:3bad8717fc5190802c60392a7ab04b9f3c97aa9efa8b3780b3d81d615bfe5dc0
+    # via sphinx-toolbox
+babel==2.17.0 \
+    --hash=sha256:0c54cffb19f690cdcc52a3b50bcbf71e07a808d1c80d549f2459b9d2cf0afb9d \
+    --hash=sha256:4d0b53093fdfb4b21c92b5213dba5a1b23885afa8383709427046b21c366e5f2
+    # via sphinx
+beautifulsoup4==4.14.3 \
+    --hash=sha256:0918bfe44902e6ad8d57732ba310582e98da931428d231a5ecb9e7c703a735bb \
+    --hash=sha256:6292b1c5186d356bba669ef9f7f051757099565ad9ada5dd630bd9de5fa7fb86
+    # via
+    #   sphinx-toolbox
+    #   sphinxext-photofinish
+black==25.11.0 \
+    --hash=sha256:0a1d40348b6621cc20d3d7530a5b8d67e9714906dfd7346338249ad9c6cedf2b \
+    --hash=sha256:0c0f7c461df55cf32929b002335883946a4893d759f2df343389c4396f3b6b37 \
+    --hash=sha256:1032639c90208c15711334d681de2e24821af0575573db2810b0763bcd62e0f0 \
+    --hash=sha256:51c65d7d60bb25429ea2bf0731c32b2a2442eb4bd3b2afcb47830f0b13e58bfd \
+    --hash=sha256:6cb2d54a39e0ef021d6c5eef442e10fd71fcb491be6413d083a320ee768329dd \
+    --hash=sha256:6cced12b747c4c76bc09b4db057c319d8545307266f41aaee665540bc0e04e96 \
+    --hash=sha256:7eebd4744dfe92ef1ee349dc532defbf012a88b087bb7ddd688ff59a447b080e \
+    --hash=sha256:80e7486ad3535636657aa180ad32a7d67d7c273a80e12f1b4bfa0823d54e8fac \
+    --hash=sha256:895571922a35434a9d8ca67ef926da6bc9ad464522a5fe0db99b394ef1c0675a \
+    --hash=sha256:936c4dd07669269f40b497440159a221ee435e3fddcf668e0c05244a9be71993 \
+    --hash=sha256:9a323ac32f5dc75ce7470501b887250be5005a01602e931a15e45593f70f6e08 \
+    --hash=sha256:ae263af2f496940438e5be1a0c1020e13b09154f3af4df0835ea7f9fe7bfa409 \
+    --hash=sha256:cb4f4b65d717062191bdec8e4a442539a8ea065e6af1c4f4d36f0cdb5f71e170 \
+    --hash=sha256:d81a44cbc7e4f73a9d6ae449ec2317ad81512d1e7dce7d57f6333fd6259737bc \
+    --hash=sha256:e3f562da087791e96cefcd9dda058380a442ab322a02e222add53736451f604b \
+    --hash=sha256:ec311e22458eec32a807f029b2646f661e6859c3f61bc6d9ffb67958779f392e \
+    --hash=sha256:f42c0ea7f59994490f4dccd64e6b2dd49ac57c7c84f38b8faab50f8759db245c \
+    --hash=sha256:f9786c24d8e9bd5f20dc7a7f0cdd742644656987f6ea6947629306f937726c03
+    # via frc-docs
+brotli==1.2.0 ; platform_python_implementation == 'CPython' \
+    --hash=sha256:022426c9e99fd65d9475dce5c195526f04bb8be8907607e27e747893f6ee3e24 \
+    --hash=sha256:072e7624b1fc4d601036ab3f4f27942ef772887e876beff0301d261210bca97f \
+    --hash=sha256:0bbd5b5ccd157ae7913750476d48099aaf507a79841c0d04a9db4415b14842de \
+    --hash=sha256:0cf8c3b8ba93d496b2fae778039e2f5ecc7cff99df84df337ca31d8f2252896c \
+    --hash=sha256:15b33fe93cedc4caaff8a0bd1eb7e3dab1c61bb22a0bf5bdfdfd97cd7da79744 \
+    --hash=sha256:1b1d6a4efedd53671c793be6dd760fcf2107da3a52331ad9ea429edf0902f27a \
+    --hash=sha256:1b557b29782a643420e08d75aea889462a4a8796e9a6cf5621ab05a3f7da8ef2 \
+    --hash=sha256:260d3692396e1895c5034f204f0db022c056f9e2ac841593a4cf9426e2a3faca \
+    --hash=sha256:26e8d3ecb0ee458a9804f47f21b74845cc823fd1bb19f02272be70774f56e2a6 \
+    --hash=sha256:2a7f1d03727130fc875448b65b127a9ec5d06d19d0148e7554384229706f9d1b \
+    --hash=sha256:2e1ad3fda65ae0d93fec742a128d72e145c9c7a99ee2fcd667785d99eb25a7fe \
+    --hash=sha256:350c8348f0e76fff0a0fd6c26755d2653863279d086d3aa2c290a6a7251135dd \
+    --hash=sha256:35d382625778834a7f3061b15423919aa03e4f5da34ac8e02c074e4b75ab4f84 \
+    --hash=sha256:3b90b767916ac44e93a8e28ce6adf8d551e43affb512f2377c732d486ac6514e \
+    --hash=sha256:3e1b35d56856f3ed326b140d3c6d9db91740f22e14b06e840fe4bb1923439a18 \
+    --hash=sha256:3f3c908bcc404c90c77d5a073e55271a0a498f4e0756e48127c35d91cf155947 \
+    --hash=sha256:40d918bce2b427a0c4ba189df7a006ac0c7277c180aee4617d99e9ccaaf59e6a \
+    --hash=sha256:4ecdb3b6dc36e6d6e14d3a1bdc6c1057c8cbf80db04031d566eb6080ce283a48 \
+    --hash=sha256:54a50a9dad16b32136b2241ddea9e4df159b41247b2ce6aac0b3276a66a8f1e5 \
+    --hash=sha256:67a91c5187e1eec76a61625c77a6c8c785650f5b576ca732bd33ef58b0dff49c \
+    --hash=sha256:6be67c19e0b0c56365c6a76e393b932fb0e78b3b56b711d180dd7013cb1fd984 \
+    --hash=sha256:7a47ce5c2288702e09dc22a44d0ee6152f2c7eda97b3c8482d826a1f3cfc7da7 \
+    --hash=sha256:7a61c06b334bd99bc5ae84f1eeb36bfe01400264b3c352f968c6e30a10f9d08b \
+    --hash=sha256:81da1b229b1889f25adadc929aeb9dbc4e922bd18561b65b08dd9343cfccca84 \
+    --hash=sha256:844a8ceb8483fefafc412f85c14f2aae2fb69567bf2a0de53cdb88b73e7c43ae \
+    --hash=sha256:898be2be399c221d2671d29eed26b6b2713a02c2119168ed914e7d00ceadb56f \
+    --hash=sha256:9c79f57faa25d97900bfb119480806d783fba83cd09ee0b33c17623935b05fa3 \
+    --hash=sha256:9e5825ba2c9998375530504578fd4d5d1059d09621a02065d1b6bfc41a8e05ab \
+    --hash=sha256:a1778532b978d2536e79c05dac2d8cd857f6c55cd0c95ace5b03740824e0e2f1 \
+    --hash=sha256:aa47441fa3026543513139cb8926a92a8e305ee9c71a6209ef7a97d91640ea03 \
+    --hash=sha256:acec55bb7c90f1dfc476126f9711a8e81c9af7fb617409a9ee2953115343f08d \
+    --hash=sha256:adedc4a67e15327dfdd04884873c6d5a01d3e3b6f61406f99b1ed4865a2f6d28 \
+    --hash=sha256:af43b8711a8264bb4e7d6d9a6d004c3a2019c04c01127a868709ec29962b6036 \
+    --hash=sha256:b232029d100d393ae3c603c8ffd7e3fe6f798c5e28ddca5feabb8e8fdb732997 \
+    --hash=sha256:b35c13ce241abdd44cb8ca70683f20c0c079728a36a996297adb5334adfc1c44 \
+    --hash=sha256:b63daa43d82f0cdabf98dee215b375b4058cce72871fd07934f179885aad16e8 \
+    --hash=sha256:c8565e3cdc1808b1a34714b553b262c5de5fbda202285782173ec137fd13709f \
+    --hash=sha256:e310f77e41941c13340a95976fe66a8a95b01e783d430eeaf7a2f87e0a57dd0a \
+    --hash=sha256:e99befa0b48f3cd293dafeacdd0d191804d105d279e0b387a32054c1180f3161 \
+    --hash=sha256:ef87b8ab2704da227e83a246356a2b179ef826f550f794b2c52cddb4efbd0196 \
+    --hash=sha256:ff09cd8c5eec3b9d02d2408db41be150d8891c5566addce57513bf546e3d6c6d
+    # via fonttools
+brotlicffi==1.2.0.0 ; platform_python_implementation != 'CPython' \
+    --hash=sha256:23e5c912fdc6fd37143203820230374d24babd078fc054e18070a647118158f6 \
+    --hash=sha256:33cfb408d0cff64cd50bef268c0fed397c46fbb53944aa37264148614a62e990 \
+    --hash=sha256:34345d8d1f9d534fcac2249e57a4c3c8801a33c9942ff9f8574f67a175e17adb \
+    --hash=sha256:3832c66e00d6d82087f20a972b2fc03e21cd99ef22705225a6f8f418a9158ecc \
+    --hash=sha256:7d3c4332fc808a94e8c1035950a10d04b681b03ab585ce897ae2a360d479037c \
+    --hash=sha256:84e3d0020cf1bd8b8131f4a07819edee9f283721566fe044a20ec792ca8fd8b7 \
+    --hash=sha256:9458d08a7ccde8e3c0afedbf2c70a8263227a68dea5ab13590593f4c0a4fd5f4 \
+    --hash=sha256:f139a7cdfe4ae7859513067b736eb44d19fae1186f9e99370092f6915216451b \
+    --hash=sha256:fa102a60e50ddbd08de86a63431a722ea216d9bc903b000bf544149cc9b823dc \
+    --hash=sha256:fb4eb5830026b79a93bf503ad32b2c5257315e9ffc49e76b2715cffd07c8e3db
+    # via fonttools
+cachecontrol==0.14.4 \
+    --hash=sha256:b7ac014ff72ee199b5f8af1de29d60239954f223e948196fa3d84adaffc71d2b \
+    --hash=sha256:e6220afafa4c22a47dd0badb319f84475d79108100d04e26e8542ef7d3ab05a1
+    # via sphinx-toolbox
+certifi==2025.11.12 \
+    --hash=sha256:97de8790030bbd5c2d96b7ec782fc2f7820ef8dba6db909ccf95449f2d062d4b \
+    --hash=sha256:d8ab5478f2ecd78af242878415affce761ca6bc54a22a27e026d7c25357c3316
+    # via requests
+cffi==2.0.0 ; platform_python_implementation != 'CPython' \
+    --hash=sha256:00bdf7acc5f795150faa6957054fbbca2439db2f775ce831222b66f192f03beb \
+    --hash=sha256:07b271772c100085dd28b74fa0cd81c8fb1a3ba18b21e03d7c27f3436a10606b \
+    --hash=sha256:0cf2d91ecc3fcc0625c2c530fe004f82c110405f101548512cce44322fa8ac44 \
+    --hash=sha256:19f705ada2530c1167abacb171925dd886168931e0a7b78f5bffcae5c6b5be75 \
+    --hash=sha256:1e3a615586f05fc4065a8b22b8152f0c1b00cdbc60596d187c2a74f9e3036e4e \
+    --hash=sha256:1f72fb8906754ac8a2cc3f9f5aaa298070652a0ffae577e0ea9bd480dc3c931a \
+    --hash=sha256:21d1152871b019407d8ac3985f6775c079416c282e431a4da6afe7aefd2bccbe \
+    --hash=sha256:256f80b80ca3853f90c21b23ee78cd008713787b1b1e93eae9f3d6a7134abd91 \
+    --hash=sha256:2c8f814d84194c9ea681642fd164267891702542f028a15fc97d4674b6206187 \
+    --hash=sha256:2de9a304e27f7596cd03d16f1b7c72219bd944e99cc52b84d0145aefb07cbd3c \
+    --hash=sha256:3925dd22fa2b7699ed2617149842d2e6adde22b262fcbfada50e3d195e4b3a94 \
+    --hash=sha256:3e17ed538242334bf70832644a32a7aae3d83b57567f9fd60a26257e992b79ba \
+    --hash=sha256:3e837e369566884707ddaf85fc1744b47575005c0a229de3327f8f9a20f4efeb \
+    --hash=sha256:44d1b5909021139fe36001ae048dbdde8214afa20200eda0f64c068cac5d5529 \
+    --hash=sha256:45d5e886156860dc35862657e1494b9bae8dfa63bf56796f2fb56e1679fc0bca \
+    --hash=sha256:4671d9dd5ec934cb9a73e7ee9676f9362aba54f7f34910956b84d727b0d73fb6 \
+    --hash=sha256:53f77cbe57044e88bbd5ed26ac1d0514d2acf0591dd6bb02a3ae37f76811b80c \
+    --hash=sha256:5eda85d6d1879e692d546a078b44251cdd08dd1cfb98dfb77b670c97cee49ea0 \
+    --hash=sha256:5fed36fccc0612a53f1d4d9a816b50a36702c28a2aa880cb8a122b3466638743 \
+    --hash=sha256:66f011380d0e49ed280c789fbd08ff0d40968ee7b665575489afa95c98196ab5 \
+    --hash=sha256:6824f87845e3396029f3820c206e459ccc91760e8fa24422f8b0c3d1731cbec5 \
+    --hash=sha256:6d02d6655b0e54f54c4ef0b94eb6be0607b70853c45ce98bd278dc7de718be5d \
+    --hash=sha256:6d50360be4546678fc1b79ffe7a66265e28667840010348dd69a314145807a1b \
+    --hash=sha256:730cacb21e1bdff3ce90babf007d0a0917cc3e6492f336c2f0134101e0944f93 \
+    --hash=sha256:74a03b9698e198d47562765773b4a8309919089150a0bb17d829ad7b44b60d27 \
+    --hash=sha256:81afed14892743bbe14dacb9e36d9e0e504cd204e0b165062c488942b9718037 \
+    --hash=sha256:8941aaadaf67246224cee8c3803777eed332a19d909b47e29c9842ef1e79ac26 \
+    --hash=sha256:8ea985900c5c95ce9db1745f7933eeef5d314f0565b27625d9a10ec9881e1bfb \
+    --hash=sha256:8eca2a813c1cb7ad4fb74d368c2ffbbb4789d377ee5bb8df98373c2cc0dee76c \
+    --hash=sha256:9332088d75dc3241c702d852d4671613136d90fa6881da7d770a483fd05248b4 \
+    --hash=sha256:94698a9c5f91f9d138526b48fe26a199609544591f859c870d477351dc7b2414 \
+    --hash=sha256:9de40a7b0323d889cf8d23d1ef214f565ab154443c42737dfe52ff82cf857664 \
+    --hash=sha256:a05d0c237b3349096d3981b727493e22147f934b20f6f125a3eba8f994bec4a9 \
+    --hash=sha256:b18a3ed7d5b3bd8d9ef7a8cb226502c6bf8308df1525e1cc676c3680e7176739 \
+    --hash=sha256:b21e08af67b8a103c71a250401c78d5e0893beff75e28c53c98f4de42f774062 \
+    --hash=sha256:b4c854ef3adc177950a8dfc81a86f5115d2abd545751a304c5bcf2c2c7283cfe \
+    --hash=sha256:baf5215e0ab74c16e2dd324e8ec067ef59e41125d3eade2b863d294fd5035c92 \
+    --hash=sha256:c649e3a33450ec82378822b3dad03cc228b8f5963c0c12fc3b1e0ab940f768a5 \
+    --hash=sha256:c6638687455baf640e37344fe26d37c404db8b80d037c3d29f58fe8d1c3b194d \
+    --hash=sha256:c8d3b5532fc71b7a77c09192b4a5a200ea992702734a2e9279a37f2478236f26 \
+    --hash=sha256:cf364028c016c03078a23b503f02058f1814320a56ad535686f90565636a9495 \
+    --hash=sha256:d48a880098c96020b02d5a1f7d9251308510ce8858940e6fa99ece33f610838b \
+    --hash=sha256:d9b29c1f0ae438d5ee9acb31cadee00a58c46cc9c0b2f9038c6b0b3470877a8c \
+    --hash=sha256:da68248800ad6320861f129cd9c1bf96ca849a2771a59e0344e88681905916f5 \
+    --hash=sha256:da902562c3e9c550df360bfa53c035b2f241fed6d9aef119048073680ace4a18 \
+    --hash=sha256:dd4f05f54a52fb558f1ba9f528228066954fee3ebe629fc1660d874d040ae5a3 \
+    --hash=sha256:e11e82b744887154b182fd3e7e8512418446501191994dbf9c9fc1f32cc8efd5 \
+    --hash=sha256:f73b96c41e3b2adedc34a7356e64c8eb96e03a3782b535e043a986276ce12a49 \
+    --hash=sha256:f93fd8e5c8c0a4aa1f424d6173f14a892044054871c771f8566e4008eaa359d2 \
+    --hash=sha256:fc7de24befaeae77ba923797c7c87834c73648a05a4bde34b3b7e5588973a453
+    # via brotlicffi
+charset-normalizer==3.4.4 \
+    --hash=sha256:027f6de494925c0ab2a55eab46ae5129951638a49a34d87f4c3eda90f696b4ad \
+    --hash=sha256:077fbb858e903c73f6c9db43374fd213b0b6a778106bc7032446a8e8b5b38b93 \
+    --hash=sha256:0a98e6759f854bd25a58a73fa88833fba3b7c491169f86ce1180c948ab3fd394 \
+    --hash=sha256:0d3d8f15c07f86e9ff82319b3d9ef6f4bf907608f53fe9d92b28ea9ae3d1fd89 \
+    --hash=sha256:11d694519d7f29d6cd09f6ac70028dba10f92f6cdd059096db198c283794ac86 \
+    --hash=sha256:21d142cc6c0ec30d2efee5068ca36c128a30b0f2c53c1c07bd78cb6bc1d3be5f \
+    --hash=sha256:2437418e20515acec67d86e12bf70056a33abdacb5cb1655042f6538d6b085a8 \
+    --hash=sha256:244bfb999c71b35de57821b8ea746b24e863398194a4014e4c76adc2bbdfeff0 \
+    --hash=sha256:277e970e750505ed74c832b4bf75dac7476262ee2a013f5574dd49075879e161 \
+    --hash=sha256:3162d5d8ce1bb98dd51af660f2121c55d0fa541b46dff7bb9b9f86ea1d87de72 \
+    --hash=sha256:31fd66405eaf47bb62e8cd575dc621c56c668f27d46a61d975a249930dd5e2a4 \
+    --hash=sha256:362d61fd13843997c1c446760ef36f240cf81d3ebf74ac62652aebaf7838561e \
+    --hash=sha256:376bec83a63b8021bb5c8ea75e21c4ccb86e7e45ca4eb81146091b56599b80c3 \
+    --hash=sha256:4bd5d4137d500351a30687c2d3971758aac9a19208fc110ccb9d7188fbe709e8 \
+    --hash=sha256:542d2cee80be6f80247095cc36c418f7bddd14f4a6de45af91dfad36d817bba2 \
+    --hash=sha256:554af85e960429cf30784dd47447d5125aaa3b99a6f0683589dbd27e2f45da44 \
+    --hash=sha256:5833d2c39d8896e4e19b689ffc198f08ea58116bee26dea51e362ecc7cd3ed26 \
+    --hash=sha256:5ae497466c7901d54b639cf42d5b8c1b6a4fead55215500d2f486d34db48d016 \
+    --hash=sha256:5bd2293095d766545ec1a8f612559f6b40abc0eb18bb2f5d1171872d34036ede \
+    --hash=sha256:5bfbb1b9acf3334612667b61bd3002196fe2a1eb4dd74d247e0f2a4d50ec9bbf \
+    --hash=sha256:5dbe56a36425d26d6cfb40ce79c314a2e4dd6211d51d6d2191c00bed34f354cc \
+    --hash=sha256:5f819d5fe9234f9f82d75bdfa9aef3a3d72c4d24a6e57aeaebba32a704553aa0 \
+    --hash=sha256:64b55f9dce520635f018f907ff1b0df1fdc31f2795a922fb49dd14fbcdf48c84 \
+    --hash=sha256:6515f3182dbe4ea06ced2d9e8666d97b46ef4c75e326b79bb624110f122551db \
+    --hash=sha256:65e2befcd84bc6f37095f5961e68a6f077bf44946771354a28ad434c2cce0ae1 \
+    --hash=sha256:6b39f987ae8ccdf0d2642338faf2abb1862340facc796048b604ef14919e55ed \
+    --hash=sha256:6e1fcf0720908f200cd21aa4e6750a48ff6ce4afe7ff5a79a90d5ed8a08296f8 \
+    --hash=sha256:74018750915ee7ad843a774364e13a3db91682f26142baddf775342c3f5b1133 \
+    --hash=sha256:74bb723680f9f7a6234dcf67aea57e708ec1fbdf5699fb91dfd6f511b0a320ef \
+    --hash=sha256:780236ac706e66881f3b7f2f32dfe90507a09e67d1d454c762cf642e6e1586e0 \
+    --hash=sha256:798d75d81754988d2565bff1b97ba5a44411867c0cf32b77a7e8f8d84796b10d \
+    --hash=sha256:7a32c560861a02ff789ad905a2fe94e3f840803362c84fecf1851cb4cf3dc37f \
+    --hash=sha256:81d5eb2a312700f4ecaa977a8235b634ce853200e828fbadf3a9c50bab278328 \
+    --hash=sha256:840c25fb618a231545cbab0564a799f101b63b9901f2569faecd6b222ac72381 \
+    --hash=sha256:8ef3c867360f88ac904fd3f5e1f902f13307af9052646963ee08ff4f131adafc \
+    --hash=sha256:94537985111c35f28720e43603b8e7b43a6ecfb2ce1d3058bbe955b73404e21a \
+    --hash=sha256:9a26f18905b8dd5d685d6d07b0cdf98a79f3c7a918906af7cc143ea2e164c8bc \
+    --hash=sha256:9b35f4c90079ff2e2edc5b26c0c77925e5d2d255c42c74fdb70fb49b172726ac \
+    --hash=sha256:9cd98cdc06614a2f768d2b7286d66805f94c48cde050acdbbb7db2600ab3197e \
+    --hash=sha256:9d1bb833febdff5c8927f922386db610b49db6e0d4f4ee29601d71e7c2694313 \
+    --hash=sha256:9f7fcd74d410a36883701fafa2482a6af2ff5ba96b9a620e9e0721e28ead5569 \
+    --hash=sha256:a59cb51917aa591b1c4e6a43c132f0cdc3c76dbad6155df4e28ee626cc77a0a3 \
+    --hash=sha256:a61900df84c667873b292c3de315a786dd8dac506704dea57bc957bd31e22c7d \
+    --hash=sha256:a79cfe37875f822425b89a82333404539ae63dbdddf97f84dcbc3d339aae9525 \
+    --hash=sha256:a8a8b89589086a25749f471e6a900d3f662d1d3b6e2e59dcecf787b1cc3a1894 \
+    --hash=sha256:ac1c4a689edcc530fc9d9aa11f5774b9e2f33f9a0c6a57864e90908f5208d30a \
+    --hash=sha256:af2d8c67d8e573d6de5bc30cdb27e9b95e49115cd9baad5ddbd1a6207aaa82a9 \
+    --hash=sha256:b435cba5f4f750aa6c0a0d92c541fb79f69a387c91e61f1795227e4ed9cece14 \
+    --hash=sha256:b5b290ccc2a263e8d185130284f8501e3e36c5e02750fc6b6bdeb2e9e96f1e25 \
+    --hash=sha256:bc7637e2f80d8530ee4a78e878bce464f70087ce73cf7c1caf142416923b98f1 \
+    --hash=sha256:c0463276121fdee9c49b98908b3a89c39be45d86d1dbaa22957e38f6321d4ce3 \
+    --hash=sha256:ca5862d5b3928c4940729dacc329aa9102900382fea192fc5e52eb69d6093815 \
+    --hash=sha256:cc00f04ed596e9dc0da42ed17ac5e596c6ccba999ba6bd92b0e0aef2f170f2d6 \
+    --hash=sha256:cead0978fc57397645f12578bfd2d5ea9138ea0fac82b2f63f7f7c6877986a69 \
+    --hash=sha256:d055ec1e26e441f6187acf818b73564e6e6282709e9bcb5b63f5b23068356a15 \
+    --hash=sha256:d9c7f57c3d666a53421049053eaacdd14bbd0a528e2186fcb2e672effd053bb0 \
+    --hash=sha256:d9e45d7faa48ee908174d8fe84854479ef838fc6a705c9315372eacbc2f02897 \
+    --hash=sha256:e1f185f86a6f3403aa2420e815904c67b2f9ebc443f045edd0de921108345794 \
+    --hash=sha256:e824f1492727fa856dd6eda4f7cee25f8518a12f3c4a56a74e8095695089cf6d \
+    --hash=sha256:ebf3e58c7ec8a8bed6d66a75d7fb37b55e5015b03ceae72a8e7c74495551e224 \
+    --hash=sha256:eecbc200c7fd5ddb9a7f16c7decb07b566c29fa2161a16cf67b8d068bd21690a \
+    --hash=sha256:f1e34719c6ed0b92f418c7c780480b26b5d9c50349e9a9af7d76bf757530350d \
+    --hash=sha256:f34be2938726fc13801220747472850852fe6b1ea75869a048d6f896838c896f \
+    --hash=sha256:f820802628d2694cb7e56db99213f930856014862f3fd943d290ea8438d07ca8 \
+    --hash=sha256:f8bf04158c6b607d747e93949aa60618b61312fe647a6369f88ce2ff16043490 \
+    --hash=sha256:faa3a41b2b66b6e50f84ae4a68c64fcd0c44355741c6374813a800cd6695db9e
+    # via requests
+click==8.3.1 \
+    --hash=sha256:12ff4785d337a1bb490bb7e9c2b1ee5da3112e94a8622f26a6c77f5d2fc6842a \
+    --hash=sha256:981153a64e25f12d547d3426c367a4857371575ee7ad18df2a6183ab0545b2a6
+    # via black
+colorama==0.4.6 ; sys_platform == 'win32' \
+    --hash=sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44 \
+    --hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6
+    # via
+    #   click
+    #   sphinx
+contourpy==1.3.2 \
+    --hash=sha256:0475b1f6604896bc7c53bb070e355e9321e1bc0d381735421a2d2068ec56531f \
+    --hash=sha256:106fab697af11456fcba3e352ad50effe493a90f893fca6c2ca5c033820cea92 \
+    --hash=sha256:107ba8a6a7eec58bb475329e6d3b95deba9440667c4d62b9b6063942b61d7f16 \
+    --hash=sha256:15ce6ab60957ca74cff444fe66d9045c1fd3e92c8936894ebd1f3eef2fff075f \
+    --hash=sha256:1c48188778d4d2f3d48e4643fb15d8608b1d01e4b4d6b0548d9b336c28fc9b6f \
+    --hash=sha256:3859783aefa2b8355697f16642695a5b9792e7a46ab86da1118a4a23a51a33d7 \
+    --hash=sha256:3d80b2c0300583228ac98d0a927a1ba6a2ba6b8a742463c564f1d419ee5b211e \
+    --hash=sha256:3f9e896f447c5c8618f1edb2bafa9a4030f22a575ec418ad70611450720b5b08 \
+    --hash=sha256:434f0adf84911c924519d2b08fc10491dd282b20bdd3fa8f60fd816ea0b48841 \
+    --hash=sha256:49b65a95d642d4efa8f64ba12558fcb83407e58a2dfba9d796d77b63ccfcaff5 \
+    --hash=sha256:4caf2bcd2969402bf77edc4cb6034c7dd7c0803213b3523f111eb7460a51b8d2 \
+    --hash=sha256:532fd26e715560721bb0d5fc7610fce279b3699b018600ab999d1be895b09415 \
+    --hash=sha256:5ebac872ba09cb8f2131c46b8739a7ff71de28a24c869bcad554477eb089a878 \
+    --hash=sha256:5f5964cdad279256c084b69c3f412b7801e15356b16efa9d78aa974041903da0 \
+    --hash=sha256:65a887a6e8c4cd0897507d814b14c54a8c2e2aa4ac9f7686292f9769fcf9a6ab \
+    --hash=sha256:6a37a2fb93d4df3fc4c0e363ea4d16f83195fc09c891bc8ce072b9d084853445 \
+    --hash=sha256:70771a461aaeb335df14deb6c97439973d253ae70660ca085eec25241137ef43 \
+    --hash=sha256:71e2bd4a1c4188f5c2b8d274da78faab884b59df20df63c34f74aa1813c4427c \
+    --hash=sha256:745b57db7758f3ffc05a10254edd3182a2a83402a89c00957a8e8a22f5582823 \
+    --hash=sha256:78e9253c3de756b3f6a5174d024c4835acd59eb3f8e2ca13e775dbffe1558f69 \
+    --hash=sha256:82199cb78276249796419fe36b7386bd8d2cc3f28b3bc19fe2454fe2e26c4c15 \
+    --hash=sha256:8b7fc0cd78ba2f4695fd0a6ad81a19e7e3ab825c31b577f384aa9d7817dc3bef \
+    --hash=sha256:8c5acb8dddb0752bf252e01a3035b21443158910ac16a3b0d20e7fed7d534ce5 \
+    --hash=sha256:8c942a01d9163e2e5cfb05cb66110121b8d07ad438a17f9e766317bcb62abf73 \
+    --hash=sha256:8d2e74acbcba3bfdb6d9d8384cdc4f9260cae86ed9beee8bd5f54fee49a430b9 \
+    --hash=sha256:90df94c89a91b7362e1142cbee7568f86514412ab8a2c0d0fca72d7e91b62912 \
+    --hash=sha256:970e9173dbd7eba9b4e01aab19215a48ee5dd3f43cef736eebde064a171f89a5 \
+    --hash=sha256:977e98a0e0480d3fe292246417239d2d45435904afd6d7332d8455981c408b85 \
+    --hash=sha256:9be002b31c558d1ddf1b9b415b162c603405414bacd6932d031c5b5a8b757f0d \
+    --hash=sha256:ad687a04bc802cbe8b9c399c07162a3c35e227e2daccf1668eb1f278cb698631 \
+    --hash=sha256:b4f54d6a2defe9f257327b0f243612dd051cc43825587520b1bf74a31e2f6ef2 \
+    --hash=sha256:b6945942715a034c671b7fc54f9588126b0b8bf23db2696e3ca8328f3ff0ab54 \
+    --hash=sha256:b7cd50c38f500bbcc9b6a46643a40e0913673f869315d8e70de0438817cb7773 \
+    --hash=sha256:ba38e3f9f330af820c4b27ceb4b9c7feee5fe0493ea53a8720f4792667465934 \
+    --hash=sha256:c440093bbc8fc21c637c03bafcbef95ccd963bc6e0514ad887932c18ca2a759a \
+    --hash=sha256:c49f73e61f1f774650a55d221803b101d966ca0c5a2d6d5e4320ec3997489441 \
+    --hash=sha256:c66c4906cdbc50e9cba65978823e6e00b45682eb09adbb78c9775b74eb222422 \
+    --hash=sha256:c6c4639a9c22230276b7bffb6a850dfc8258a2521305e1faefe804d006b2e532 \
+    --hash=sha256:c85bb486e9be652314bb5b9e2e3b0d1b2e643d5eec4992c0fbe8ac71775da739 \
+    --hash=sha256:cc829960f34ba36aad4302e78eabf3ef16a3a100863f0d4eeddf30e8a485a03b \
+    --hash=sha256:cdd22595308f53ef2f891040ab2b93d79192513ffccbd7fe19be7aa773a5e09f \
+    --hash=sha256:d0e589ae0d55204991450bb5c23f571c64fe43adaa53f93fc902a84c96f52fe1 \
+    --hash=sha256:d14f12932a8d620e307f715857107b1d1845cc44fdb5da2bc8e850f5ceba9f87 \
+    --hash=sha256:d32530b534e986374fc19eaa77fcb87e8a99e5431499949b828312bdcd20ac52 \
+    --hash=sha256:d6658ccc7251a4433eebd89ed2672c2ed96fba367fd25ca9512aa92a4b46c4f1 \
+    --hash=sha256:d91a3ccc7fea94ca0acab82ceb77f396d50a1f67412efe4c526f5d20264e6ecd \
+    --hash=sha256:dc41ba0714aa2968d1f8674ec97504a8f7e334f48eeacebcaa6256213acb0989 \
+    --hash=sha256:de39db2604ae755316cb5967728f4bea92685884b1e767b7c24e983ef5f771cb \
+    --hash=sha256:de425af81b6cea33101ae95ece1f696af39446db9682a0b56daaa48cfc29f38f \
+    --hash=sha256:ded1706ed0c1049224531b81128efbd5084598f18d8a2d9efae833edbd2b40ad \
+    --hash=sha256:e1578f7eafce927b168752ed7e22646dad6cd9bca673c60bff55889fa236ebf9 \
+    --hash=sha256:e259bced5549ac64410162adc973c5e2fb77f04df4a439d00b478e57a0e65512 \
+    --hash=sha256:e298e7e70cf4eb179cc1077be1c725b5fd131ebc81181bf0c03525c8abc297fd \
+    --hash=sha256:eab0f6db315fa4d70f1d8ab514e527f0366ec021ff853d7ed6a2d33605cf4b83 \
+    --hash=sha256:f26b383144cf2d2c29f01a1e8170f50dacf0eac02d64139dcd709a8ac4eb3cfe \
+    --hash=sha256:f939a054192ddc596e031e50bb13b657ce318cf13d264f095ce9db7dc6ae81c0 \
+    --hash=sha256:fd93cc7f3139b6dd7aab2f26a90dde0aa9fc264dbf70f6740d498a70b860b82c
+    # via matplotlib
+cssutils==2.11.1 \
+    --hash=sha256:0563a76513b6af6eebbe788c3bf3d01c920e46b3f90c8416738c5cfc773ff8e2 \
+    --hash=sha256:a67bfdfdff4f3867fab43698ec4897c1a828eca5973f4073321b3bccaf1199b1
+    # via dict2css
+cycler==0.12.1 \
+    --hash=sha256:85cef7cff222d8644161529808465972e51340599459b8ac3ccbac5a854e0d30 \
+    --hash=sha256:88bb128f02ba341da8ef447245a9e138fae777f6a23943da4540077d3601eb1c
+    # via matplotlib
+dict2css==0.3.0.post1 \
+    --hash=sha256:89c544c21c4ca7472c3fffb9d37d3d926f606329afdb751dc1de67a411b70719 \
+    --hash=sha256:f006a6b774c3e31869015122ae82c491fd25e7de4a75607a62aa3e798f837e0d
+    # via sphinx-toolbox
+doc8==2.0.0 \
+    --hash=sha256:1267ad32758971fbcf991442417a3935c7bc9e52550e73622e0e56ba55ea1d40 \
+    --hash=sha256:9862710027f793c25f9b1899150660e4bf1d4c9a6738742e71f32011e2e3f590
+    # via frc-docs
+docutils==0.21.2 \
+    --hash=sha256:3a6b18732edf182daa3cd12775bbb338cf5691468f91eeeb109deff6ebfa986f \
+    --hash=sha256:dafca5b9e384f0e419294eb4d2ff9fa826435bf15f15b7bd45723e8ad76811b2
+    # via
+    #   doc8
+    #   frc-docs
+    #   restructuredtext-lint
+    #   sphinx
+    #   sphinx-prompt
+    #   sphinx-rtd-theme
+    #   sphinx-tabs
+    #   sphinx-toolbox
+domdf-python-tools==3.10.0 \
+    --hash=sha256:2ae308d2f4f1e9145f5f4ba57f840fbfd1c2983ee26e4824347789649d3ae298 \
+    --hash=sha256:5e71c1be71bbcc1f881d690c8984b60e64298ec256903b3147f068bc33090c36
+    # via
+    #   apeye
+    #   apeye-core
+    #   dict2css
+    #   sphinx-toolbox
+filelock==3.20.1 \
+    --hash=sha256:15d9e9a67306188a44baa72f569d2bfd803076269365fdea0934385da4dc361a \
+    --hash=sha256:b8360948b351b80f420878d8516519a2204b07aefcdcfd24912a5d33127f188c
+    # via
+    #   cachecontrol
+    #   sphinx-toolbox
+fonttools==4.60.2 \
+    --hash=sha256:126839492b69cecc5baf2bddcde60caab2ffafd867bbae2a88463fce6078ca3a \
+    --hash=sha256:13a53d479d187b09bfaa4a35ffcbc334fc494ff355f0a587386099cb66674f1e \
+    --hash=sha256:19c6e0afd8b02008caa0aa08ab896dfce5d0bcb510c49b2c499541d5cb95a963 \
+    --hash=sha256:1dd3d9574fc595c1e97faccae0f264dc88784ddf7fbf54c939528378bacc0033 \
+    --hash=sha256:1ee301273b0850f3a515299f212898f37421f42ff9adfc341702582ca5073c13 \
+    --hash=sha256:22efea5e784e1d1cd8d7b856c198e360a979383ebc6dea4604743b56da1cbc34 \
+    --hash=sha256:2bb5fd231e56ccd7403212636dcccffc96c5ae0d6f9e4721fa0a32cb2e3ca432 \
+    --hash=sha256:2fa27f34950aa1fe0f0b1abe25eed04770a3b3b34ad94e5ace82cc341589678a \
+    --hash=sha256:310035802392f1fe5a7cf43d76f6ff4a24c919e4c72c0352e7b8176e2584b8a0 \
+    --hash=sha256:3274e15fad871bead5453d5ce02658f6d0c7bc7e7021e2a5b8b04e2f9e40da1a \
+    --hash=sha256:4e36fadcf7e8ca6e34d490eef86ed638d6fd9c55d2f514b05687622cfc4a7050 \
+    --hash=sha256:536b5fab7b6fec78ccf59b5c59489189d9d0a8b0d3a77ed1858be59afb096696 \
+    --hash=sha256:57f07b616c69c244cc1a5a51072eeef07dddda5ebef9ca5c6e9cf6d59ae65b70 \
+    --hash=sha256:58c8c393d5e16b15662cfc2d988491940458aa87894c662154f50c7b49440bef \
+    --hash=sha256:648f4f9186fd7f1f3cd57dbf00d67a583720d5011feca67a5e88b3a491952cfb \
+    --hash=sha256:677aa92d84d335e4d301d8ba04afca6f575316bc647b6782cb0921943fcb6343 \
+    --hash=sha256:6a500dc59e11b2338c2dba1f8cf11a4ae8be35ec24af8b2628b8759a61457b76 \
+    --hash=sha256:6b9288fc38252ac86a9570f19313ecbc9ff678982e0f27c757a85f1f284d3400 \
+    --hash=sha256:6e500fc9c04bee749ceabfc20cb4903f6981c2139050d85720ea7ada61b75d5c \
+    --hash=sha256:73cf92eeda67cf6ff10c8af56fc8f4f07c1647d989a979be9e388a49be26552a \
+    --hash=sha256:7916a381b094db4052ac284255186aebf74c5440248b78860cb41e300036f598 \
+    --hash=sha256:91d058d5a483a1525b367803abb69de0923fbd45e1f82ebd000f5c8aa65bc78e \
+    --hash=sha256:93fcb420791d839ef592eada2b69997c445d0ce9c969b5190f2e16828ec10607 \
+    --hash=sha256:98d0719f1b11c2817307d2da2e94296a3b2a3503f8d6252a101dca3ee663b917 \
+    --hash=sha256:9c68b287c7ffcd29dd83b5f961004b2a54a862a88825d52ea219c6220309ba45 \
+    --hash=sha256:9d3ea26957dd07209f207b4fff64c702efe5496de153a54d3b91007ec28904dd \
+    --hash=sha256:a2aed0a7931401b3875265717a24c726f87ecfedbb7b3426c2ca4d2812e281ae \
+    --hash=sha256:c6eb4694cc3b9c03b7c01d65a9cf35b577f21aa6abdbeeb08d3114b842a58153 \
+    --hash=sha256:d29552e6b155ebfc685b0aecf8d429cb76c14ab734c22ef5d3dea6fdf800c92c \
+    --hash=sha256:dea6868e9d2b816c9076cfea77754686f3c19149873bdbc5acde437631c15df1 \
+    --hash=sha256:e0164b7609d2b5c5dd4e044b8085b7bd7ca7363ef8c269a4ab5b5d4885a426b2 \
+    --hash=sha256:edd49d3defbf35476e78b61ff737ff5efea811acff68d44233a95a5a48252334 \
+    --hash=sha256:fac5e921d3bd0ca3bb8517dced2784f0742bc8ca28579a68b139f04ea323a779 \
+    --hash=sha256:ffcab6f5537136046ca902ed2491ab081ba271b07591b916289b7c27ff845f96
+    # via
+    #   frc-docs
+    #   matplotlib
+frccontrol==2025.6 \
+    --hash=sha256:1f5b7a8e5bfb072d9018d73ad729430195acf180cb0df37dc5158e0a9862916d \
+    --hash=sha256:52e289d0f126b1dbb4e4f64af71b9515550eab74cf1098ff01f568b323dcea32
+    # via frc-docs
+gitdb==4.0.12 \
+    --hash=sha256:5ef71f855d191a3326fcfbc0d5da835f26b13fbcba60c32c21091c349ffdb571 \
+    --hash=sha256:67073e15955400952c6565cc3e707c554a4eea2e428946f7a4c162fab9bd9bcf
+    # via gitpython
+gitpython==3.1.45 \
+    --hash=sha256:85b0ee964ceddf211c41b9f27a49086010a190fd8132a24e21f362a4b36a791c \
+    --hash=sha256:8908cb2e02fb3b93b7eb0f2827125cb699869470432cc885f019b8fd0fccff77
+    # via sphinxext-toptranslators
+html5lib==1.1 \
+    --hash=sha256:0d78f8fde1c230e99fe37986a60526d7049ed4bf8a9fadbad5f00e22e58e041d \
+    --hash=sha256:b2e5b40261e20f354d198eae92afc10d750afb487ed5e50f9c4eaf07c184146f
+    # via sphinx-toolbox
+idna==3.11 \
+    --hash=sha256:771a87f49d9defaf64091e6e6fe9c18d4833f140bd19464795bc32d966ca37ea \
+    --hash=sha256:795dafcc9c04ed0c1fb032c2aa73654d8e8c5023a7df64a53f39190ada629902
+    # via
+    #   apeye-core
+    #   requests
+imagesize==1.4.1 \
+    --hash=sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b \
+    --hash=sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a
+    # via sphinx
+jinja2==3.1.6 \
+    --hash=sha256:0137fb05990d35f1275a587e9aee6d56da821fc83491a0fb838183be43f66d6d \
+    --hash=sha256:85ece4451f492d0c13c5dd7c13a64681a86afae63a5f347908daf103ce6d2f67
+    # via
+    #   sphinx
+    #   sphinx-jinja2-compat
+jsmin==3.0.1 \
+    --hash=sha256:c0959a121ef94542e807a674142606f7e90214a2b3d1eb17300244bbb5cc2bfc
+    # via frc-docs
+kiwisolver==1.4.9 \
+    --hash=sha256:0749fd8f4218ad2e851e11cc4dc05c7cbc0cbc4267bdfdb31782e65aace4ee9c \
+    --hash=sha256:0a590506f303f512dff6b7f75fd2fd18e16943efee932008fe7140e5fa91d80e \
+    --hash=sha256:0ab74e19f6a2b027ea4f845a78827969af45ce790e6cb3e1ebab71bdf9f215ff \
+    --hash=sha256:0ae37737256ba2de764ddc12aed4956460277f00c4996d51a197e72f62f5eec7 \
+    --hash=sha256:15163165efc2f627eb9687ea5f3a28137217d217ac4024893d753f46bce9de26 \
+    --hash=sha256:17680d737d5335b552994a2008fab4c851bcd7de33094a82067ef3a576ff02fa \
+    --hash=sha256:1a12cf6398e8a0a001a059747a1cbf24705e18fe413bc22de7b3d15c67cffe3f \
+    --hash=sha256:1b11d6a633e4ed84fc0ddafd4ebfd8ea49b3f25082c04ad12b8315c11d504dc1 \
+    --hash=sha256:2327a4a30d3ee07d2fbe2e7933e8a37c591663b96ce42a00bc67461a87d7df77 \
+    --hash=sha256:2405a7d98604b87f3fc28b1716783534b1b4b8510d8142adca34ee0bc3c87543 \
+    --hash=sha256:2c1a4f57df73965f3f14df20b80ee29e6a7930a57d2d9e8491a25f676e197c60 \
+    --hash=sha256:2c93f00dcba2eea70af2be5f11a830a742fe6b579a1d4e00f47760ef13be247a \
+    --hash=sha256:39a219e1c81ae3b103643d2aedb90f1ef22650deb266ff12a19e7773f3e5f089 \
+    --hash=sha256:3b3115b2581ea35bb6d1f24a4c90af37e5d9b49dcff267eeed14c3893c5b86ab \
+    --hash=sha256:40092754720b174e6ccf9e845d0d8c7d8e12c3d71e7fc35f55f3813e96376f78 \
+    --hash=sha256:412f287c55a6f54b0650bd9b6dce5aceddb95864a1a90c87af16979d37c89771 \
+    --hash=sha256:464415881e4801295659462c49461a24fb107c140de781d55518c4b80cb6790f \
+    --hash=sha256:497d05f29a1300d14e02e6441cf0f5ee81c1ff5a304b0d9fb77423974684e08b \
+    --hash=sha256:4a2899935e724dd1074cb568ce7ac0dce28b2cd6ab539c8e001a8578eb106d14 \
+    --hash=sha256:4d1d9e582ad4d63062d34077a9a1e9f3c34088a2ec5135b1f7190c07cf366527 \
+    --hash=sha256:52a15b0f35dad39862d376df10c5230155243a2c1a436e39eb55623ccbd68185 \
+    --hash=sha256:540c7c72324d864406a009d72f5d6856f49693db95d1fbb46cf86febef873634 \
+    --hash=sha256:5656aa670507437af0207645273ccdfee4f14bacd7f7c67a4306d0dcaeaf6eed \
+    --hash=sha256:5a0f2724dfd4e3b3ac5a82436a8e6fd16baa7d507117e4279b660fe8ca38a3a1 \
+    --hash=sha256:60c439763a969a6af93b4881db0eed8fadf93ee98e18cbc35bc8da868d0c4f0c \
+    --hash=sha256:61874cdb0a36016354853593cffc38e56fc9ca5aa97d2c05d3dcf6922cd55a11 \
+    --hash=sha256:67bb8b474b4181770f926f7b7d2f8c0248cbcb78b660fdd41a47054b28d2a752 \
+    --hash=sha256:720e05574713db64c356e86732c0f3c5252818d05f9df320f0ad8380641acea5 \
+    --hash=sha256:7a08b491ec91b1d5053ac177afe5290adacf1f0f6307d771ccac5de30592d198 \
+    --hash=sha256:7b4da0d01ac866a57dd61ac258c5607b4cd677f63abaec7b148354d2b2cdd536 \
+    --hash=sha256:84fd60810829c27ae375114cd379da1fa65e6918e1da405f356a775d49a62bcf \
+    --hash=sha256:858e4c22fb075920b96a291928cb7dea5644e94c0ee4fcd5af7e865655e4ccf2 \
+    --hash=sha256:85b5352f94e490c028926ea567fc569c52ec79ce131dadb968d3853e809518c2 \
+    --hash=sha256:8a1f570ce4d62d718dce3f179ee78dac3b545ac16c0c04bb363b7607a949c0d1 \
+    --hash=sha256:8fdca1def57a2e88ef339de1737a1449d6dbf5fab184c54a1fca01d541317154 \
+    --hash=sha256:90f47e70293fc3688b71271100a1a5453aa9944a81d27ff779c108372cf5567b \
+    --hash=sha256:92a2f997387a1b79a75e7803aa7ded2cfbe2823852ccf1ba3bcf613b62ae3197 \
+    --hash=sha256:9cf554f21be770f5111a1690d42313e140355e687e05cf82cb23d0a721a64a48 \
+    --hash=sha256:a30fd6fdef1430fd9e1ba7b3398b5ee4e2887783917a687d86ba69985fb08748 \
+    --hash=sha256:a31d512c812daea6d8b3be3b2bfcbeb091dbb09177706569bcfc6240dcf8b41c \
+    --hash=sha256:a5d0432ccf1c7ab14f9949eec60c5d1f924f17c037e9f8b33352fa05799359b8 \
+    --hash=sha256:ac5a486ac389dddcc5bef4f365b6ae3ffff2c433324fb38dd35e3fab7c957999 \
+    --hash=sha256:b4b4d74bda2b8ebf4da5bd42af11d02d04428b2c32846e4c2c93219df8a7987b \
+    --hash=sha256:b67e6efbf68e077dd71d1a6b37e43e1a99d0bff1a3d51867d45ee8908b931098 \
+    --hash=sha256:b78efa4c6e804ecdf727e580dbb9cba85624d2e1c6b5cb059c66290063bd99a9 \
+    --hash=sha256:bdd1a81a1860476eb41ac4bc1e07b3f07259e6d55bbf739b79c8aaedcf512799 \
+    --hash=sha256:bdee92c56a71d2b24c33a7d4c2856bd6419d017e08caa7802d2963870e315028 \
+    --hash=sha256:be6a04e6c79819c9a8c2373317d19a96048e5a3f90bec587787e86a1153883c2 \
+    --hash=sha256:bfc08add558155345129c7803b3671cf195e6a56e7a12f3dde7c57d9b417f525 \
+    --hash=sha256:c3b22c26c6fd6811b0ae8363b95ca8ce4ea3c202d3d0975b2914310ceb1bcc4d \
+    --hash=sha256:c9e7cdf45d594ee04d5be1b24dd9d49f3d1590959b2271fb30b5ca2b262c00fb \
+    --hash=sha256:cb27e7b78d716c591e88e0a09a2139c6577865d7f2e152488c2cc6257f460872 \
+    --hash=sha256:cc9617b46837c6468197b5945e196ee9ca43057bb7d9d1ae688101e4e1dddf64 \
+    --hash=sha256:ccd09f20ccdbbd341b21a67ab50a119b64a403b09288c27481575105283c1586 \
+    --hash=sha256:d4188e73af84ca82468f09cadc5ac4db578109e52acb4518d8154698d3a87ca2 \
+    --hash=sha256:d4efec7bcf21671db6a3294ff301d2fc861c31faa3c8740d1a94689234d1b415 \
+    --hash=sha256:d75aa530ccfaa593da12834b86a0724f58bff12706659baa9227c2ccaa06264c \
+    --hash=sha256:d8fc5c867c22b828001b6a38d2eaeb88160bf5783c6cb4a5e440efc981ce286d \
+    --hash=sha256:dba5ee5d3981160c28d5490f0d1b7ed730c22470ff7f6cc26cfcfaacb9896a07 \
+    --hash=sha256:dc1ae486f9abcef254b5618dfb4113dd49f94c68e3e027d03cf0143f3f772b61 \
+    --hash=sha256:dd0a578400839256df88c16abddf9ba14813ec5f21362e1fe65022e00c883d4d \
+    --hash=sha256:deed0c7258ceb4c44ad5ec7d9918f9f14fd05b2be86378d86cf50e63d1e7b771 \
+    --hash=sha256:e09c2279a4d01f099f52d5c4b3d9e208e91edcbd1a175c9662a8b16e000fece9 \
+    --hash=sha256:e6b93f13371d341afee3be9f7c5964e3fe61d5fa30f6a30eb49856935dfe4fc3 \
+    --hash=sha256:eb14a5da6dc7642b0f3a18f13654847cd8b7a2550e2645a5bda677862b03ba16 \
+    --hash=sha256:ed0fecd28cc62c54b262e3736f8bb2512d8dcfdc2bcf08be5f47f96bf405b145 \
+    --hash=sha256:ede8c6d533bc6601a47ad4046080d36b8fc99f81e6f1c17b0ac3c2dc91ac7611 \
+    --hash=sha256:efb3a45b35622bb6c16dbfab491a8f5a391fe0e9d45ef32f4df85658232ca0e2 \
+    --hash=sha256:f117e1a089d9411663a3207ba874f31be9ac8eaa5b533787024dc07aeb74f464 \
+    --hash=sha256:f2ba92255faa7309d06fe44c3a4a97efe1c8d640c2a79a5ef728b685762a6fd2 \
+    --hash=sha256:f6008a4919fdbc0b0097089f67a1eb55d950ed7e90ce2cc3e640abadd2757a04 \
+    --hash=sha256:f68208a520c3d86ea51acf688a3e3002615a7f0238002cccc17affecc86a8a54 \
+    --hash=sha256:fb3b8132019ea572f4611d770991000d7f58127560c4889729248eb5852a102f \
+    --hash=sha256:fb940820c63a9590d31d88b815e7a3aa5915cad3ce735ab45f0c730b39547de1 \
+    --hash=sha256:fc1795ac5cd0510207482c3d1d3ed781143383b8cfd36f5c645f3897ce066220
+    # via matplotlib
+markdown2==2.5.4 \
+    --hash=sha256:3c4b2934e677be7fec0e6f2de4410e116681f4ad50ec8e5ba7557be506d3f439 \
+    --hash=sha256:a09873f0b3c23dbfae589b0080587df52ad75bb09a5fa6559147554736676889
+    # via frc-docs
+markupsafe==3.0.3 \
+    --hash=sha256:0303439a41979d9e74d18ff5e2dd8c43ed6c6001fd40e5bf2e43f7bd9bbc523f \
+    --hash=sha256:068f375c472b3e7acbe2d5318dea141359e6900156b5b2ba06a30b169086b91a \
+    --hash=sha256:0bf2a864d67e76e5c9a34dc26ec616a66b9888e25e7b9460e1c76d3293bd9dbf \
+    --hash=sha256:0db14f5dafddbb6d9208827849fad01f1a2609380add406671a26386cdf15a19 \
+    --hash=sha256:116bb52f642a37c115f517494ea5feb03889e04df47eeff5b130b1808ce7c219 \
+    --hash=sha256:12c63dfb4a98206f045aa9563db46507995f7ef6d83b2f68eda65c307c6829eb \
+    --hash=sha256:133a43e73a802c5562be9bbcd03d090aa5a1fe899db609c29e8c8d815c5f6de6 \
+    --hash=sha256:177b5253b2834fe3678cb4a5f0059808258584c559193998be2601324fdeafb1 \
+    --hash=sha256:1872df69a4de6aead3491198eaf13810b565bdbeec3ae2dc8780f14458ec73ce \
+    --hash=sha256:1b4b79e8ebf6b55351f0d91fe80f893b4743f104bff22e90697db1590e47a218 \
+    --hash=sha256:1ba88449deb3de88bd40044603fafffb7bc2b055d626a330323a9ed736661695 \
+    --hash=sha256:1cc7ea17a6824959616c525620e387f6dd30fec8cb44f649e31712db02123dad \
+    --hash=sha256:218551f6df4868a8d527e3062d0fb968682fe92054e89978594c28e642c43a73 \
+    --hash=sha256:26a5784ded40c9e318cfc2bdb30fe164bdb8665ded9cd64d500a34fb42067b1c \
+    --hash=sha256:2a15a08b17dd94c53a1da0438822d70ebcd13f8c3a95abe3a9ef9f11a94830aa \
+    --hash=sha256:2f981d352f04553a7171b8e44369f2af4055f888dfb147d55e42d29e29e74559 \
+    --hash=sha256:3524b778fe5cfb3452a09d31e7b5adefeea8c5be1d43c4f810ba09f2ceb29d37 \
+    --hash=sha256:35add3b638a5d900e807944a078b51922212fb3dedb01633a8defc4b01a3c85f \
+    --hash=sha256:3a7e8ae81ae39e62a41ec302f972ba6ae23a5c5396c8e60113e9066ef893da0d \
+    --hash=sha256:3b562dd9e9ea93f13d53989d23a7e775fdfd1066c33494ff43f5418bc8c58a5c \
+    --hash=sha256:4bd4cd07944443f5a265608cc6aab442e4f74dff8088b0dfc8238647b8f6ae9a \
+    --hash=sha256:4e885a3d1efa2eadc93c894a21770e4bc67899e3543680313b09f139e149ab19 \
+    --hash=sha256:509fa21c6deb7a7a273d629cf5ec029bc209d1a51178615ddf718f5918992ab9 \
+    --hash=sha256:69c0b73548bc525c8cb9a251cddf1931d1db4d2258e9599c28c07ef3580ef354 \
+    --hash=sha256:6b5420a1d9450023228968e7e6a9ce57f65d148ab56d2313fcd589eee96a7a50 \
+    --hash=sha256:722695808f4b6457b320fdc131280796bdceb04ab50fe1795cd540799ebe1698 \
+    --hash=sha256:77f0643abe7495da77fb436f50f8dab76dbc6e5fd25d39589a0f1fe6548bfa2b \
+    --hash=sha256:795e7751525cae078558e679d646ae45574b47ed6e7771863fcc079a6171a0fc \
+    --hash=sha256:7be7b61bb172e1ed687f1754f8e7484f1c8019780f6f6b0786e76bb01c2ae115 \
+    --hash=sha256:7e68f88e5b8799aa49c85cd116c932a1ac15caaa3f5db09087854d218359e485 \
+    --hash=sha256:83891d0e9fb81a825d9a6d61e3f07550ca70a076484292a70fde82c4b807286f \
+    --hash=sha256:8485f406a96febb5140bfeca44a73e3ce5116b2501ac54fe953e488fb1d03b12 \
+    --hash=sha256:8709b08f4a89aa7586de0aadc8da56180242ee0ada3999749b183aa23df95025 \
+    --hash=sha256:8f71bc33915be5186016f675cd83a1e08523649b0e33efdb898db577ef5bb009 \
+    --hash=sha256:94c6f0bb423f739146aec64595853541634bde58b2135f27f61c1ffd1cd4d16a \
+    --hash=sha256:9a1abfdc021a164803f4d485104931fb8f8c1efd55bc6b748d2f5774e78b62c5 \
+    --hash=sha256:9b79b7a16f7fedff2495d684f2b59b0457c3b493778c9eed31111be64d58279f \
+    --hash=sha256:a4afe79fb3de0b7097d81da19090f4df4f8d3a2b3adaa8764138aac2e44f3af1 \
+    --hash=sha256:ad2cf8aa28b8c020ab2fc8287b0f823d0a7d8630784c31e9ee5edea20f406287 \
+    --hash=sha256:b8512a91625c9b3da6f127803b166b629725e68af71f8184ae7e7d54686a56d6 \
+    --hash=sha256:bc51efed119bc9cfdf792cdeaa4d67e8f6fcccab66ed4bfdd6bde3e59bfcbb2f \
+    --hash=sha256:bdd37121970bfd8be76c5fb069c7751683bdf373db1ed6c010162b2a130248ed \
+    --hash=sha256:be8813b57049a7dc738189df53d69395eba14fb99345e0a5994914a3864c8a4b \
+    --hash=sha256:c0c0b3ade1c0b13b936d7970b1d37a57acde9199dc2aecc4c336773e1d86049c \
+    --hash=sha256:c4ffb7ebf07cfe8931028e3e4c85f0357459a3f9f9490886198848f4fa002ec8 \
+    --hash=sha256:ccfcd093f13f0f0b7fdd0f198b90053bf7b2f02a3927a30e63f3ccc9df56b676 \
+    --hash=sha256:d2ee202e79d8ed691ceebae8e0486bd9a2cd4794cec4824e1c99b6f5009502f6 \
+    --hash=sha256:d53197da72cc091b024dd97249dfc7794d6a56530370992a5e1a08983ad9230e \
+    --hash=sha256:d6dd0be5b5b189d31db7cda48b91d7e0a9795f31430b7f271219ab30f1d3ac9d \
+    --hash=sha256:d88b440e37a16e651bda4c7c2b930eb586fd15ca7406cb39e211fcff3bf3017d \
+    --hash=sha256:de8a88e63464af587c950061a5e6a67d3632e36df62b986892331d4620a35c01 \
+    --hash=sha256:e1c1493fb6e50ab01d20a22826e57520f1284df32f2d8601fdd90b6304601419 \
+    --hash=sha256:e1cf1972137e83c5d4c136c43ced9ac51d0e124706ee1c8aa8532c1287fa8795 \
+    --hash=sha256:e2103a929dfa2fcaf9bb4e7c091983a49c9ac3b19c9061b6d5427dd7d14d81a1 \
+    --hash=sha256:f42d0984e947b8adf7dd6dde396e720934d12c506ce84eea8476409563607591 \
+    --hash=sha256:f9e130248f4462aaa8e2552d547f36ddadbeaa573879158d721bbd33dfe4743a
+    # via
+    #   jinja2
+    #   sphinx-jinja2-compat
+matplotlib==3.10.7 \
+    --hash=sha256:09d7945a70ea43bf9248f4b6582734c2fe726723204a76eca233f24cffc7ef67 \
+    --hash=sha256:0d8c32b7ea6fb80b1aeff5a2ceb3fb9778e2759e899d9beff75584714afcc5ee \
+    --hash=sha256:11ae579ac83cdf3fb72573bb89f70e0534de05266728740d478f0f818983c695 \
+    --hash=sha256:15112bcbaef211bd663fa935ec33313b948e214454d949b723998a43357b17b0 \
+    --hash=sha256:1d9d3713a237970569156cfb4de7533b7c4eacdd61789726f444f96a0d28f57f \
+    --hash=sha256:2222c7ba2cbde7fe63032769f6eb7e83ab3227f47d997a8453377709b7fe3a5a \
+    --hash=sha256:22df30ffaa89f6643206cf13877191c63a50e8f800b038bc39bee9d2d4957632 \
+    --hash=sha256:31963603041634ce1a96053047b40961f7a29eb8f9a62e80cc2c0427aa1d22a2 \
+    --hash=sha256:37a1fea41153dd6ee061d21ab69c9cf2cf543160b1b85d89cd3d2e2a7902ca4c \
+    --hash=sha256:3886e47f64611046bc1db523a09dd0a0a6bed6081e6f90e13806dd1d1d1b5e91 \
+    --hash=sha256:4a11c2e9e72e7de09b7b72e62f3df23317c888299c875e2b778abf1eda8c0a42 \
+    --hash=sha256:4c14b6acd16cddc3569a2d515cfdd81c7a68ac5639b76548cfc1a9e48b20eb65 \
+    --hash=sha256:53b492410a6cd66c7a471de6c924f6ede976e963c0f3097a3b7abfadddc67d0a \
+    --hash=sha256:53cc80662dd197ece414dd5b66e07370201515a3eaf52e7c518c68c16814773b \
+    --hash=sha256:5c09cf8f2793f81368f49f118b6f9f937456362bee282eac575cca7f84cda537 \
+    --hash=sha256:5e38c2d581d62ee729a6e144c47a71b3f42fb4187508dbbf4fe71d5612c3433b \
+    --hash=sha256:5f3f6d315dcc176ba7ca6e74c7768fb7e4cf566c49cb143f6bc257b62e634ed8 \
+    --hash=sha256:6516ce375109c60ceec579e699524e9d504cd7578506f01150f7a6bc174a775e \
+    --hash=sha256:667ecd5d8d37813a845053d8f5bf110b534c3c9f30e69ebd25d4701385935a6d \
+    --hash=sha256:6f1851eab59ca082c95df5a500106bad73672645625e04538b3ad0f69471ffcc \
+    --hash=sha256:744991e0cc863dd669c8dc9136ca4e6e0082be2070b9d793cbd64bec872a6815 \
+    --hash=sha256:786656bb13c237bbcebcd402f65f44dd61ead60ee3deb045af429d889c8dbc67 \
+    --hash=sha256:7a0edb7209e21840e8361e91ea84ea676658aa93edd5f8762793dec77a4a6748 \
+    --hash=sha256:7ac81eee3b7c266dd92cee1cd658407b16c57eed08c7421fa354ed68234de380 \
+    --hash=sha256:932c55d1fa7af4423422cb6a492a31cbcbdbe68fd1a9a3f545aa5e7a143b5355 \
+    --hash=sha256:a06ba7e2a2ef9131c79c49e63dad355d2d878413a0376c1727c8b9335ff731c7 \
+    --hash=sha256:aebed7b50aa6ac698c90f60f854b47e48cd2252b30510e7a1feddaf5a3f72cbf \
+    --hash=sha256:b172db79759f5f9bc13ef1c3ef8b9ee7b37b0247f987fbbbdaa15e4f87fd46a9 \
+    --hash=sha256:b3c4ea4948d93c9c29dc01c0c23eef66f2101bf75158c291b88de6525c55c3d1 \
+    --hash=sha256:b498e9e4022f93de2d5a37615200ca01297ceebbb56fe4c833f46862a490f9e3 \
+    --hash=sha256:b69676845a0a66f9da30e87f48be36734d6748024b525ec4710be40194282c84 \
+    --hash=sha256:c380371d3c23e0eadf8ebff114445b9f970aff2010198d498d4ab4c3b41eea4f \
+    --hash=sha256:cc1c51b846aca49a5a8b44fbba6a92d583a35c64590ad9e1e950dc88940a4297 \
+    --hash=sha256:d0b181e9fa8daf1d9f2d4c547527b167cb8838fc587deabca7b5c01f97199e84 \
+    --hash=sha256:d2a959c640cdeecdd2ec3136e8ea0441da59bcaf58d67e9c590740addba2cb68 \
+    --hash=sha256:d5f256d49fea31f40f166a5e3131235a5d2f4b7f44520b1cf0baf1ce568ccff0 \
+    --hash=sha256:d9749313deb729f08207718d29c86246beb2ea3fdba753595b55901dee5d2fd6 \
+    --hash=sha256:de66744b2bb88d5cd27e80dfc2ec9f0517d0a46d204ff98fe9e5f2864eb67657 \
+    --hash=sha256:e91f61a064c92c307c5a9dc8c05dc9f8a68f0a3be199d9a002a0622e13f874a1 \
+    --hash=sha256:f19410b486fdd139885ace124e57f938c1e6a3210ea13dd29cab58f5d4bc12c7 \
+    --hash=sha256:fba2974df0bf8ce3c995fa84b79cde38326e0f7b5409e7a3a481c1141340bcf7
+    # via frccontrol
+modern-sphinx-version-warning==1.1.6 \
+    --hash=sha256:59e7b47e7af929363f7395c1de88f305c09d93bdc2c874d9a654adbd74d788c2
+    # via frc-docs
+more-itertools==10.8.0 \
+    --hash=sha256:52d4362373dcf7c52546bc4af9a86ee7c4579df9a8dc268be0a2f949d376cc9b \
+    --hash=sha256:f638ddf8a1a0d134181275fb5d58b086ead7c6a72429ad725c67503f13ba30bd
+    # via cssutils
+msgpack==1.1.2 \
+    --hash=sha256:0051fffef5a37ca2cd16978ae4f0aef92f164df86823871b5162812bebecd8e2 \
+    --hash=sha256:1de460f0403172cff81169a30b9a92b260cb809c4cb7e2fc79ae8d0510c78b6b \
+    --hash=sha256:1fdf7d83102bf09e7ce3357de96c59b627395352a4024f6e2458501f158bf999 \
+    --hash=sha256:1fff3d825d7859ac888b0fbda39a42d59193543920eda9d9bea44d958a878029 \
+    --hash=sha256:283ae72fc89da59aa004ba147e8fc2f766647b1251500182fac0350d8af299c0 \
+    --hash=sha256:2929af52106ca73fcb28576218476ffbb531a036c2adbcf54a3664de124303e9 \
+    --hash=sha256:2e86a607e558d22985d856948c12a3fa7b42efad264dca8a3ebbcfa2735d786c \
+    --hash=sha256:354e81bcdebaab427c3df4281187edc765d5d76bfb3a7c125af9da7a27e8458f \
+    --hash=sha256:365c0bbe981a27d8932da71af63ef86acc59ed5c01ad929e09a0b88c6294e28a \
+    --hash=sha256:372839311ccf6bdaf39b00b61288e0557916c3729529b301c52c2d88842add42 \
+    --hash=sha256:3b60763c1373dd60f398488069bcdc703cd08a711477b5d480eecc9f9626f47e \
+    --hash=sha256:41d1a5d875680166d3ac5c38573896453bbbea7092936d2e107214daf43b1d4f \
+    --hash=sha256:42eefe2c3e2af97ed470eec850facbe1b5ad1d6eacdbadc42ec98e7dcf68b4b7 \
+    --hash=sha256:446abdd8b94b55c800ac34b102dffd2f6aa0ce643c55dfc017ad89347db3dbdb \
+    --hash=sha256:454e29e186285d2ebe65be34629fa0e8605202c60fbc7c4c650ccd41870896ef \
+    --hash=sha256:4efd7b5979ccb539c221a4c4e16aac1a533efc97f3b759bb5a5ac9f6d10383bf \
+    --hash=sha256:5928604de9b032bc17f5099496417f113c45bc6bc21b5c6920caf34b3c428794 \
+    --hash=sha256:602b6740e95ffc55bfb078172d279de3773d7b7db1f703b2f1323566b878b90e \
+    --hash=sha256:61c8aa3bd513d87c72ed0b37b53dd5c5a0f58f2ff9f26e1555d3bd7948fb7296 \
+    --hash=sha256:70a0dff9d1f8da25179ffcf880e10cf1aad55fdb63cd59c9a49a1b82290062aa \
+    --hash=sha256:7bc8813f88417599564fafa59fd6f95be417179f76b40325b500b3c98409757c \
+    --hash=sha256:86f8136dfa5c116365a8a651a7d7484b65b13339731dd6faebb9a0242151c406 \
+    --hash=sha256:8b696e83c9f1532b4af884045ba7f3aa741a63b2bc22617293a2c6a7c645f251 \
+    --hash=sha256:a465f0dceb8e13a487e54c07d04ae3ba131c7c5b95e2612596eafde1dccf64a9 \
+    --hash=sha256:a605409040f2da88676e9c9e5853b3449ba8011973616189ea5ee55ddbc5bc87 \
+    --hash=sha256:a7787d353595c7c7e145e2331abf8b7ff1e6673a6b974ded96e6d4ec09f00c8c \
+    --hash=sha256:bafca952dc13907bdfdedfc6a5f579bf4f292bdd506fadb38389afa3ac5b208e \
+    --hash=sha256:be52a8fc79e45b0364210eef5234a7cf8d330836d0a64dfbb878efa903d84620 \
+    --hash=sha256:be5980f3ee0e6bd44f3a9e9dea01054f175b50c3e6cdb692bc9424c0bbb8bf69 \
+    --hash=sha256:c63eea553c69ab05b6747901b97d620bb2a690633c77f23feb0c6a947a8a7b8f \
+    --hash=sha256:d198d275222dc54244bf3327eb8cbe00307d220241d9cec4d306d49a44e85f68 \
+    --hash=sha256:db6192777d943bdaaafb6ba66d44bf65aa0e9c5616fa1d2da9bb08828c6b39aa \
+    --hash=sha256:e64c8d2f5e5d5fda7b842f55dec6133260ea8f53c4257d64494c534f306bf7a9 \
+    --hash=sha256:e69b39f8c0aa5ec24b57737ebee40be647035158f14ed4b40e6f150077e21a84 \
+    --hash=sha256:fac4be746328f90caa3cd4bc67e6fe36ca2bf61d5c6eb6d895b6527e3f05071e \
+    --hash=sha256:fffee09044073e69f2bad787071aeec727183e7580443dfeb8556cbf1978d162
+    # via cachecontrol
+mypy-extensions==1.1.0 \
+    --hash=sha256:1be4cccdb0f2482337c4743e60421de3a356cd97508abadd57d47403e94f5505 \
+    --hash=sha256:52e68efc3284861e772bbcd66823fde5ae21fd2fdb51c62a211403730b916558
+    # via black
+natsort==8.4.0 \
+    --hash=sha256:45312c4a0e5507593da193dedd04abb1469253b601ecaf63445ad80f0a1ea581 \
+    --hash=sha256:4732914fb471f56b5cce04d7bae6f164a592c7712e1c85f9ef585e197299521c
+    # via domdf-python-tools
+numpy==2.2.6 \
+    --hash=sha256:038613e9fb8c72b0a41f025a7e4c3f0b7a1b5d768ece4796b674c8f3fe13efff \
+    --hash=sha256:0678000bb9ac1475cd454c6b8c799206af8107e310843532b04d49649c717a47 \
+    --hash=sha256:0811bb762109d9708cca4d0b13c4f67146e3c3b7cf8d34018c722adb2d957c84 \
+    --hash=sha256:0b605b275d7bd0c640cad4e5d30fa701a8d59302e127e5f79138ad62762c3e3d \
+    --hash=sha256:0bca768cd85ae743b2affdc762d617eddf3bcf8724435498a1e80132d04879e6 \
+    --hash=sha256:1bc23a79bfabc5d056d106f9befb8d50c31ced2fbc70eedb8155aec74a45798f \
+    --hash=sha256:287cc3162b6f01463ccd86be154f284d0893d2b3ed7292439ea97eafa8170e0b \
+    --hash=sha256:37c0ca431f82cd5fa716eca9506aefcabc247fb27ba69c5062a6d3ade8cf8f49 \
+    --hash=sha256:37e990a01ae6ec7fe7fa1c26c55ecb672dd98b19c3d0e1d1f326fa13cb38d163 \
+    --hash=sha256:389d771b1623ec92636b0786bc4ae56abafad4a4c513d36a55dce14bd9ce8571 \
+    --hash=sha256:3d70692235e759f260c3d837193090014aebdf026dfd167834bcba43e30c2a42 \
+    --hash=sha256:41c5a21f4a04fa86436124d388f6ed60a9343a6f767fced1a8a71c3fbca038ff \
+    --hash=sha256:481b49095335f8eed42e39e8041327c05b0f6f4780488f61286ed3c01368d491 \
+    --hash=sha256:4eeaae00d789f66c7a25ac5f34b71a7035bb474e679f410e5e1a94deb24cf2d4 \
+    --hash=sha256:55a4d33fa519660d69614a9fad433be87e5252f4b03850642f88993f7b2ca566 \
+    --hash=sha256:5a6429d4be8ca66d889b7cf70f536a397dc45ba6faeb5f8c5427935d9592e9cf \
+    --hash=sha256:5bd4fc3ac8926b3819797a7c0e2631eb889b4118a9898c84f585a54d475b7e40 \
+    --hash=sha256:5beb72339d9d4fa36522fc63802f469b13cdbe4fdab4a288f0c441b74272ebfd \
+    --hash=sha256:6031dd6dfecc0cf9f668681a37648373bddd6421fff6c66ec1624eed0180ee06 \
+    --hash=sha256:71594f7c51a18e728451bb50cc60a3ce4e6538822731b2933209a1f3614e9282 \
+    --hash=sha256:74d4531beb257d2c3f4b261bfb0fc09e0f9ebb8842d82a7b4209415896adc680 \
+    --hash=sha256:7befc596a7dc9da8a337f79802ee8adb30a552a94f792b9c9d18c840055907db \
+    --hash=sha256:894b3a42502226a1cac872f840030665f33326fc3dac8e57c607905773cdcde3 \
+    --hash=sha256:8e41fd67c52b86603a91c1a505ebaef50b3314de0213461c7a6e99c9a3beff90 \
+    --hash=sha256:8e9ace4a37db23421249ed236fdcdd457d671e25146786dfc96835cd951aa7c1 \
+    --hash=sha256:8fc377d995680230e83241d8a96def29f204b5782f371c532579b4f20607a289 \
+    --hash=sha256:9551a499bf125c1d4f9e250377c1ee2eddd02e01eac6644c080162c0c51778ab \
+    --hash=sha256:b0544343a702fa80c95ad5d3d608ea3599dd54d4632df855e4c8d24eb6ecfa1c \
+    --hash=sha256:b093dd74e50a8cba3e873868d9e93a85b78e0daf2e98c6797566ad8044e8363d \
+    --hash=sha256:b412caa66f72040e6d268491a59f2c43bf03eb6c96dd8f0307829feb7fa2b6fb \
+    --hash=sha256:b4f13750ce79751586ae2eb824ba7e1e8dba64784086c98cdbbcc6a42112ce0d \
+    --hash=sha256:b64d8d4d17135e00c8e346e0a738deb17e754230d7e0810ac5012750bbd85a5a \
+    --hash=sha256:ba10f8411898fc418a521833e014a77d3ca01c15b0c6cdcce6a0d2897e6dbbdf \
+    --hash=sha256:bd48227a919f1bafbdda0583705e547892342c26fb127219d60a5c36882609d1 \
+    --hash=sha256:c1f9540be57940698ed329904db803cf7a402f3fc200bfe599334c9bd84a40b2 \
+    --hash=sha256:c820a93b0255bc360f53eca31a0e676fd1101f673dda8da93454a12e23fc5f7a \
+    --hash=sha256:ce47521a4754c8f4593837384bd3424880629f718d87c5d44f8ed763edd63543 \
+    --hash=sha256:d042d24c90c41b54fd506da306759e06e568864df8ec17ccc17e9e884634fd00 \
+    --hash=sha256:de749064336d37e340f640b05f24e9e3dd678c57318c7289d222a8a2f543e90c \
+    --hash=sha256:e1dda9c7e08dc141e0247a5b8f49cf05984955246a327d4c48bda16821947b2f \
+    --hash=sha256:e29554e2bef54a90aa5cc07da6ce955accb83f21ab5de01a62c8478897b264fd \
+    --hash=sha256:e3143e4451880bed956e706a3220b4e5cf6172ef05fcc397f6f36a550b1dd868 \
+    --hash=sha256:e8213002e427c69c45a52bbd94163084025f533a55a59d6f9c5b820774ef3303 \
+    --hash=sha256:efd28d4e9cd7d7a8d39074a4d44c63eda73401580c5c76acda2ce969e0a38e83 \
+    --hash=sha256:f0fd6321b839904e15c46e0d257fdd101dd7f530fe03fd6359c1ea63738703f3 \
+    --hash=sha256:f1372f041402e37e5e633e586f62aa53de2eac8d98cbfb822806ce4bbefcb74d \
+    --hash=sha256:f2618db89be1b4e05f7a1a847a9c1c0abd63e63a1607d892dd54668dd92faf87 \
+    --hash=sha256:f447e6acb680fd307f40d3da4852208af94afdfab89cf850986c3ca00562f4fa \
+    --hash=sha256:f92729c95468a2f4f15e9bb94c432a9229d0d50de67304399627a943201baa2f \
+    --hash=sha256:f9f1adb22318e121c5c69a09142811a201ef17ab257a1e66ca3025065b7f53ae \
+    --hash=sha256:fc0c5673685c508a142ca65209b4e79ed6740a4ed6b2267dbba90f34b0b3cfda \
+    --hash=sha256:fc7b73d02efb0e18c000e9ad8b83480dfcd5dfd11065997ed4c6747470ae8915 \
+    --hash=sha256:fd83c01228a688733f1ded5201c678f0c53ecc1006ffbc404db9f7a899ac6249 \
+    --hash=sha256:fe27749d33bb772c80dcd84ae7e8df2adc920ae8297400dabec45f0dedb3f6de \
+    --hash=sha256:fee4236c876c4e8369388054d02d0e9bb84821feb1a64dd59e137e6511a551f8
+    # via
+    #   contourpy
+    #   frccontrol
+    #   matplotlib
+    #   scipy
+packaging==25.0 \
+    --hash=sha256:29572ef2b1f17581046b3a2227d5c611fb25ec70ca1ba8554b24b0e69331a484 \
+    --hash=sha256:d443872c98d677bf60f6a1f2f8c1cb748e8fe762d2bf9d3148b5599295b0fc4f
+    # via
+    #   black
+    #   matplotlib
+    #   sphinx
+pathspec==0.12.1 \
+    --hash=sha256:a0d503e138a4c123b27490a4f7beda6a01c6f288df0e4a8b79c7eb0dc7b4cc08 \
+    --hash=sha256:a482d51503a1ab33b1c67a6c3813a26953dbdc71c31dacaef9a838c4e29f5712
+    # via black
+pillow==12.0.0 \
+    --hash=sha256:0869154a2d0546545cde61d1789a6524319fc1897d9ee31218eae7a60ccc5643 \
+    --hash=sha256:09f2d0abef9e4e2f349305a4f8cc784a8a6c2f58a8c4892eea13b10a943bd26e \
+    --hash=sha256:0b817e7035ea7f6b942c13aa03bb554fc44fea70838ea21f8eb31c638326584e \
+    --hash=sha256:0fd00cac9c03256c8b2ff58f162ebcd2587ad3e1f2e397eab718c47e24d231cc \
+    --hash=sha256:110486b79f2d112cf6add83b28b627e369219388f64ef2f960fef9ebaf54c642 \
+    --hash=sha256:1ac11e8ea4f611c3c0147424eae514028b5e9077dd99ab91e1bd7bc33ff145e1 \
+    --hash=sha256:1ee80a59f6ce048ae13cda1abf7fbd2a34ab9ee7d401c46be3ca685d1999a399 \
+    --hash=sha256:21f241bdd5080a15bc86d3466a9f6074a9c2c2b314100dd896ac81ee6db2f1ba \
+    --hash=sha256:26d9f7d2b604cd23aba3e9faf795787456ac25634d82cd060556998e39c6fa47 \
+    --hash=sha256:27f95b12453d165099c84f8a8bfdfd46b9e4bda9e0e4b65f0635430027f55739 \
+    --hash=sha256:2c54c1a783d6d60595d3514f0efe9b37c8808746a66920315bfd34a938d7994b \
+    --hash=sha256:2fa5f0b6716fc88f11380b88b31fe591a06c6315e955c096c35715788b339e3f \
+    --hash=sha256:32ed80ea8a90ee3e6fa08c21e2e091bba6eda8eccc83dbc34c95169507a91f10 \
+    --hash=sha256:38df9b4bfd3db902c9c2bd369bcacaf9d935b2fff73709429d95cc41554f7b3d \
+    --hash=sha256:3adfb466bbc544b926d50fe8f4a4e6abd8c6bffd28a26177594e6e9b2b76572b \
+    --hash=sha256:4078242472387600b2ce8d93ade8899c12bf33fa89e55ec89fe126e9d6d5d9e9 \
+    --hash=sha256:455247ac8a4cfb7b9bc45b7e432d10421aea9fc2e74d285ba4072688a74c2e9d \
+    --hash=sha256:4cc6b3b2efff105c6a1656cfe59da4fdde2cda9af1c5e0b58529b24525d0a098 \
+    --hash=sha256:4cf7fed4b4580601c4345ceb5d4cbf5a980d030fd5ad07c4d2ec589f95f09905 \
+    --hash=sha256:5193fde9a5f23c331ea26d0cf171fbf67e3f247585f50c08b3e205c7aeb4589b \
+    --hash=sha256:5269cc1caeedb67e6f7269a42014f381f45e2e7cd42d834ede3c703a1d915fe3 \
+    --hash=sha256:53561a4ddc36facb432fae7a9d8afbfaf94795414f5cdc5fc52f28c1dca90371 \
+    --hash=sha256:55f818bd74fe2f11d4d7cbc65880a843c4075e0ac7226bc1a23261dbea531953 \
+    --hash=sha256:6ace95230bfb7cd79ef66caa064bbe2f2a1e63d93471c3a2e1f1348d9f22d6b7 \
+    --hash=sha256:6e51b71417049ad6ab14c49608b4a24d8fb3fe605e5dfabfe523b58064dc3d27 \
+    --hash=sha256:71db6b4c1653045dacc1585c1b0d184004f0d7e694c7b34ac165ca70c0838082 \
+    --hash=sha256:759de84a33be3b178a64c8ba28ad5c135900359e85fb662bc6e403ad4407791d \
+    --hash=sha256:7d87ef5795da03d742bf49439f9ca4d027cde49c82c5371ba52464aee266699a \
+    --hash=sha256:7dfb439562f234f7d57b1ac6bc8fe7f838a4bd49c79230e0f6a1da93e82f1fad \
+    --hash=sha256:7fa22993bac7b77b78cae22bad1e2a987ddf0d9015c63358032f84a53f23cdc3 \
+    --hash=sha256:805ebf596939e48dbb2e4922a1d3852cfc25c38160751ce02da93058b48d252a \
+    --hash=sha256:82240051c6ca513c616f7f9da06e871f61bfd7805f566275841af15015b8f98d \
+    --hash=sha256:87d4f8125c9988bfbed67af47dd7a953e2fc7b0cc1e7800ec6d2080d490bb353 \
+    --hash=sha256:8d8ca2b210ada074d57fcee40c30446c9562e542fc46aedc19baf758a93532ee \
+    --hash=sha256:90387104ee8400a7b4598253b4c406f8958f59fcf983a6cea2b50d59f7d63d0b \
+    --hash=sha256:99a7f72fb6249302aa62245680754862a44179b545ded638cf1fef59befb57ef \
+    --hash=sha256:9f0b04c6b8584c2c193babcccc908b38ed29524b29dd464bc8801bf10d746a3a \
+    --hash=sha256:9fe611163f6303d1619bbcb653540a4d60f9e55e622d60a3108be0d5b441017a \
+    --hash=sha256:a3475b96f5908b3b16c47533daaa87380c491357d197564e0ba34ae75c0f3257 \
+    --hash=sha256:a6597ff2b61d121172f5844b53f21467f7082f5fb385a9a29c01414463f93b07 \
+    --hash=sha256:a7921c5a6d31b3d756ec980f2f47c0cfdbce0fc48c22a39347a895f41f4a6ea4 \
+    --hash=sha256:aa5129de4e174daccbc59d0a3b6d20eaf24417d59851c07ebb37aeb02947987c \
+    --hash=sha256:aeaefa96c768fc66818730b952a862235d68825c178f1b3ffd4efd7ad2edcb7c \
+    --hash=sha256:aff9e4d82d082ff9513bdd6acd4f5bd359f5b2c870907d2b0a9c5e10d40c88fe \
+    --hash=sha256:b22bd8c974942477156be55a768f7aa37c46904c175be4e158b6a86e3a6b7ca8 \
+    --hash=sha256:b290fd8aa38422444d4b50d579de197557f182ef1068b75f5aa8558638b8d0a5 \
+    --hash=sha256:b583dc9070312190192631373c6c8ed277254aa6e6084b74bdd0a6d3b221608e \
+    --hash=sha256:b87843e225e74576437fd5b6a4c2205d422754f84a06942cfaf1dc32243e45a8 \
+    --hash=sha256:bc91a56697869546d1b8f0a3ff35224557ae7f881050e99f615e0119bf934b4e \
+    --hash=sha256:bd87e140e45399c818fac4247880b9ce719e4783d767e030a883a970be632275 \
+    --hash=sha256:bde737cff1a975b70652b62d626f7785e0480918dece11e8fef3c0cf057351c3 \
+    --hash=sha256:bdee52571a343d721fb2eb3b090a82d959ff37fc631e3f70422e0c2e029f3e76 \
+    --hash=sha256:bee2a6db3a7242ea309aa7ee8e2780726fed67ff4e5b40169f2c940e7eb09227 \
+    --hash=sha256:c50f36a62a22d350c96e49ad02d0da41dbd17ddc2e29750dbdba4323f85eb4a5 \
+    --hash=sha256:c607c90ba67533e1b2355b821fef6764d1dd2cbe26b8c1005ae84f7aea25ff79 \
+    --hash=sha256:c7b2a63fd6d5246349f3d3f37b14430d73ee7e8173154461785e43036ffa96ca \
+    --hash=sha256:c828a1ae702fc712978bda0320ba1b9893d99be0badf2647f693cc01cf0f04fa \
+    --hash=sha256:c85de1136429c524e55cfa4e033b4a7940ac5c8ee4d9401cc2d1bf48154bbc7b \
+    --hash=sha256:cae81479f77420d217def5f54b5b9d279804d17e982e0f2fa19b1d1e14ab5197 \
+    --hash=sha256:d120c38a42c234dc9a8c5de7ceaaf899cf33561956acb4941653f8bdc657aa79 \
+    --hash=sha256:d49e2314c373f4c2b39446fb1a45ed333c850e09d0c59ac79b72eb3b95397363 \
+    --hash=sha256:d64317d2587c70324b79861babb9c09f71fbb780bad212018874b2c013d8600e \
+    --hash=sha256:d77153e14b709fd8b8af6f66a3afbb9ed6e9fc5ccf0b6b7e1ced7b036a228782 \
+    --hash=sha256:dd333073e0cacdc3089525c7df7d39b211bcdf31fc2824e49d01c6b6187b07d0 \
+    --hash=sha256:f135c702ac42262573fe9714dfe99c944b4ba307af5eb507abef1667e2cbbced \
+    --hash=sha256:f4f1231b7dec408e8670264ce63e9c71409d9583dd21d32c163e25213ee2a344
+    # via
+    #   matplotlib
+    #   sphinxext-photofinish
+platformdirs==4.5.0 \
+    --hash=sha256:70ddccdd7c99fc5942e9fc25636a8b34d04c24b335100223152c2803e4063312 \
+    --hash=sha256:e578a81bb873cbb89a41fcc904c7ef523cc18284b7e3b3ccf06aca1403b7ebd3
+    # via
+    #   apeye
+    #   black
+pycparser==2.23 ; implementation_name != 'PyPy' and platform_python_implementation != 'CPython' \
+    --hash=sha256:78816d4f24add8f10a06d6f05b4d424ad9e96cfebf68a4ddc99c65c0720d00c2 \
+    --hash=sha256:e5c6e8d3fbad53479cab09ac03729e0a9faf2bee3db8208a550daf5af81a5934
+    # via cffi
+pygments==2.19.2 \
+    --hash=sha256:636cb2477cec7f8952536970bc533bc43743542f70392ae026374600add5b887 \
+    --hash=sha256:86540386c03d588bb81d44bc3928634ff26449851e99741617ecb9037ee5ec0b
+    # via
+    #   doc8
+    #   sphinx
+    #   sphinx-prompt
+    #   sphinx-tabs
+pyparsing==3.2.5 \
+    --hash=sha256:2df8d5b7b2802ef88e8d016a2eb9c7aeaa923529cd251ed0fe4608275d4105b6 \
+    --hash=sha256:e38a4f02064cf41fe6593d328d0512495ad1f3d8a91c4f73fc401b3079a59a5e
+    # via matplotlib
+python-dateutil==2.9.0.post0 \
+    --hash=sha256:37dd54208da7e1cd875388217d5e00ebd4179249f90fb72437e91a35459a0ad3 \
+    --hash=sha256:a8b2bc7bffae282281c8140a97d3aa9c14da0b136dfe83f850eea9a5f7470427
+    # via matplotlib
+pytokens==0.3.0 \
+    --hash=sha256:2f932b14ed08de5fcf0b391ace2642f858f1394c0857202959000b68ed7a458a \
+    --hash=sha256:95b2b5eaf832e469d141a378872480ede3f251a5a5041b8ec6e581d3ac71bbf3
+    # via black
+requests==2.32.5 \
+    --hash=sha256:2462f94637a34fd532264295e186976db0f5d453d1cdd31473c85a6a161affb6 \
+    --hash=sha256:dbba0bac56e100853db0ea71b82b4dfd5fe2bf6d3754a8893c3af500cec7d7cf
+    # via
+    #   apeye
+    #   cachecontrol
+    #   sphinx
+    #   sphinxext-delta
+restructuredtext-lint==2.0.2 \
+    --hash=sha256:374c0d3e7e0867b2335146a145343ac619400623716b211b9a010c94426bbed7 \
+    --hash=sha256:dd25209b9e0b726929d8306339faf723734a3137db382bcf27294fa18a6bc52b
+    # via doc8
+ruamel-yaml==0.18.16 \
+    --hash=sha256:048f26d64245bae57a4f9ef6feb5b552a386830ef7a826f235ffb804c59efbba \
+    --hash=sha256:a6e587512f3c998b2225d68aa1f35111c29fad14aed561a26e73fab729ec5e5a
+    # via sphinx-toolbox
+ruamel-yaml-clib==0.2.15 ; platform_python_implementation == 'CPython' \
+    --hash=sha256:014181cdec565c8745b7cbc4de3bf2cc8ced05183d986e6d1200168e5bb59490 \
+    --hash=sha256:05c70f7f86be6f7bee53794d80050a28ae7e13e4a0087c1839dcdefd68eb36b6 \
+    --hash=sha256:11e5499db1ccbc7f4b41f0565e4f799d863ea720e01d3e99fa0b7b5fcd7802c9 \
+    --hash=sha256:1b45498cc81a4724a2d42273d6cfc243c0547ad7c6b87b4f774cb7bcc131c98d \
+    --hash=sha256:1f66f600833af58bea694d5892453f2270695b92200280ee8c625ec5a477eed3 \
+    --hash=sha256:2b216904750889133d9222b7b873c199d48ecbb12912aca78970f84a5aa1a4bc \
+    --hash=sha256:331fb180858dd8534f0e61aa243b944f25e73a4dae9962bd44c46d1761126bbf \
+    --hash=sha256:3eb199178b08956e5be6288ee0b05b2fb0b5c1f309725ad25d9c6ea7e27f962a \
+    --hash=sha256:45702dfbea1420ba3450bb3dd9a80b33f0badd57539c6aac09f42584303e0db6 \
+    --hash=sha256:468858e5cbde0198337e6a2a78eda8c3fb148bdf4c6498eaf4bc9ba3f8e780bd \
+    --hash=sha256:46895c17ead5e22bea5e576f1db7e41cb273e8d062c04a6a49013d9f60996c25 \
+    --hash=sha256:46e4cc8c43ef6a94885f72512094e482114a8a706d3c555a34ed4b0d20200600 \
+    --hash=sha256:4b293a37dc97e2b1e8a1aec62792d1e52027087c8eea4fc7b5abd2bdafdd6642 \
+    --hash=sha256:4be366220090d7c3424ac2b71c90d1044ea34fca8c0b88f250064fd06087e614 \
+    --hash=sha256:4d1032919280ebc04a80e4fb1e93f7a738129857eaec9448310e638c8bccefcf \
+    --hash=sha256:4dcec721fddbb62e60c2801ba08c87010bd6b700054a09998c4d09c08147b8fb \
+    --hash=sha256:512571ad41bba04eac7268fe33f7f4742210ca26a81fe0c75357fa682636c690 \
+    --hash=sha256:56ea19c157ed8c74b6be51b5fa1c3aff6e289a041575f0556f66e5fb848bb137 \
+    --hash=sha256:5fea0932358e18293407feb921d4f4457db837b67ec1837f87074667449f9401 \
+    --hash=sha256:617d35dc765715fa86f8c3ccdae1e4229055832c452d4ec20856136acc75053f \
+    --hash=sha256:64da03cbe93c1e91af133f5bec37fd24d0d4ba2418eaf970d7166b0a26a148a2 \
+    --hash=sha256:65f48245279f9bb301d1276f9679b82e4c080a1ae25e679f682ac62446fac471 \
+    --hash=sha256:6f1d38cbe622039d111b69e9ca945e7e3efebb30ba998867908773183357f3ed \
+    --hash=sha256:71845d377c7a47afc6592aacfea738cc8a7e876d586dfba814501d8c53c1ba60 \
+    --hash=sha256:88eea8baf72f0ccf232c22124d122a7f26e8a24110a0273d9bcddcb0f7e1fa03 \
+    --hash=sha256:9b6f7d74d094d1f3a4e157278da97752f16ee230080ae331fcc219056ca54f77 \
+    --hash=sha256:ab0df0648d86a7ecbd9c632e8f8d6b21bb21b5fc9d9e095c796cacf32a728d2d \
+    --hash=sha256:bdc06ad71173b915167702f55d0f3f027fc61abd975bd308a0968c02db4a4c3e \
+    --hash=sha256:bf0846d629e160223805db9fe8cc7aec16aaa11a07310c50c8c7164efa440aec \
+    --hash=sha256:c583229f336682b7212a43d2fa32c30e643d3076178fb9f7a6a14dde85a2d8bd \
+    --hash=sha256:cb15a2e2a90c8475df45c0949793af1ff413acfb0a716b8b94e488ea95ce7cff \
+    --hash=sha256:d290eda8f6ada19e1771b54e5706b8f9807e6bb08e873900d5ba114ced13e02c \
+    --hash=sha256:da3d6adadcf55a93c214d23941aef4abfd45652110aed6580e814152f385b862 \
+    --hash=sha256:def5663361f6771b18646620fca12968aae730132e104688766cf8a3b1d65922 \
+    --hash=sha256:e5e9f630c73a490b758bf14d859a39f375e6999aea5ddd2e2e9da89b9953486a \
+    --hash=sha256:e9fde97ecb7bb9c41261c2ce0da10323e9227555c674989f8d9eb7572fc2098d \
+    --hash=sha256:ef71831bd61fbdb7aa0399d5c4da06bea37107ab5c79ff884cc07f2450910262 \
+    --hash=sha256:f4421ab780c37210a07d138e56dd4b51f8642187cdfb433eb687fe8c11de0144 \
+    --hash=sha256:f6d3655e95a80325b84c4e14c080b2470fe4f33b6846f288379ce36154993fb1 \
+    --hash=sha256:fd4c928ddf6bce586285daa6d90680b9c291cfd045fc40aad34e445d57b1bf51 \
+    --hash=sha256:fe239bdfdae2302e93bd6e8264bd9b71290218fff7084a9db250b55caaccf43f
+    # via ruamel-yaml
+scipy==1.15.3 \
+    --hash=sha256:05dc6abcd105e1a29f95eada46d4a3f251743cfd7d3ae8ddb4088047f24ea477 \
+    --hash=sha256:06efcba926324df1696931a57a176c80848ccd67ce6ad020c810736bfd58eb1c \
+    --hash=sha256:0a769105537aa07a69468a0eefcd121be52006db61cdd8cac8a0e68980bbb723 \
+    --hash=sha256:0bdd905264c0c9cfa74a4772cdb2070171790381a5c4d312c973382fc6eaf730 \
+    --hash=sha256:0ff17c0bb1cb32952c09217d8d1eed9b53d1463e5f1dd6052c7857f83127d539 \
+    --hash=sha256:14ed70039d182f411ffc74789a16df3835e05dc469b898233a245cdfd7f162cb \
+    --hash=sha256:185cd3d6d05ca4b44a8f1595af87f9c372bb6acf9c808e99aa3e9aa03bd98cf6 \
+    --hash=sha256:18aaacb735ab38b38db42cb01f6b92a2d0d4b6aabefeb07f02849e47f8fb3594 \
+    --hash=sha256:1c832e1bd78dea67d5c16f786681b28dd695a8cb1fb90af2e27580d3d0967e92 \
+    --hash=sha256:263961f658ce2165bbd7b99fa5135195c3a12d9bef045345016b8b50c315cb82 \
+    --hash=sha256:271e3713e645149ea5ea3e97b57fdab61ce61333f97cfae392c28ba786f9bb49 \
+    --hash=sha256:2c620736bcc334782e24d173c0fdbb7590a0a436d2fdf39310a8902505008759 \
+    --hash=sha256:34716e281f181a02341ddeaad584205bd2fd3c242063bd3423d61ac259ca7eba \
+    --hash=sha256:39cb9c62e471b1bb3750066ecc3a3f3052b37751c7c3dfd0fd7e48900ed52982 \
+    --hash=sha256:3ac07623267feb3ae308487c260ac684b32ea35fd81e12845039952f558047b8 \
+    --hash=sha256:3b0334816afb8b91dab859281b1b9786934392aa3d527cd847e41bb6f45bee65 \
+    --hash=sha256:40e54d5c7e7ebf1aa596c374c49fa3135f04648a0caabcb66c52884b943f02b4 \
+    --hash=sha256:50f9e62461c95d933d5c5ef4a1f2ebf9a2b4e83b0db374cb3f1de104d935922e \
+    --hash=sha256:52092bc0472cfd17df49ff17e70624345efece4e1a12b23783a1ac59a1b728ed \
+    --hash=sha256:5380741e53df2c566f4d234b100a484b420af85deb39ea35a1cc1be84ff53a5c \
+    --hash=sha256:5e721fed53187e71d0ccf382b6bf977644c533e506c4d33c3fb24de89f5c3ed5 \
+    --hash=sha256:6487aa99c2a3d509a5227d9a5e889ff05830a06b2ce08ec30df6d79db5fcd5c5 \
+    --hash=sha256:6ac6310fdbfb7aa6612408bd2f07295bcbd3fda00d2d702178434751fe48e019 \
+    --hash=sha256:6cfd56fc1a8e53f6e89ba3a7a7251f7396412d655bca2aa5611c8ec9a6784a1e \
+    --hash=sha256:6db907c7368e3092e24919b5e31c76998b0ce1684d51a90943cb0ed1b4ffd6c1 \
+    --hash=sha256:721d6b4ef5dc82ca8968c25b111e307083d7ca9091bc38163fb89243e85e3889 \
+    --hash=sha256:76ad1fb5f8752eabf0fa02e4cc0336b4e8f021e2d5f061ed37d6d264db35e3ca \
+    --hash=sha256:79167bba085c31f38603e11a267d862957cbb3ce018d8b38f79ac043bc92d825 \
+    --hash=sha256:795c46999bae845966368a3c013e0e00947932d68e235702b5c3f6ea799aa8c9 \
+    --hash=sha256:7e11270a000969409d37ed399585ee530b9ef6aa99d50c019de4cb01e8e54e62 \
+    --hash=sha256:8c9ed3ba2c8a2ce098163a9bdb26f891746d02136995df25227a20e71c396ebb \
+    --hash=sha256:993439ce220d25e3696d1b23b233dd010169b62f6456488567e830654ee37a6b \
+    --hash=sha256:9d61e97b186a57350f6d6fd72640f9e99d5a4a2b8fbf4b9ee9a841eab327dc13 \
+    --hash=sha256:9db984639887e3dffb3928d118145ffe40eff2fa40cb241a306ec57c219ebbbb \
+    --hash=sha256:9e2abc762b0811e09a0d3258abee2d98e0c703eee49464ce0069590846f31d40 \
+    --hash=sha256:a345928c86d535060c9c2b25e71e87c39ab2f22fc96e9636bd74d1dbf9de448c \
+    --hash=sha256:ad3432cb0f9ed87477a8d97f03b763fd1d57709f1bbde3c9369b1dff5503b253 \
+    --hash=sha256:ae48a786a28412d744c62fd7816a4118ef97e5be0bee968ce8f0a2fba7acf3bb \
+    --hash=sha256:aef683a9ae6eb00728a542b796f52a5477b78252edede72b8327a886ab63293f \
+    --hash=sha256:b90ab29d0c37ec9bf55424c064312930ca5f4bde15ee8619ee44e69319aab163 \
+    --hash=sha256:c05045d8b9bfd807ee1b9f38761993297b10b245f012b11b13b91ba8945f7e45 \
+    --hash=sha256:c9deabd6d547aee2c9a81dee6cc96c6d7e9a9b1953f74850c179f91fdc729cb7 \
+    --hash=sha256:dde4fc32993071ac0c7dd2d82569e544f0bdaff66269cb475e0f369adad13f11 \
+    --hash=sha256:eae3cf522bc7df64b42cad3925c876e1b0b6c35c1337c93e12c0f366f55b0eaf \
+    --hash=sha256:ed7284b21a7a0c8f1b6e5977ac05396c0d008b89e05498c8b7e8f4a1423bba0e \
+    --hash=sha256:f77f853d584e72e874d87357ad70f44b437331507d1c311457bed8ed2b956126
+    # via frccontrol
+six==1.17.0 \
+    --hash=sha256:4721f391ed90541fddacab5acf947aa0d3dc7d27b2e1e8eda2be8970586c3274 \
+    --hash=sha256:ff70335d468e7eb6ec65b95b99d3a2836546063f63acc5171de367e834932a81
+    # via
+    #   html5lib
+    #   python-dateutil
+    #   sphinxext-delta
+    #   sphinxext-remoteliteralinclude
+smmap==5.0.2 \
+    --hash=sha256:26ea65a03958fa0c8a1c7e8c7a58fdc77221b8910f6be2131affade476898ad5 \
+    --hash=sha256:b30115f0def7d7531d22a0fb6502488d879e75b260a9db4d0819cfb25403af5e
+    # via gitdb
+snowballstemmer==3.0.1 \
+    --hash=sha256:6cd7b3897da8d6c9ffb968a6781fa6532dce9c3618a4b127d920dab764a19064 \
+    --hash=sha256:6d5eeeec8e9f84d4d56b847692bacf79bc2c8e90c7f80ca4444ff8b6f2e52895
+    # via sphinx
+soupsieve==2.8 \
+    --hash=sha256:0cc76456a30e20f5d7f2e14a98a4ae2ee4e5abdc7c5ea0aafe795f344bc7984c \
+    --hash=sha256:e2dd4a40a628cb5f28f6d4b0db8800b8f581b65bb380b97de22ba5ca8d72572f
+    # via beautifulsoup4
+sphinx==7.4.7 \
+    --hash=sha256:242f92a7ea7e6c5b406fdc2615413890ba9f699114a9c09192d7dfead2ee9cfe \
+    --hash=sha256:c2419e2135d11f1951cd994d6eb18a1835bd8fdd8429f9ca375dc1f3281bd239
+    # via
+    #   autodocsumm
+    #   frc-docs
+    #   modern-sphinx-version-warning
+    #   sphinx-autodoc-typehints
+    #   sphinx-contributors
+    #   sphinx-copybutton
+    #   sphinx-design
+    #   sphinx-hoverxref
+    #   sphinx-last-updated-by-git
+    #   sphinx-notfound-page
+    #   sphinx-prompt
+    #   sphinx-rtd-theme
+    #   sphinx-tabs
+    #   sphinx-toolbox
+    #   sphinxcontrib-jquery
+    #   sphinxcontrib-svg2pdfconverter
+    #   sphinxcontrib-video
+    #   sphinxext-delta
+    #   sphinxext-mimic
+    #   sphinxext-opengraph
+    #   sphinxext-photofinish
+    #   sphinxext-rediraffe
+    #   sphinxext-remoteliteralinclude
+    #   sphinxext-toptranslators
+sphinx-autodoc-typehints==2.3.0 \
+    --hash=sha256:3098e2c6d0ba99eacd013eb06861acc9b51c6e595be86ab05c08ee5506ac0c67 \
+    --hash=sha256:535c78ed2d6a1bad393ba9f3dfa2602cf424e2631ee207263e07874c38fde084
+    # via sphinx-toolbox
+sphinx-contributors==0.2.7 \
+    --hash=sha256:aace731366096f2104a06eca77b9354b11768ddec149d699520c254f09cbb4f4 \
+    --hash=sha256:f409295eb22f05606528ff3a9b93b4ae076d93d3153de13ff47bfcdd1c792463
+    # via frc-docs
+sphinx-copybutton==0.5.2 \
+    --hash=sha256:4cf17c82fb9646d1bc9ca92ac280813a3b605d8c421225fd9913154103ee1fbd \
+    --hash=sha256:fb543fd386d917746c9a2c50360c7905b605726b9355cd26e9974857afeae06e
+    # via frc-docs
+sphinx-design==0.6.1 \
+    --hash=sha256:b11f37db1a802a183d61b159d9a202314d4d2fe29c163437001324fe2f19549c \
+    --hash=sha256:b44eea3719386d04d765c1a8257caca2b3e6f8421d7b3a5e742c0fd45f84e632
+    # via frc-docs
+sphinx-hoverxref==1.4.2 \
+    --hash=sha256:4fc2e283e908d9df61ea9196589934944a7e2e6e3cb753a420b938cd6d14e220 \
+    --hash=sha256:74fab961b1b8c0e9c2cf22fa195c0e783d635e78686d39dd06ff157c196ca0c9
+    # via frc-docs
+sphinx-jinja2-compat==0.4.1 \
+    --hash=sha256:0188f0802d42c3da72997533b55a00815659a78d3f81d4b4747b1fb15a5728e6 \
+    --hash=sha256:64ca0d46f0d8029fbe69ea612793a55e6ef0113e1bba4a85d402158c09f17a14
+    # via sphinx-toolbox
+sphinx-last-updated-by-git==0.3.8 \
+    --hash=sha256:6382c8285ac1f222483a58569b78c0371af5e55f7fbf9c01e5e8a72d6fdfa499 \
+    --hash=sha256:c145011f4609d841805b69a9300099fc02fed8f5bb9e5bcef77d97aea97b7761
+    # via frc-docs
+sphinx-notfound-page==1.1.0 \
+    --hash=sha256:835dc76ff7914577a1f58d80a2c8418fb6138c0932c8da8adce4d9096fbcd389 \
+    --hash=sha256:913e1754370bb3db201d9300d458a8b8b5fb22e9246a816643a819a9ea2b8067
+    # via frc-docs
+sphinx-prompt==1.8.0 \
+    --hash=sha256:369ecc633f0711886f9b3a078c83264245be1adf46abeeb9b88b5519e4b51007 \
+    --hash=sha256:47482f86fcec29662fdfd23e7c04ef03582714195d01f5d565403320084372ed
+    # via sphinx-toolbox
+sphinx-rtd-theme==3.0.2 \
+    --hash=sha256:422ccc750c3a3a311de4ae327e82affdaf59eb695ba4936538552f3b00f4ee13 \
+    --hash=sha256:b7457bc25dda723b20b086a670b9953c859eab60a2a03ee8eb2bb23e176e5f85
+    # via frc-docs
+sphinx-tabs==3.4.5 \
+    --hash=sha256:92cc9473e2ecf1828ca3f6617d0efc0aa8acb06b08c56ba29d1413f2f0f6cf09 \
+    --hash=sha256:ba9d0c1e3e37aaadd4b5678449eb08176770e0fc227e769b6ce747df3ceea531
+    # via
+    #   frc-docs
+    #   sphinx-toolbox
+sphinx-toolbox==3.10.0 \
+    --hash=sha256:675e5978eaee31adf21701054fa75bacf820459d56e93ac30ad01eaee047a6ef \
+    --hash=sha256:6afea9ac9afabe76bd5bd4d2b01edfdad81d653a1a34768e776e6a56d5a6f572
+    # via frc-docs
+sphinxcontrib-applehelp==2.0.0 \
+    --hash=sha256:2f29ef331735ce958efa4734873f084941970894c6090408b079c61b2e1c06d1 \
+    --hash=sha256:4cd3f0ec4ac5dd9c17ec65e9ab272c9b867ea77425228e68ecf08d6b28ddbdb5
+    # via sphinx
+sphinxcontrib-devhelp==2.0.0 \
+    --hash=sha256:411f5d96d445d1d73bb5d52133377b4248ec79db5c793ce7dbe59e074b4dd1ad \
+    --hash=sha256:aefb8b83854e4b0998877524d1029fd3e6879210422ee3780459e28a1f03a8a2
+    # via sphinx
+sphinxcontrib-htmlhelp==2.1.0 \
+    --hash=sha256:166759820b47002d22914d64a075ce08f4c46818e17cfc9470a9786b759b19f8 \
+    --hash=sha256:c9e2916ace8aad64cc13a0d233ee22317f2b9025b9cf3295249fa985cc7082e9
+    # via
+    #   frc-docs
+    #   sphinx
+sphinxcontrib-jquery==4.1 \
+    --hash=sha256:1620739f04e36a2c779f1a131a2dfd49b2fd07351bf1968ced074365933abc7a \
+    --hash=sha256:f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae
+    # via
+    #   sphinx-hoverxref
+    #   sphinx-rtd-theme
+sphinxcontrib-jsmath==1.0.1 \
+    --hash=sha256:2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178 \
+    --hash=sha256:a9925e4a4587247ed2191a22df5f6970656cb8ca2bd6284309578f2153e0c4b8
+    # via sphinx
+sphinxcontrib-qthelp==2.0.0 \
+    --hash=sha256:4fe7d0ac8fc171045be623aba3e2a8f613f8682731f9153bb2e40ece16b9bbab \
+    --hash=sha256:b18a828cdba941ccd6ee8445dbe72ffa3ef8cbe7505d8cd1fa0d42d3f2d5f3eb
+    # via sphinx
+sphinxcontrib-serializinghtml==2.0.0 \
+    --hash=sha256:6e2cb0eef194e10c27ec0023bfeb25badbbb5868244cf5bc5bdc04e4464bf331 \
+    --hash=sha256:e9d912827f872c029017a53f0ef2180b327c3f7fd23c87229f7a8e8b70031d4d
+    # via
+    #   frc-docs
+    #   sphinx
+sphinxcontrib-svg2pdfconverter==1.3.0 \
+    --hash=sha256:5df6b0895e2e2101d720bfd08841bb56d74c57b1f86229a7c18b771dfdf4ffbb \
+    --hash=sha256:6411a4cc2f57eed96a0d7bbfa139f68cbe7983018881e1e6d7c46053cd69911f
+    # via frc-docs
+sphinxcontrib-video==0.4.1 \
+    --hash=sha256:75a033e71b7de124cc5902430b7ba818a1c6c377be6401d07e9f2329a95d5ca4 \
+    --hash=sha256:d63ec68983dac36960557973281a616b5d9e68838369763313fc80533b1ad774
+    # via frc-docs
+sphinxext-delta==0.3.1 \
+    --hash=sha256:02ce0044144b12f818051ee2545500cfda4e0f8ef4384f4bfa227c85f8b09d2f \
+    --hash=sha256:23f96cf5013fdb5cdd3edb1325dcca2c8a1e2792b70220a3731f218ca3bd253e
+    # via frc-docs
+sphinxext-mimic==0.1.1 \
+    --hash=sha256:08f0840a59c58ca71db1378fd5aeeba6149579de583b885658f9ddb59299a8c9 \
+    --hash=sha256:e1e5e0229811cc816eced0244c9591e1eead62b57a7e41371b9b3ef4c6eb854d
+    # via frc-docs
+sphinxext-opengraph==0.13.0 \
+    --hash=sha256:103335d08567ad8468faf1425f575e3b698e9621f9323949a6c8b96d9793e80b \
+    --hash=sha256:936c07828edc9ad9a7b07908b29596dc84ed0b3ceaa77acdf51282d232d4d80e
+    # via frc-docs
+sphinxext-photofinish==0.1.12 \
+    --hash=sha256:86563500edd76f882a4da4a93d804739040cac39bc4af729015ca17d66e7588e \
+    --hash=sha256:ea05a78f2ea0a0ece1f4082d2f0318a30ac2a1ee09a5b39fd9fd1fe6a485b75f
+    # via frc-docs
+sphinxext-rediraffe==0.2.7 \
+    --hash=sha256:651dcbfae5ffda9ffd534dfb8025f36120e5efb6ea1a33f5420023862b9f725d \
+    --hash=sha256:9e430a52d4403847f4ffb3a8dd6dfc34a9fe43525305131f52ed899743a5fd8c
+    # via frc-docs
+sphinxext-remoteliteralinclude==0.6.0 \
+    --hash=sha256:4752def3f2f5bca208a674f8be8bd7a07c033a10d8eaee8286639b3a986943e9 \
+    --hash=sha256:6e73050afd5aeb3c5a0827a0fb3811f868cf9e7ad836e457beb5a7cffab4fb1f
+    # via frc-docs
+sphinxext-toptranslators==0.1.3 \
+    --hash=sha256:524950d326f035955388bafac1f606263f186973a8f86b383faa75bd71db69f3 \
+    --hash=sha256:9d6d0eed96e84edd70a83711ccaca7c4914a29123f2507aa89f79bd9d7b7fe9f
+    # via frc-docs
+standard-imghdr==3.10.14 ; python_full_version >= '3.13' \
+    --hash=sha256:2598fe2e7c540dbda34b233295e10957ab8dc8ac6f3bd9eaa8d38be167232e52 \
+    --hash=sha256:cdf6883163349624dee9a81d2853a20260337c4cd41c04e99c082e01833a08e2
+    # via sphinx-jinja2-compat
+stevedore==5.6.0 \
+    --hash=sha256:4a36dccefd7aeea0c70135526cecb7766c4c84c473b1af68db23d541b6dc1820 \
+    --hash=sha256:f22d15c6ead40c5bbfa9ca54aa7e7b4a07d59b36ae03ed12ced1a54cf0b51945
+    # via doc8
+tabulate==0.9.0 \
+    --hash=sha256:0095b12bf5966de529c0feb1fa08671671b3368eec77d7ef7ab114be2c068b3c \
+    --hash=sha256:024ca478df22e9340661486f85298cff5f6dcdba14f3813e8830015b9ed1948f
+    # via sphinx-toolbox
+tinycss2==1.5.1 \
+    --hash=sha256:3415ba0f5839c062696996998176c4a3751d18b7edaaeeb658c9ce21ec150661 \
+    --hash=sha256:d339d2b616ba90ccce58da8495a78f46e55d4d25f9fd71dfd526f07e7d53f957
+    # via sphinxext-photofinish
+tomli==2.3.0 ; python_full_version < '3.11' \
+    --hash=sha256:00b5f5d95bbfc7d12f91ad8c593a1659b6387b43f054104cda404be6bda62456 \
+    --hash=sha256:0a154a9ae14bfcf5d8917a59b51ffd5a3ac1fd149b71b47a3a104ca4edcfa845 \
+    --hash=sha256:0c95ca56fbe89e065c6ead5b593ee64b84a26fca063b5d71a1122bf26e533999 \
+    --hash=sha256:1cb4ed918939151a03f33d4242ccd0aa5f11b3547d0cf30f7c74a408a5b99878 \
+    --hash=sha256:4021923f97266babc6ccab9f5068642a0095faa0a51a246a6a02fccbb3514eaf \
+    --hash=sha256:4dc4ce8483a5d429ab602f111a93a6ab1ed425eae3122032db7e9acf449451be \
+    --hash=sha256:4f195fe57ecceac95a66a75ac24d9d5fbc98ef0962e09b2eddec5d39375aae52 \
+    --hash=sha256:5192f562738228945d7b13d4930baffda67b69425a7f0da96d360b0a3888136b \
+    --hash=sha256:64be704a875d2a59753d80ee8a533c3fe183e3f06807ff7dc2232938ccb01549 \
+    --hash=sha256:73ee0b47d4dad1c5e996e3cd33b8a76a50167ae5f96a2607cbe8cc773506ab22 \
+    --hash=sha256:74bf8464ff93e413514fefd2be591c3b0b23231a77f901db1eb30d6f712fc42c \
+    --hash=sha256:792262b94d5d0a466afb5bc63c7daa9d75520110971ee269152083270998316f \
+    --hash=sha256:7b0882799624980785240ab732537fcfc372601015c00f7fc367c55308c186f6 \
+    --hash=sha256:883b1c0d6398a6a9d29b508c331fa56adbcdff647f6ace4dfca0f50e90dfd0ba \
+    --hash=sha256:88bd15eb972f3664f5ed4b57c1634a97153b4bac4479dcb6a495f41921eb7f45 \
+    --hash=sha256:97d5eec30149fd3294270e889b4234023f2c69747e555a27bd708828353ab606 \
+    --hash=sha256:a0e285d2649b78c0d9027570d4da3425bdb49830a6156121360b3f8511ea3441 \
+    --hash=sha256:a4ea38c40145a357d513bffad0ed869f13c1773716cf71ccaa83b0fa0cc4e42f \
+    --hash=sha256:ad805ea85eda330dbad64c7ea7a4556259665bdf9d2672f5dccc740eb9d3ca05 \
+    --hash=sha256:be71c93a63d738597996be9528f4abe628d1adf5e6eb11607bc8fe1a510b5dae \
+    --hash=sha256:c4665508bcbac83a31ff8ab08f424b665200c0e1e645d2bd9ab3d3e557b6185b \
+    --hash=sha256:d1381caf13ab9f300e30dd8feadb3de072aeb86f1d34a8569453ff32a7dea4bf \
+    --hash=sha256:d7d86942e56ded512a594786a5ba0a5e521d02529b3826e7761a05138341a2ac \
+    --hash=sha256:e31d432427dcbf4d86958c184b9bfd1e96b5b71f8eb17e6d02531f434fd335b8 \
+    --hash=sha256:e95b1af3c5b07d9e643909b5abbec77cd9f1217e6d0bca72b0234736b9fb1f1b \
+    --hash=sha256:ff72b71b5d10d22ecb084d345fc26f42b5143c5533db5e2eaba7d2d335358876
+    # via
+    #   black
+    #   doc8
+    #   sphinx
+typing-extensions==4.15.0 \
+    --hash=sha256:0cea48d173cc12fa28ecabc3b837ea3cf6f38c6d1136f85cbaaf598984861466 \
+    --hash=sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548
+    # via
+    #   beautifulsoup4
+    #   black
+    #   domdf-python-tools
+    #   sphinx-toolbox
+urllib3==2.6.3 \
+    --hash=sha256:1b62b6884944a57dbe321509ab94fd4d3b307075e0c2eae991ac71ee15ad38ed \
+    --hash=sha256:bf272323e553dfb2e87d9bfd225ca7b0f467b919d7bbd355436d3fd37cb0acd4
+    # via requests
+webencodings==0.5.1 \
+    --hash=sha256:a0af1213f3c2226497a97e2b3aa01a7e4bee4f403f95be16fc9acd2947514a78 \
+    --hash=sha256:b36a1c245f2d304965eb4e0a82848379241dc04b865afcc4aab16748587e1923
+    # via
+    #   html5lib
+    #   tinycss2
+zopfli==0.4.0 \
+    --hash=sha256:03181d48e719fcb6cf8340189c61e8f9883d8bbbdf76bf5212a74457f7d083c1 \
+    --hash=sha256:18b5f1570f64d4988482e4466f10ef5f2a30f687c19ad62a64560f2152dc89eb \
+    --hash=sha256:25e4863b8dc30e5d5309f87c106b0b7d3da4ed0e340b8a52b36d4471e797589f \
+    --hash=sha256:7d66337be6d5613dec55213e9ac28f378c41e2cc04fbad4a10748e4df774ca85 \
+    --hash=sha256:9097e8e1dfdb7f5aea5464e469946857e80502b6d29ba1b232450916bd4a74d1 \
+    --hash=sha256:a8ee992b2549e090cd3f0178bf606dd41a29e0613a04cdf5054224662c72dce6 \
+    --hash=sha256:b72a010d205d00b2855acc2302772067362f9ab5a012e3550662aec60d28e6b3 \
+    --hash=sha256:b8bdb41fbfdc4738b7bdc09ed7c1e951579fae192391a5e694d59bb186cdbec7 \
+    --hash=sha256:c3ba02a9a6ca90481d2b2f68bab038b310d63a1e3b5ae305e95a6599787ed941 \
+    --hash=sha256:d1b98ad47c434ef213444a03ef2f826eeec100144d64f6a57504b9893d3931ce \
+    --hash=sha256:f67d04280065e24cb9a4174cb6b3d1f763687f8cb2963aa135ad8f57c6995f5a \
+    --hash=sha256:f94e4dd7d76b4fe9f5d9229372be20d7f786164eea5152d1af1c34298c3d5975
+    # via fonttools
diff --git a/source/stubs/software-tools-stub.rst b/source/stubs/software-tools-stub.rst
index a1c68d8558..d8675b30ac 100644
--- a/source/stubs/software-tools-stub.rst
+++ b/source/stubs/software-tools-stub.rst
@@ -2,7 +2,7 @@
 
 # Software Tools
 
-Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool and more.
+Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool, and more.
 
 .. mimictoc::
    :maxdepth: 2
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 0000000000..56725af1cb
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,1896 @@
+version = 1
+revision = 3
+requires-python = ">=3.10, <3.14"
+resolution-markers = [
+    "python_full_version < '3.13'",
+    "python_full_version >= '3.13'",
+]
+
+[options]
+fork-strategy = "fewest"
+
+[[package]]
+name = "alabaster"
+version = "0.7.16"
+source = { registry = "https://pypi.org/simple" }
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+]
+
+[[package]]
+name = "apeye"
+version = "1.4.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "apeye-core" },
+    { name = "domdf-python-tools" },
+    { name = "platformdirs" },
+    { name = "requests" },
+]
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+]
+
+[[package]]
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+version = "1.1.5"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "domdf-python-tools" },
+    { name = "idna" },
+]
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+]
+
+[[package]]
+name = "autodocsumm"
+version = "0.2.14"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "sphinx" },
+]
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+]
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+[[package]]
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+version = "2.17.0"
+source = { registry = "https://pypi.org/simple" }
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+[[package]]
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+    { name = "mypy-extensions" },
+    { name = "packaging" },
+    { name = "pathspec" },
+    { name = "platformdirs" },
+    { name = "pytokens" },
+    { name = "tomli", marker = "python_full_version < '3.11'" },
+    { name = "typing-extensions", marker = "python_full_version < '3.11'" },
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