From e53db15a2003c4cd36a3e176c117bc4ba0d5dede Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Fri, 6 Sep 2024 10:15:22 -0400
Subject: [PATCH] Fix formatting in md code blocks (#2726)

---
 .../controllers/profiled-pidcontroller.rst    |  14 +-
 .../controllers/trapezoidal-profiles.rst      |   6 +-
 .../advanced-controls/filters/debouncer.rst   |  18 +-
 .../filters/linear-filter.rst                 |   6 +-
 .../filters/median-filter.rst                 |   2 +-
 .../filters/slew-rate-limiter.rst             |   8 +-
 .../state-space/state-space-debugging.rst     |   2 +-
 .../state-space/state-space-intro.rst         |  22 +-
 .../creating-routine.rst                      |   3 +-
 .../trajectories/constraints.rst              |   6 +-
 .../trajectories/holonomic.rst                |  12 +-
 .../trajectories/ramsete.rst                  |  12 +-
 .../trajectories/trajectory-generation.rst    |  12 +-
 .../transforming-trajectories.rst             |   6 +-
 .../trajectories/troubleshooting.rst          |  26 +-
 .../basic-programming/alliancecolor.rst       |   2 +-
 .../basic-programming/coordinate-system.rst   |  12 +-
 .../software/basic-programming/java-units.rst |   2 +-
 .../software/basic-programming/joystick.rst   |  28 +-
 .../basic-programming/reading-stacktraces.rst | 192 ++++----
 .../can-devices/power-distribution-module.rst |   2 +-
 .../binding-commands-to-triggers.rst          |   8 +-
 .../commandbased/command-compositions.rst     |  14 +-
 .../commandbased/organizing-command-based.rst |  62 +--
 .../docs/software/commandbased/subsystems.rst |  20 +-
 .../scheduling-functions.rst                  |  12 +-
 .../glass/command-based-widgets.rst           |   6 +-
 .../dashboards/glass/field2d-widget.rst       |  16 +-
 .../software/dashboards/glass/widgets.rst     |   4 +-
 ...e-labview-dashboard-with-c++-java-code.rst |  16 +-
 .../shuffleboard-commands-subsystems.rst      |   4 +-
 .../shuffleboard-tuning-pid.rst               |  14 +-
 .../custom-widgets/creating-plugins.rst       |   4 +-
 .../shuffleboard-displaying-data.rst          |   2 +-
 .../getting-started/shuffleboard-tour.rst     |   2 +-
 .../layouts-with-code/configuring-widgets.rst |   4 +-
 .../layouts-with-code/organizing-widgets.rst  |  10 +-
 .../layouts-with-code/retrieving-data.rst     |  18 +-
 .../layouts-with-code/sending-data.rst        |  16 +-
 .../layouts-with-code/using-tabs.rst          |   4 +-
 ...autonomous-program-from-smartdashboard.rst |   8 +-
 .../smartdashboard/displaying-expressions.rst |   2 +-
 ...ying-status-of-commands-and-subsystems.rst |   6 +-
 .../displaying-LiveWindow-values.rst          |  24 +-
 .../enabling-test-mode.rst                    |   6 +-
 .../verifying-smartdashboard-is-working.rst   |   8 +-
 .../hardware-apis/misc/addressable-leds.rst   |   8 +-
 .../motors/using-motor-controllers.rst        |  20 +-
 .../motors/wpi-drive-classes.rst              |  22 +-
 .../hardware-apis/pneumatics/solenoids.rst    |   8 +-
 .../sensors/accelerometers-software.rst       |  38 +-
 .../sensors/analog-inputs-software.rst        |  22 +-
 .../analog-potentiometers-software.rst        |  12 +-
 .../hardware-apis/sensors/counters.rst        |  52 +--
 .../sensors/digital-inputs-software.rst       |  20 +-
 .../sensors/encoders-software.rst             |  76 ++--
 .../hardware-apis/sensors/gyros-software.rst  | 164 +++----
 .../hardware-apis/sensors/limit-switch.rst    |   8 +-
 .../differential-drive-kinematics.rst         |  42 +-
 .../differential-drive-odometry.rst           |  10 +-
 .../intro-and-chassis-speeds.rst              |   4 +-
 .../mecanum-drive-kinematics.rst              |  38 +-
 .../mecanum-drive-odometry.rst                |  26 +-
 .../swerve-drive-kinematics.rst               |  70 +--
 .../swerve-drive-odometry.rst                 |  22 +-
 .../networktables/client-side-program.rst     |  28 +-
 .../networktables/listening-for-change.rst    |  94 ++--
 .../networktables/multiple-instances.rst      |  22 +-
 .../networktables-networking.rst              |  46 +-
 .../networktables/nt4-migration-guide.rst     |  70 +--
 .../networktables/publish-and-subscribe.rst   | 349 ++++++++-------
 ...rray-values-published-by-networktables.rst |  28 +-
 .../software/networktables/robot-program.rst  |  38 +-
 .../networktables/tables-and-topics.rst       |  24 +-
 .../pathweaver/integrating-robot-program.rst  |   6 +-
 source/docs/software/telemetry/datalog.rst    |  46 +-
 .../robot-telemetry-with-annotations.rst      |  56 +--
 .../robot-telemetry-with-sendable.rst         |   2 +-
 .../introduction/cameraserver-class.rst       |  24 +-
 .../roborio/using-multiple-cameras.rst        |  56 +--
 .../using-the-cameraserver-on-the-roborio.rst |   4 +-
 .../wpilibpi/basic-vision-example.rst         |  48 +-
 .../wpilibpi/using-cameraserver.rst           |  22 +-
 .../wpilibpi/working-with-contours.rst        |  12 +-
 .../robot-simulation/device-sim.rst           |   2 +-
 .../drivesim-tutorial/drivetrain-model.rst    |  26 +-
 .../drivesim-tutorial/odometry-simgui.rst     |   6 +-
 .../drivesim-tutorial/simulation-instance.rst |  16 +-
 .../updating-drivetrain-model.rst             |  16 +-
 .../robot-simulation/simulation-gui.rst       |   2 +-
 ...robotbuilder-writing-pidsubsystem-code.rst |  48 +-
 .../robotbuilder-created-code.rst             | 411 ++++++++++++------
 .../writing-code/robotbuilder-drive-tank.rst  | 328 +++++++++-----
 .../robotbuilder-writing-command-code.rst     | 165 ++++---
 .../robotbuilder-writing-subsystem-code.rst   | 148 +++++--
 .../docs/yearly-overview/2020-Game-Data.rst   |   4 +-
 ...est-drivetrain-program-cpp-java-python.rst |  24 +-
 97 files changed, 1938 insertions(+), 1578 deletions(-)

diff --git a/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst b/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
index 4a2ae3ada3..5c3c0fc09e 100644
--- a/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
+++ b/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
@@ -121,19 +121,19 @@ The returned setpoint might then be used as in the following example:
   from wpilib import Timer
   from wpilib.controller import ProfiledPIDController
   from wpilib.controller import SimpleMotorFeedforward
-      def __init__(self):
-        # Assuming encoder, motor, controller are already defined
+  def __init__(self):
+      # Assuming encoder, motor, controller are already defined
       self.lastSpeed = 0
       self.lastTime = Timer.getFPGATimestamp()
-        # Assuming feedforward is a SimpleMotorFeedforward object
+      # 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)
+  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(
+      self.motor.setVoltage(
           pidVal
           + self.feedforward.calculate(self.controller.getSetpoint().velocity, acceleration))
-        self.lastSpeed = controller.getSetpoint().velocity
+      self.lastSpeed = controller.getSetpoint().velocity
       self.lastTime = Timer.getFPGATimestamp()
   ```
 
diff --git a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
index 79a4798b18..562bcf0ba0 100644
--- a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
+++ b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
@@ -40,7 +40,7 @@ In order to create a trapezoidal motion profile, we must first impose some const
 
   ```python
   from wpimath.trajectory import TrapezoidProfile
-    # Creates a new set of trapezoidal motion profile constraints
+  # Creates a new set of trapezoidal motion profile constraints
   # Max velocity of 10 meters per second
   # Max acceleration of 20 meters per second squared
   TrapezoidProfile.Constraints(10, 20)
@@ -66,7 +66,7 @@ Next, we must specify the desired starting and ending states for our mechanisms
 
   ```python
   from wpimath.trajectory import TrapezoidProfile
-    # Creates a new state with a position of 5 meters
+  # Creates a new state with a position of 5 meters
   # and a velocity of 0 meters per second
   TrapezoidProfile.State(5, 0)
   ```
@@ -96,7 +96,7 @@ Now that we know how to create a set of constraints and the desired start/end st
 
   ```python
   from wpimath.trajectory import TrapezoidProfile
-    # Creates a new TrapezoidProfile
+  # Creates a new TrapezoidProfile
   # Profile will have a max vel of 5 meters per second
   # Profile will have a max acceleration of 10 meters per second squared
   profile = TrapezoidProfile(TrapezoidProfile.Constraints(5, 10))
diff --git a/source/docs/software/advanced-controls/filters/debouncer.rst b/source/docs/software/advanced-controls/filters/debouncer.rst
index a1fec9981c..2640ab3a8e 100644
--- a/source/docs/software/advanced-controls/filters/debouncer.rst
+++ b/source/docs/software/advanced-controls/filters/debouncer.rst
@@ -19,33 +19,33 @@ The WPILib ``Debouncer`` can be configured in three different modes:
   ```java
   // Initializes a DigitalInput on DIO 0
   DigitalInput input = new DigitalInput(0);
-    // Creates a Debouncer in "both" mode.
+  // Creates a Debouncer in "both" mode.
   Debouncer m_debouncer = new Debouncer(0.1, Debouncer.DebounceType.kBoth);
-    // So if currently false the signal must go true for at least .1 seconds before being read as a True signal.
+  // So if currently false the signal must go true for at least .1 seconds before being read as a True signal.
   if (m_debouncer.calculate(input.get())) {
-      // Do something now that the DI is True.
+    // Do something now that the DI is True.
   }
   ```
 
   ```c++
   // Initializes a DigitalInput on DIO 0
   frc::DigitalInput input{0};
-    // Creates a Debouncer in "both" mode.
+  // Creates a Debouncer in "both" mode.
   frc::Debouncer m_debouncer{100_ms, frc::Debouncer::DebounceType::kBoth};
-    // So if currently false the signal must go true for at least .1 seconds before being read as a True signal.
+  // So if currently false the signal must go true for at least .1 seconds before being read as a True signal.
   if (m_debouncer.calculate(input.Get())) {
-      // Do something now that the DI is True.
+    // Do something now that the DI is True.
   }
   ```
 
   ```python
   from wpilib import DigitalInput
   from wpimath.filter import Debouncer
-    # Initializes a DigitalInput on DIO 0
+  # Initializes a DigitalInput on DIO 0
   self.input = DigitalInput(0)
-    # Creates a Debouncer in "both" mode with a debounce time of 0.1 seconds
+  # Creates a Debouncer in "both" mode with a debounce time of 0.1 seconds
   self.debouncer = Debouncer(0.1, Debouncer.DebounceType.kBoth)
-    # If currently false, the signal must go true for at least 0.1 seconds before being read as a True signal.
+  # If currently false, the signal must go true for at least 0.1 seconds before being read as a True signal.
   if self.debouncer.calculate(self.input.get()):
       # Do something now that the DI is True.
       pass
diff --git a/source/docs/software/advanced-controls/filters/linear-filter.rst b/source/docs/software/advanced-controls/filters/linear-filter.rst
index 320222f0b2..89670dde5f 100644
--- a/source/docs/software/advanced-controls/filters/linear-filter.rst
+++ b/source/docs/software/advanced-controls/filters/linear-filter.rst
@@ -45,7 +45,7 @@ The ``singlePoleIIR()`` factory method creates a single-pole infinite impulse re
 
   ```python
   from wpimath.filter import LinearFilter
-    # Creates a new Single-Pole IIR filter
+  # Creates a new Single-Pole IIR filter
   # Time constant is 0.1 seconds
   # Period is 0.02 seconds - this is the standard FRC main loop period
   filter = LinearFilter.singlePoleIIR(0.1, 0.02)
@@ -78,7 +78,7 @@ The ``movingAverage`` factory method creates a simple flat moving average filter
 
   ```python
   from wpimath.filter import LinearFilter
-    # Creates a new flat moving average filter
+  # Creates a new flat moving average filter
   # Average will be taken over the last 5 samples
   filter = LinearFilter.movingAverage(5)
   ```
@@ -110,7 +110,7 @@ The ``highPass`` factory method creates a simple first-order infinite impulse re
 
   ```python
   from wpimath.filter import LinearFilter
-    # Creates a new high-pass IIR filter
+  # Creates a new high-pass IIR filter
   # Time constant is 0.1 seconds
   # Period is 0.02 seconds - this is the standard FRC main loop period
   filter = LinearFilter.highPass(0.1, 0.02)
diff --git a/source/docs/software/advanced-controls/filters/median-filter.rst b/source/docs/software/advanced-controls/filters/median-filter.rst
index 86e1fba182..69ea251aaf 100644
--- a/source/docs/software/advanced-controls/filters/median-filter.rst
+++ b/source/docs/software/advanced-controls/filters/median-filter.rst
@@ -31,7 +31,7 @@ Creating a ``MedianFilter`` is simple:
 
   ```python
   from wpimath.filter import MedianFilter
-    # Creates a MedianFilter with a window size of 5 samples
+  # Creates a MedianFilter with a window size of 5 samples
   filter = MedianFilter(5)
   ```
 
diff --git a/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst b/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst
index a38ceb7f6a..2b091adaf2 100644
--- a/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst
+++ b/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst
@@ -30,7 +30,7 @@ Creating a SlewRateLimiter is simple:
 
   ```python
   from wpimath.filter import SlewRateLimiter
-    # Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 units per second
+  # Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 units per second
   filter = SlewRateLimiter(0.5)
   ```
 
@@ -66,21 +66,21 @@ A typical use of a SlewRateLimiter is to limit the acceleration of a robot's dri
   ```java
   // Ordinary call with no ramping applied
   drivetrain.arcadeDrive(forward, turn);
-    // Slew-rate limits the forward/backward input, limiting forward/backward acceleration
+  // Slew-rate limits the forward/backward input, limiting forward/backward acceleration
   drivetrain.arcadeDrive(filter.calculate(forward), turn);
   ```
 
   ```c++
   // Ordinary call with no ramping applied
   drivetrain.ArcadeDrive(forward, turn);
-    // Slew-rate limits the forward/backward input, limiting forward/backward acceleration
+  // Slew-rate limits the forward/backward input, limiting forward/backward acceleration
   drivetrain.ArcadeDrive(filter.Calculate(forward), turn);
   ```
 
   ```python
   # Ordinary call with no ramping applied
   drivetrain.arcadeDrive(forward, turn)
-    # Slew-rate limits the forward/backward input, limiting forward/backward acceleration
+  # Slew-rate limits the forward/backward input, limiting forward/backward acceleration
   drivetrain.arcadeDrive(filter.calculate(forward), turn)
   ```
 
diff --git a/source/docs/software/advanced-controls/state-space/state-space-debugging.rst b/source/docs/software/advanced-controls/state-space/state-space-debugging.rst
index 7b6bbdff00..4d3929b82f 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-debugging.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-debugging.rst
@@ -32,7 +32,7 @@ Reliable data of the :term:`system's <system>` :term:`state`\s, :term:`input`\s
 
    ```python
    from ntcore import NetworkTableInstance
-      def robotPeriodic(self):
+   def robotPeriodic(self):
       NetworkTableInstance.getDefault().flush()
    ```
 
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 7f5c006b6a..57c29ac63a 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-intro.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-intro.rst
@@ -174,21 +174,21 @@ For example, we might use the following Q and R for an elevator system with posi
 
    ```C++
    // Example system -- must be changed to match your robot.
-      LinearSystem<2, 1, 1> elevatorSystem = frc::LinearSystemId::IdentifyVelocitySystem(5, 0.5);
-      LinearQuadraticRegulator<2, 1> controller{
-         elevatorSystem,
-         // q's elements
-         {0.02, 0.4},
-         // r's elements
-         {12.0},
-         // our dt
-         0.020_s};
+   LinearSystem<2, 1, 1> elevatorSystem = frc::LinearSystemId::IdentifyVelocitySystem(5, 0.5);
+   LinearQuadraticRegulator<2, 1> controller{
+       elevatorSystem,
+       // q's elements
+       {0.02, 0.4},
+       // r's elements
+       {12.0},
+       // our dt
+       0.020_s};
    ```
 
    ```python
    from wpimath.controller import LinearQuadraticRegulator_2_1
    from wpimath.system.plant import LinearSystemId
-         # Example system -- must be changed to match your robot.
+   # Example system -- must be changed to match your robot.
    elevatorSystem = LinearSystemId.identifyPositionSystemMeters(5, 0.5)
    controller = LinearQuadraticRegulator_2_1(
       elevatorSystem,
@@ -199,7 +199,7 @@ For example, we might use the following Q and R for an elevator system with posi
       # our dt
       0.020,
    )
-      ```
+   ```
 
 ### LQR: example application
 
diff --git a/source/docs/software/advanced-controls/system-identification/creating-routine.rst b/source/docs/software/advanced-controls/system-identification/creating-routine.rst
index fccf613ac9..fd0d7cdb98 100644
--- a/source/docs/software/advanced-controls/system-identification/creating-routine.rst
+++ b/source/docs/software/advanced-controls/system-identification/creating-routine.rst
@@ -59,7 +59,8 @@ To be able to run the tests, SysIdRoutine exposes test "factories", or functions
   public Command sysIdQuasistatic(SysIdRoutine.Direction direction) {
     return routine.quasistatic(direction);
   }
-    public Command sysIdDynamic(SysIdRoutine.Direction direction) {
+
+  public Command sysIdDynamic(SysIdRoutine.Direction direction) {
     return routine.dynamic(direction);
   }
   ```
diff --git a/source/docs/software/advanced-controls/trajectories/constraints.rst b/source/docs/software/advanced-controls/trajectories/constraints.rst
index b54221b524..89a1837ee6 100644
--- a/source/docs/software/advanced-controls/trajectories/constraints.rst
+++ b/source/docs/software/advanced-controls/trajectories/constraints.rst
@@ -42,7 +42,7 @@ Users can create their own constraint by implementing the ``TrajectoryConstraint
    units::meters_per_second_t velocity) override {
      // code here
    }
-      MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
+   MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
                          units::meters_per_second_t speed) override {
      // code here
    }
@@ -52,7 +52,7 @@ Users can create their own constraint by implementing the ``TrajectoryConstraint
    from wpimath import units
    from wpimath.geometry import Pose2d
    from wpimath.trajectory.constraint import TrajectoryConstraint
-         class MyConstraint(TrajectoryConstraint):
+   class MyConstraint(TrajectoryConstraint):
        def maxVelocity(
            self,
            pose: Pose2d,
@@ -60,7 +60,7 @@ Users can create their own constraint by implementing the ``TrajectoryConstraint
            velocity: units.meters_per_second,
        ) -> units.meters_per_second:
            ...
-          def minMaxAcceleration(
+       def minMaxAcceleration(
            self,
            pose: Pose2d,
            curvature: units.radians_per_meter,
diff --git a/source/docs/software/advanced-controls/trajectories/holonomic.rst b/source/docs/software/advanced-controls/trajectories/holonomic.rst
index ff162e0159..74ee8778bf 100644
--- a/source/docs/software/advanced-controls/trajectories/holonomic.rst
+++ b/source/docs/software/advanced-controls/trajectories/holonomic.rst
@@ -39,7 +39,7 @@ The final parameter is a ``ProfiledPIDController`` for the rotation of the robot
       ProfiledPIDControllerRadians,
    )
    from wpimath.trajectory import TrapezoidProfileRadians
-      controller = HolonomicDriveController(
+   controller = HolonomicDriveController(
       PIDController(1, 0, 0),
       PIDController(1, 0, 0),
       ProfiledPIDControllerRadians(
@@ -62,7 +62,7 @@ The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Jav
    ```java
    // Sample the trajectory at 3.4 seconds from the beginning.
    Trajectory.State goal = trajectory.sample(3.4);
-      // Get the adjusted speeds. Here, we want the robot to be facing
+   // Get the adjusted speeds. Here, we want the robot to be facing
    // 70 degrees (in the field-relative coordinate system).
    ChassisSpeeds adjustedSpeeds = controller.calculate(
      currentRobotPose, goal, Rotation2d.fromDegrees(70.0));
@@ -71,7 +71,7 @@ The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Jav
    ```c++
    // Sample the trajectoty at 3.4 seconds from the beginning.
    const auto goal = trajectory.Sample(3.4_s);
-      // Get the adjusted speeds. Here, we want the robot to be facing
+   // Get the adjusted speeds. Here, we want the robot to be facing
    // 70 degrees (in the field-relative coordinate system).
    const auto adjustedSpeeds = controller.Calculate(
      currentRobotPose, goal, 70_deg);
@@ -79,9 +79,9 @@ The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Jav
 
    ```python
    from wpimath.geometry import Rotation2d
-      # Sample the trajectory at 3.4 seconds from the beginning.
+   # Sample the trajectory at 3.4 seconds from the beginning.
    goal = trajectory.sample(3.4)
-      # Get the adjusted speeds. Here, we want the robot to be facing
+   # Get the adjusted speeds. Here, we want the robot to be facing
    # 70 degrees (in the field-relative coordinate system).
    adjustedSpeeds = controller.calculate(
       currentRobotPose, goal, Rotation2d.fromDegrees(70.0)
@@ -96,7 +96,7 @@ The returned adjusted speeds can be converted into usable speeds using the kinem
 .. tab-set-code::
    ```java
    SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(adjustedSpeeds);
-      SwerveModuleState frontLeft = moduleStates[0];
+   SwerveModuleState frontLeft = moduleStates[0];
    SwerveModuleState frontRight = moduleStates[1];
    SwerveModuleState backLeft = moduleStates[2];
    SwerveModuleState backRight = moduleStates[3];
diff --git a/source/docs/software/advanced-controls/trajectories/ramsete.rst b/source/docs/software/advanced-controls/trajectories/ramsete.rst
index 3363dc2d51..9f54540b6e 100644
--- a/source/docs/software/advanced-controls/trajectories/ramsete.rst
+++ b/source/docs/software/advanced-controls/trajectories/ramsete.rst
@@ -11,7 +11,7 @@ The Ramsete controller should be initialized with two gains, namely ``b`` and ``
    // Using the default constructor of RamseteController. Here
    // the gains are initialized to 2.0 and 0.7.
    RamseteController controller1 = new RamseteController();
-      // Using the secondary constructor of RamseteController where
+   // Using the secondary constructor of RamseteController where
    // the user can choose any other gains.
    RamseteController controller2 = new RamseteController(2.1, 0.8);
    ```
@@ -20,20 +20,20 @@ The Ramsete controller should be initialized with two gains, namely ``b`` and ``
    // Using the default constructor of RamseteController. Here
    // the gains are initialized to 2.0 and 0.7.
    frc::RamseteController controller1;
-      // Using the secondary constructor of RamseteController where
+   // Using the secondary constructor of RamseteController where
    // the user can choose any other gains.
    frc::RamseteController controller2{2.1, 0.8};
    ```
 
    ```python
    from wpimath.controller import RamseteController
-      # Using the default constructor of RamseteController. Here
+   # Using the default constructor of RamseteController. Here
    # the gains are initialized to 2.0 and 0.7.
    controller1 = RamseteController()
-      # Using the secondary constructor of RamseteController where
+   # Using the secondary constructor of RamseteController where
    # the user can choose any other gains.
    controller2 = RamseteController(2.1, 0.8)
-      ```
+   ```
 
 ## Getting Adjusted Velocities
 The Ramsete controller returns "adjusted velocities" so that the when the robot tracks these velocities, it accurately reaches the goal point. The controller should be updated periodically with the new goal. The goal comprises of a desired pose, desired linear velocity, and desired angular velocity. Furthermore, the current position of the robot should also be updated periodically. The controller uses these four arguments to return the adjusted linear and angular velocity. Users should command their robot to these linear and angular velocities to achieve optimal trajectory tracking.
@@ -47,7 +47,7 @@ The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Jav
    ```java
    Trajectory.State goal = trajectory.sample(3.4); // sample the trajectory at 3.4 seconds from the beginning
    ChassisSpeeds adjustedSpeeds = controller.calculate(currentRobotPose, goal);
-      ```
+   ```
 
    ```c++
    const Trajectory::State goal = trajectory.Sample(3.4_s); // sample the trajectory at 3.4 seconds from the beginning
diff --git a/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst b/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst
index 8d0d1bcc95..e408bda5a1 100644
--- a/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst
+++ b/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst
@@ -80,13 +80,13 @@ Trajectories in Java can be combined into a single trajectory using the ``concat
       List.of(new Translation2d(1, 1), new Translation2d(2, -1)),
       new Pose2d(3, 0, Rotation2d.fromDegrees(0)),
       new TrajectoryConfig(Units.feetToMeters(3.0), Units.feetToMeters(3.0)));
-      var trajectoryTwo =
+   var trajectoryTwo =
    TrajectoryGenerator.generateTrajectory(
       new Pose2d(3, 0, Rotation2d.fromDegrees(0)),
       List.of(new Translation2d(4, 4), new Translation2d(6, 3)),
       new Pose2d(6, 0, Rotation2d.fromDegrees(0)),
       new TrajectoryConfig(Units.feetToMeters(3.0), Units.feetToMeters(3.0)));
-      var concatTraj = trajectoryOne.concatenate(trajectoryTwo);
+   var concatTraj = trajectoryOne.concatenate(trajectoryTwo);
    ```
 
    ```c++
@@ -94,23 +94,23 @@ Trajectories in Java can be combined into a single trajectory using the ``concat
       frc::Pose2d(0_m, 0_m, 0_rad),
       {frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
       frc::Pose2d(3_m, 0_m, 0_rad), frc::TrajectoryConfig(3_fps, 3_fps_sq));
-      auto trajectoryTwo = frc::TrajectoryGenerator::GenerateTrajectory(
+   auto trajectoryTwo = frc::TrajectoryGenerator::GenerateTrajectory(
       frc::Pose2d(3_m, 0_m, 0_rad),
       {frc::Translation2d(4_m, 4_m), frc::Translation2d(5_m, 3_m)},
       frc::Pose2d(6_m, 0_m, 0_rad), frc::TrajectoryConfig(3_fps, 3_fps_sq));
-      auto concatTraj = m_trajectoryOne + m_trajectoryTwo;
+   auto concatTraj = m_trajectoryOne + m_trajectoryTwo;
    ```
 
    ```python
    from wpimath.geometry import Pose2d, Rotation2d, Translation2d
    from wpimath.trajectory import TrajectoryGenerator, TrajectoryConfig
-         trajectoryOne = TrajectoryGenerator.generateTrajectory(
+   trajectoryOne = TrajectoryGenerator.generateTrajectory(
       Pose2d(0, 0, Rotation2d.fromDegrees(0)),
       [Translation2d(1, 1), Translation2d(2, -1)],
       Pose2d(3, 0, Rotation2d.fromDegrees(0)),
       TrajectoryConfig.fromFps(3.0, 3.0),
    )
-      trajectoryTwo = TrajectoryGenerator.generateTrajectory(
+   trajectoryTwo = TrajectoryGenerator.generateTrajectory(
       Pose2d(3, 0, Rotation2d.fromDegrees(0)),
       [Translation2d(4, 4), Translation2d(6, 3)],
       Pose2d(6, 0, Rotation2d.fromDegrees(0)),
diff --git a/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst b/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst
index 90704a97eb..867db91533 100644
--- a/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst
+++ b/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst
@@ -24,7 +24,7 @@ For example, a trajectory defined in coordinate system A can be redefined in coo
 
    ```python
    from wpimath.geometry import Pose2d, Rotation2d
-      bOrigin = Pose2d(3, 3, Rotation2d.fromDegrees(30))
+   bOrigin = Pose2d(3, 3, Rotation2d.fromDegrees(30))
    bTrajectory = aTrajectory.relativeTo(bOrigin)
    ```
 
@@ -53,9 +53,9 @@ For example, one may want to transform a trajectory that begins at (2, 2, 30 deg
 
    ```python
    from wpimath.geometry import Pose2d, Rotation2d
-      transform = Pose2d(4, 4, Rotation2d.fromDegrees(50)) - trajectory.initialPose()
+   transform = Pose2d(4, 4, Rotation2d.fromDegrees(50)) - trajectory.initialPose()
    newTrajectory = trajectory.transformBy(transform)
-      ```
+   ```
 
 .. image:: images/transform-by.png
    :alt: Coordinate system plot of a transformed trajectory.
diff --git a/source/docs/software/advanced-controls/trajectories/troubleshooting.rst b/source/docs/software/advanced-controls/trajectories/troubleshooting.rst
index d296fe3923..fdd4ba3e30 100644
--- a/source/docs/software/advanced-controls/trajectories/troubleshooting.rst
+++ b/source/docs/software/advanced-controls/trajectories/troubleshooting.rst
@@ -61,12 +61,12 @@ If your odometry is bad, then your Ramsete controller may misbehave, because it
    ```java
    NetworkTableEntry m_xEntry = NetworkTableInstance.getDefault().getTable("troubleshooting").getEntry("X");
    NetworkTableEntry m_yEntry = NetworkTableInstance.getDefault().getTable("troubleshooting").getEntry("Y");
-      @Override
+   @Override
    public void periodic() {
        // Update the odometry in the periodic block
        m_odometry.update(Rotation2d.fromDegrees(getHeading()), m_leftEncoder.getDistance(),
            m_rightEncoder.getDistance());
-          var translation = m_odometry.getPoseMeters().getTranslation();
+       var translation = m_odometry.getPoseMeters().getTranslation();
        m_xEntry.setNumber(translation.getX());
        m_yEntry.setNumber(translation.getY());
    }
@@ -75,12 +75,12 @@ If your odometry is bad, then your Ramsete controller may misbehave, because it
    ```c++
    NetworkTableEntry m_xEntry = nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting")->GetEntry("X");
    NetworkTableEntry m_yEntry = nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting")->GetEntry("Y");
-      void DriveSubsystem::Periodic() {
+   void DriveSubsystem::Periodic() {
        // Implementation of subsystem periodic method goes here.
        m_odometry.Update(frc::Rotation2d(units::degree_t(GetHeading())),
                            units::meter_t(m_leftEncoder.GetDistance()),
                            units::meter_t(m_rightEncoder.GetDistance()));
-          auto translation = m_odometry.GetPose().Translation();
+       auto translation = m_odometry.GetPose().Translation();
        m_xEntry.SetDouble(translation.X().value());
        m_yEntry.SetDouble(translation.Y().value());
    }
@@ -115,7 +115,7 @@ If your feedforwards are bad then the P controllers for each side of the robot w
    ```java
    RamseteController m_disabledRamsete = new RamseteController();
    m_disabledRamsete.setEnabled(false);
-      // Be sure to pass your new disabledRamsete variable
+   // Be sure to pass your new disabledRamsete variable
    RamseteCommand ramseteCommand = new RamseteCommand(
        exampleTrajectory,
        m_robotDrive::getPose,
@@ -127,7 +127,7 @@ If your feedforwards are bad then the P controllers for each side of the robot w
    ```c++
    frc::RamseteController m_disabledRamsete;
    m_disabledRamsete.SetEnabled(false);
-      // Be sure to pass your new disabledRamsete variable
+   // Be sure to pass your new disabledRamsete variable
    frc2::RamseteCommand ramseteCommand(
      exampleTrajectory,
      [this]() { return m_drive.GetPose(); },
@@ -146,7 +146,7 @@ If your feedforwards are bad then the P controllers for each side of the robot w
    var leftMeasurement = table.getEntry("left_measurement");
    var rightReference = table.getEntry("right_reference");
    var rightMeasurement = table.getEntry("right_measurement");
-      var leftController = new PIDController(kPDriveVel, 0, 0);
+   var leftController = new PIDController(kPDriveVel, 0, 0);
    var rightController = new PIDController(kPDriveVel, 0, 0);
    RamseteCommand ramseteCommand = new RamseteCommand(
        exampleTrajectory,
@@ -160,9 +160,9 @@ If your feedforwards are bad then the P controllers for each side of the robot w
        // RamseteCommand passes volts to the callback
        (leftVolts, rightVolts) -> {
            m_robotDrive.tankDriveVolts(leftVolts, rightVolts);
-              leftMeasurement.setNumber(m_robotDrive.getWheelSpeeds().leftMetersPerSecond);
+           leftMeasurement.setNumber(m_robotDrive.getWheelSpeeds().leftMetersPerSecond);
            leftReference.setNumber(leftController.getSetpoint());
-              rightMeasurement.setNumber(m_robotDrive.getWheelSpeeds().rightMetersPerSecond);
+           rightMeasurement.setNumber(m_robotDrive.getWheelSpeeds().rightMetersPerSecond);
            rightReference.setNumber(rightController.getSetpoint());
        },
        m_robotDrive
@@ -176,7 +176,7 @@ If your feedforwards are bad then the P controllers for each side of the robot w
    auto leftMeas = table->GetEntry("left_measurement");
    auto rightRef = table->GetEntry("right_reference");
    auto rightMeas = table->GetEntry("right_measurement");
-      frc::PIDController leftController(DriveConstants::kPDriveVel, 0, 0);
+   frc::PIDController leftController(DriveConstants::kPDriveVel, 0, 0);
    frc::PIDController rightController(DriveConstants::kPDriveVel, 0, 0);
    frc2::RamseteCommand ramseteCommand(
        exampleTrajectory, [this]() { return m_drive.GetPose(); },
@@ -192,10 +192,10 @@ If your feedforwards are bad then the P controllers for each side of the robot w
            auto leftMeasurement = leftMeas;
            auto rightReference = rightRef;
            auto rightMeasurement = rightMeas;
-              m_drive.TankDriveVolts(left, right);
-              leftMeasurement.SetDouble(m_drive.GetWheelSpeeds().left.value());
+           m_drive.TankDriveVolts(left, right);
+           leftMeasurement.SetDouble(m_drive.GetWheelSpeeds().left.value());
            leftReference.SetDouble(leftController.GetSetpoint());
-              rightMeasurement.SetDouble(m_drive.GetWheelSpeeds().right.value());
+           rightMeasurement.SetDouble(m_drive.GetWheelSpeeds().right.value());
            rightReference.SetDouble(rightController.GetSetpoint());
        },
        {&m_drive});
diff --git a/source/docs/software/basic-programming/alliancecolor.rst b/source/docs/software/basic-programming/alliancecolor.rst
index 519a628118..87ea884f42 100644
--- a/source/docs/software/basic-programming/alliancecolor.rst
+++ b/source/docs/software/basic-programming/alliancecolor.rst
@@ -40,7 +40,7 @@ Note that there are three cases: red, blue, and no color yet.  It is important t
 
   ```Python
   from wpilib import DriverStation
-    ally = DriverStation.getAlliance()
+  ally = DriverStation.getAlliance()
   if ally is not None:
       if ally == DriverStation.Alliance.kRed:
           <RED ACTION>
diff --git a/source/docs/software/basic-programming/coordinate-system.rst b/source/docs/software/basic-programming/coordinate-system.rst
index 10495b8f4b..e10316af13 100644
--- a/source/docs/software/basic-programming/coordinate-system.rst
+++ b/source/docs/software/basic-programming/coordinate-system.rst
@@ -255,10 +255,10 @@ A simple way to deal with field oriented driving is to check the alliance color
    if (alliance.isPresent() && alliance.get() == Alliance.Red) {
        invert = -1;
    }
-      // Create field relative ChassisSpeeds for controlling Swerve
+   // Create field relative ChassisSpeeds for controlling Swerve
    var chassisSpeeds = ChassisSpeeds
            .fromFieldRelativeSpeeds(xSpeed * invert, ySpeed * invert, zRotation, imu.getRotation2d());
-      // Control a mecanum drivetrain
+   // Control a mecanum drivetrain
    m_robotDrive.driveCartesian(xSpeed * invert, ySpeed * invert, zRotation, imu.getRotation2d());
    ```
 
@@ -268,10 +268,10 @@ A simple way to deal with field oriented driving is to check the alliance color
    if (frc::DriverStation::GetAlliance() == frc::DriverStation::Alliance::kRed) {
        invert = -1;
    }
-      // Create field relative ChassisSpeeds for controlling Swerve
+   // Create field relative ChassisSpeeds for controlling Swerve
    frc::ChassisSpeeds chassisSpeeds =
            frc::ChassisSpeeds::FromFieldRelativeSpeeds(xSpeed * invert, ySpeed * invert, zRotation, imu.GetRotation2d());
-      // Control a mecanum drivetrain
+   // Control a mecanum drivetrain
    m_robotDrive.driveCartesian(xSpeed * invert, ySpeed * invert, zRotation, imu.GetRotation2d());
    ```
 
@@ -280,11 +280,11 @@ A simple way to deal with field oriented driving is to check the alliance color
    invert = 1
    if wpilib.DriverStation.getAlliance() == wpilib.DriverStation.Alliance.kRed:
        invert = -1
-      # Create field relative ChassisSpeeds for controlling Swerve
+   # Create field relative ChassisSpeeds for controlling Swerve
    chassis_speeds = wpilib.ChassisSpeeds.FromFieldRelativeSpeeds(
        xSpeed * invert, ySpeed * invert, zRotation, self.imu.GetAngle()
    )
-      # Control a mecanum drivetrain
+   # Control a mecanum drivetrain
    self.robotDrive.driveCartesian(xSpeed * invert, ySpeed * invert, zRotation, self.imu.GetAngle())
    ```
 
diff --git a/source/docs/software/basic-programming/java-units.rst b/source/docs/software/basic-programming/java-units.rst
index 7883d3fc50..813d2cd59e 100644
--- a/source/docs/software/basic-programming/java-units.rst
+++ b/source/docs/software/basic-programming/java-units.rst
@@ -238,7 +238,7 @@ This is because the ``m_lastDistance`` field is a reference to the *same* ``Muta
 
       ```java
       private Measure<Distance> m_lastDistance;
-            public Measure<Distance> calculateDelta(Measure<Distance> currentDistance) {
+      public Measure<Distance> calculateDelta(Measure<Distance> currentDistance) {
         if (m_lastDistance == null) {
           m_lastDistance = currentDistance.copy();
           return currentDistance;
diff --git a/source/docs/software/basic-programming/joystick.rst b/source/docs/software/basic-programming/joystick.rst
index 9a95a7e196..9391316028 100644
--- a/source/docs/software/basic-programming/joystick.rst
+++ b/source/docs/software/basic-programming/joystick.rst
@@ -114,7 +114,7 @@ An axis can be used with ``.getRawAxis(int index)`` (if not using any of the cla
    private final PWMSparkMax m_rightMotor = new PWMSparkMax(Constants.kRightMotorPort);
    private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);
    private final GenericHID m_stick = new GenericHID(Constants.kJoystickPort);
-      m_robotDrive.arcadeDrive(-m_stick.getRawAxis(0), m_stick.getRawAxis(1));
+   m_robotDrive.arcadeDrive(-m_stick.getRawAxis(0), m_stick.getRawAxis(1));
    ```
 
    ```c++
@@ -123,7 +123,7 @@ An axis can be used with ``.getRawAxis(int index)`` (if not using any of the cla
    frc::DifferentialDrive m_robotDrive{[&](double output) { m_leftMotor.Set(output); },
                                        [&](double output) { m_rightMotor.Set(output); }};
    frc::GenericHID m_stick{Constants::kJoystickPort};
-      m_robotDrive.ArcadeDrive(-m_stick.GetRawAxis(0), m_stick.GetRawAxis(1));
+   m_robotDrive.ArcadeDrive(-m_stick.GetRawAxis(0), m_stick.GetRawAxis(1));
    ```
 
    ```python
@@ -131,8 +131,8 @@ An axis can be used with ``.getRawAxis(int index)`` (if not using any of the cla
    rightMotor = wpilib.PWMVictorSPX(RIGHT_MOTOR_PORT)
    self.robotDrive = wpilib.drive.DifferentialDrive(leftMotor, rightMotor)
    self.stick = wpilib.GenericHID(JOYSTICK_PORT)
-      self.robotDrive.arcadeDrive(-self.stick.getRawAxis(0), self.stick.getRawAxis(1))
-      ```
+   self.robotDrive.arcadeDrive(-self.stick.getRawAxis(0), self.stick.getRawAxis(1))
+   ```
 
 ## Button Usage
 
@@ -149,8 +149,8 @@ Unlike an axis, you will usually want to use the ``pressed`` and ``released`` me
    if (joystick.getRawButtonReleased(0)) {
       turnIntakeOff(); // When released the intake turns off
    }
-      OR
-      if (joystick.getRawButton(0)) {
+   // OR
+   if (joystick.getRawButton(0)) {
       turnIntakeOn();
    } else {
       turnIntakeOff();
@@ -164,8 +164,8 @@ Unlike an axis, you will usually want to use the ``pressed`` and ``released`` me
    if (joystick.GetRawButtonReleased(0)) {
       turnIntakeOff(); // When released the intake turns off
    }
-      OR
-      if (joystick.GetRawButton(0)) {
+   // OR
+   if (joystick.GetRawButton(0)) {
       turnIntakeOn();
    } else {
       turnIntakeOff();
@@ -175,10 +175,10 @@ Unlike an axis, you will usually want to use the ``pressed`` and ``released`` me
    ```python
    if joystick.getRawButtonPressed(0):
       turnIntakeOn() # When pressed the intake turns on
-      if joystick.getRawButtonReleased(0):
+   if joystick.getRawButtonReleased(0):
       turnIntakeOff() # When released the intake turns off
-      # OR
-      if joystick.getRawButton(0):
+   # OR
+   if joystick.getRawButton(0):
       turnIntakeOn()
    else:
       turnIntakeOff()
@@ -190,7 +190,7 @@ A common request is to toggle something on and off with the press of a button.
 
    ```java
    boolean toggle = false;
-      if (joystick.getRawButtonPressed(0)) {
+   if (joystick.getRawButtonPressed(0)) {
       if (toggle) {
          // Current state is true so turn off
          retractIntake();
@@ -205,7 +205,7 @@ A common request is to toggle something on and off with the press of a button.
 
    ```c++
    bool toggle{false};
-      if (joystick.GetRawButtonPressed(0)) {
+   if (joystick.GetRawButtonPressed(0)) {
       if (toggle) {
          // Current state is true so turn off
          retractIntake();
@@ -220,7 +220,7 @@ A common request is to toggle something on and off with the press of a button.
 
    ```python
    toggle = False
-      if joystick.getRawButtonPressed(0):
+   if joystick.getRawButtonPressed(0):
       if toggle:
          # current state is True so turn off
          retractIntake()
diff --git a/source/docs/software/basic-programming/reading-stacktraces.rst b/source/docs/software/basic-programming/reading-stacktraces.rst
index 9e8fbd3ec3..61109685b0 100644
--- a/source/docs/software/basic-programming/reading-stacktraces.rst
+++ b/source/docs/software/basic-programming/reading-stacktraces.rst
@@ -160,25 +160,25 @@ For example, consider the following code:
 
    ```Java
    :lineno-start: 19
-      PWMSparkMax armMotorCtrl;
-      @Override
+   PWMSparkMax armMotorCtrl;
+   @Override
    public void robotInit() {
-         armMotorCtrl.setInverted(true);
+      armMotorCtrl.setInverted(true);
    }
-      ```
+   ```
 
    ```C++
    :lineno-start: 17
-      class Robot : public frc::TimedRobot {
-      public:
-         void RobotInit() override {
-            motorRef->SetInverted(false);
-         }
-         private:
-         frc::PWMVictorSPX m_armMotor{0};
-         frc::PWMVictorSPX* motorRef;
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        motorRef->SetInverted(false);
+     }
+    private:
+     frc::PWMVictorSPX m_armMotor{0};
+     frc::PWMVictorSPX* motorRef;
    };
-      ```
+   ```
 
 When run, you'll see output that looks like this:
 
@@ -195,11 +195,11 @@ When run, you'll see output that looks like this:
               at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
               at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
               at frc.robot.Main.main(Main.java:23)
-            Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
+      Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
         The above stacktrace can help determine where the error occurred.
         See https://wpilib.org/stacktrace for more information.
       Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:395): The startCompetition() method (or methods called by it) should have handled the exception above.
-            ```
+      ```
 
       Reading the stack trace, you can see that the issue happened inside of the ``robotInit()`` function, on line 23, and the exception involved "Null Pointer".
 
@@ -238,27 +238,27 @@ A functional implementation could look like this:
 
    ```Java
    :lineno-start: 19
-      PWMSparkMax armMotorCtrl;
-      @Override
+   PWMSparkMax armMotorCtrl;
+   @Override
    public void robotInit() {
-         armMotorCtrl = new PWMSparkMax(0);
-         armMotorCtrl.setInverted(true);
+      armMotorCtrl = new PWMSparkMax(0);
+      armMotorCtrl.setInverted(true);
    }
-      ```
+   ```
 
    ```C++
    :lineno-start: 17
-      class Robot : public frc::TimedRobot {
-      public:
-         void RobotInit() override {
-            motorRef = &m_armMotor;
-            motorRef->SetInverted(false);
-         }
-         private:
-         frc::PWMVictorSPX m_armMotor{0};
-         frc::PWMVictorSPX* motorRef;
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        motorRef = &m_armMotor;
+        motorRef->SetInverted(false);
+     }
+    private:
+     frc::PWMVictorSPX m_armMotor{0};
+     frc::PWMVictorSPX* motorRef;
    };
-         ```
+   ```
 
 ### Divide by Zero
 
@@ -271,27 +271,27 @@ For example, consider the following code:
 
    ```Java
    :lineno-start: 18
-      int armLengthRatio;
+   int armLengthRatio;
    int elbowToWrist_in = 39;
    int shoulderToElbow_in = 0; //TODO
-      @Override
+   @Override
    public void robotInit() {
       armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
    }
-      ```
+   ```
 
    ```C++
    :lineno-start: 17
-      class Robot : public frc::TimedRobot {
-      public:
-      void RobotInit() override {
-         armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-      }
-         private:
-         int armLengthRatio;
-         int elbowToWrist_in = 39;
-         int shoulderToElbow_in = 0; //TODO
-      };
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
+     }
+    private:
+     int armLengthRatio;
+     int elbowToWrist_in = 39;
+     int shoulderToElbow_in = 0; //TODO
+   };
    ```
 
 When run, you'll see output that looks like this:
@@ -309,7 +309,7 @@ When run, you'll see output that looks like this:
               at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
               at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
               at frc.robot.Main.main(Main.java:23)
-            Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
+      Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
         The above stacktrace can help determine where the error occurred.
         See https://wpilib.org/stacktrace for more information.
       Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:395): The startCompetition() method (or methods called by it) should have handled the exception above.
@@ -352,27 +352,27 @@ A functional implementation could look like this:
 
    ```Java
    :lineno-start: 18
-      int armLengthRatio;
+   int armLengthRatio;
    int elbowToWrist_in = 39;
    int shoulderToElbow_in = 3;
-      @Override
+   @Override
    public void robotInit() {
-         armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-      }
-         ```
+      armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
+   }
+   ```
 
    ```C++
    :lineno-start: 17
-      class Robot : public frc::TimedRobot {
-      public:
-      void RobotInit() override {
-         armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-      }
-         private:
-         int armLengthRatio;
-         int elbowToWrist_in = 39;
-         int shoulderToElbow_in = 3
-      };
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
+     }
+    private:
+     int armLengthRatio;
+     int elbowToWrist_in = 39;
+     int shoulderToElbow_in = 3
+   };
    ```
 
 Alternatively, if zero *is* a valid value, adding ``if/else`` statements around the calculation can help you define alternate behavior to avoid making the processor perform a division by zero.
@@ -391,28 +391,28 @@ For example, consider the following code:
 
    ```Java
    :lineno-start: 19
-      PWMSparkMax leftFrontMotor;
+   PWMSparkMax leftFrontMotor;
    PWMSparkMax leftRearMotor;
-      @Override
+   @Override
    public void robotInit() {
       leftFrontMotor = new PWMSparkMax(0);
       leftRearMotor = new PWMSparkMax(0);
    }
-      ```
+   ```
 
    ```C++
    :lineno-start: 17
-      class Robot : public frc::TimedRobot {
-      public:
-         void RobotInit() override {
-            m_frontLeftMotor.Set(0.5);
-            m_rearLeftMotor.Set(0.25);
-         }
-         private:
-         frc::PWMVictorSPX m_frontLeftMotor{0};
-         frc::PWMVictorSPX m_rearLeftMotor{0};
-         };
-      ```
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        m_frontLeftMotor.Set(0.5);
+        m_rearLeftMotor.Set(0.25);
+     }
+    private:
+     frc::PWMVictorSPX m_frontLeftMotor{0};
+     frc::PWMVictorSPX m_rearLeftMotor{0};
+   };
+   ```
 
 When run, you'll see output that looks like this:
 
@@ -431,7 +431,7 @@ When run, you'll see output that looks like this:
               at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
               at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
               at frc.robot.Main.main(Main.java:23)
-            Location of the current allocation:
+      Location of the current allocation:
               at edu.wpi.first.hal.PWMJNI.initializePWMPort(Native Method)
               at edu.wpi.first.wpilibj.PWM.<init>(PWM.java:66)
               at edu.wpi.first.wpilibj.motorcontrol.PWMMotorController.<init>(PWMMotorController.java:27)
@@ -441,7 +441,7 @@ When run, you'll see output that looks like this:
               at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373)
               at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:463)
               at frc.robot.Main.main(Main.java:23)
-            Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
+      Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:388): The robot program quit unexpectedly. This is usually due to a code error.
         The above stacktrace can help determine where the error occurred.
         See https://wpilib.org/stacktrace for more information.
       Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:395): The startCompetition() method (or methods called by it) should have handled the exception above.
@@ -467,7 +467,7 @@ When run, you'll see output that looks like this:
               at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0xa8 [0x13718]
               at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
               at __libc_start_main + 0x114 [0xb57ec580]
-            Location of the current allocation:: Channel 0
+      Location of the current allocation:: Channel 0
               at  + 0x5fb5c [0xb6e81b5c]
               at frc::PWM::PWM(int, bool) + 0x334 [0xb6f01e4c]
               at frc::PWMMotorController::PWMMotorController(std::basic_string_view<char, std::char_traits<char> >, int) + 0x70 [0xb6ef7d50]
@@ -475,13 +475,13 @@ When run, you'll see output that looks like this:
               at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0xb4 [0x13724]
               at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
               at __libc_start_main + 0x114 [0xb57ec580]
-            Error at RunRobot: Error: The robot program quit unexpectedly. This is usually due to a code error.
+      Error at RunRobot: Error: The robot program quit unexpectedly. This is usually due to a code error.
         The above stacktrace can help determine where the error occurred.
         See https://wpilib.org/stacktrace for more information.
-                    at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0x1c8 [0x13838]
+              at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0x1c8 [0x13838]
               at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
               at __libc_start_main + 0x114 [0xb57ec580]
-            terminate called after throwing an instance of 'frc::RuntimeError'
+      terminate called after throwing an instance of 'frc::RuntimeError'
         what():  PWM or DIO 0 previously allocated.
       Location of the previous allocation:
               at frc::PWM::PWM(int, bool) + 0x50 [0xb6f01b68]
@@ -490,8 +490,8 @@ When run, you'll see output that looks like this:
               at void frc::impl::RunRobot<Robot>(wpi::priority_mutex&, Robot**) + 0xa8 [0x13718]
               at int frc::StartRobot<Robot>() + 0x3d4 [0x13c9c]
               at __libc_start_main + 0x114 [0xb57ec580]
-            Location of the current allocation:: Channel 0
-            ```
+      Location of the current allocation:: Channel 0
+      ```
 
       The key thing to notice here is the string, ``PWM or DIO 0 previously allocated.``. That string is your primary clue that something in code has incorrectly "doubled up" on pin 0 usage.
 
@@ -508,27 +508,27 @@ In the example, the left motor controllers are plugged into :term:`PWM` ports ``
 
    ```Java
    :lineno-start: 19
-      PWMSparkMax leftFrontMotor;
+   PWMSparkMax leftFrontMotor;
    PWMSparkMax leftRearMotor;
-      @Override
+   @Override
    public void robotInit() {
-         leftFrontMotor = new PWMSparkMax(0);
+      leftFrontMotor = new PWMSparkMax(0);
       leftRearMotor = new PWMSparkMax(1);
-      }
-      ```
+   }
+   ```
 
    ```C++
    :lineno-start: 17
-      class Robot : public frc::TimedRobot {
-      public:
-         void RobotInit() override {
-            m_frontLeftMotor.Set(0.5);
-            m_rearLeftMotor.Set(0.25);
-         }
-         private:
-         frc::PWMVictorSPX m_frontLeftMotor{0};
-         frc::PWMVictorSPX m_rearLeftMotor{1};
-         };
+   class Robot : public frc::TimedRobot {
+    public:
+     void RobotInit() override {
+        m_frontLeftMotor.Set(0.5);
+        m_rearLeftMotor.Set(0.25);
+     }
+     private:
+      frc::PWMVictorSPX m_frontLeftMotor{0};
+      frc::PWMVictorSPX m_rearLeftMotor{1};
+   };
    ```
 
 ### gradlew is not recognized...
diff --git a/source/docs/software/can-devices/power-distribution-module.rst b/source/docs/software/can-devices/power-distribution-module.rst
index cae385401d..66f6265ac0 100644
--- a/source/docs/software/can-devices/power-distribution-module.rst
+++ b/source/docs/software/can-devices/power-distribution-module.rst
@@ -22,7 +22,7 @@ To use the either Power Distribution module, create an instance of the :code:`Po
 
     ```python
     from wpilib import PowerDistribution
-        examplePD = PowerDistribution()
+    examplePD = PowerDistribution()
     examplePD = PowerDistribution(0, PowerDistribution.ModuleType.kCTRE)
     examplePD = PowerDistribution(1, PowerDistribution.ModuleType.kRev)
     ```
diff --git a/source/docs/software/commandbased/binding-commands-to-triggers.rst b/source/docs/software/commandbased/binding-commands-to-triggers.rst
index 69be0a9eb4..cd7a140c13 100644
--- a/source/docs/software/commandbased/binding-commands-to-triggers.rst
+++ b/source/docs/software/commandbased/binding-commands-to-triggers.rst
@@ -50,12 +50,12 @@ While binding to HID buttons is by far the most common use case, users may want
 
   ```java
   DigitalInput limitSwitch = new DigitalInput(3); // Limit switch on DIO 3
-    Trigger exampleTrigger = new Trigger(limitSwitch::get);
+  Trigger exampleTrigger = new Trigger(limitSwitch::get);
   ```
 
   ```c++
   frc::DigitalInput limitSwitch{3}; // Limit switch on DIO 3
-    frc2::Trigger exampleTrigger([&limitSwitch] { return limitSwitch.Get(); });
+  frc2::Trigger exampleTrigger([&limitSwitch] { return limitSwitch.Get(); });
   ```
 
 ## Trigger Bindings
@@ -181,14 +181,14 @@ To avoid rapid repeated activation, triggers (especially those originating from
   ```java
   // debounces exampleButton with a 0.1s debounce time, rising edges only
   exampleButton.debounce(0.1).onTrue(new ExampleCommand());
-    // debounces exampleButton with a 0.1s debounce time, both rising and falling edges
+  // debounces exampleButton with a 0.1s debounce time, both rising and falling edges
   exampleButton.debounce(0.1, Debouncer.DebounceType.kBoth).onTrue(new ExampleCommand());
   ```
 
   ```c++
   // debounces exampleButton with a 100ms debounce time, rising edges only
   exampleButton.Debounce(100_ms).OnTrue(ExampleCommand().ToPtr());
-    // debounces exampleButton with a 100ms debounce time, both rising and falling edges
+  // debounces exampleButton with a 100ms debounce time, both rising and falling edges
   exampleButton.Debounce(100_ms, Debouncer::DebounceType::Both).OnTrue(ExampleCommand().ToPtr());
   ```
 
diff --git a/source/docs/software/commandbased/command-compositions.rst b/source/docs/software/commandbased/command-compositions.rst
index fccbdaa7ab..c222c62710 100644
--- a/source/docs/software/commandbased/command-compositions.rst
+++ b/source/docs/software/commandbased/command-compositions.rst
@@ -72,7 +72,7 @@ The ``andThen()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/j
 
    ```python
    fooCommand.andThen(barCommand)
-      ```
+   ```
 
 ### Repeating Sequence
 
@@ -91,27 +91,27 @@ There are three types of parallel compositions, differing based on when the comp
    ```java
    // Will be a parallel command composition that ends after three seconds with all three commands running their full duration.
    button.onTrue(Commands.parallel(twoSecCommand, oneSecCommand, threeSecCommand));
-      // Will be a parallel race composition that ends after one second with the two and three second commands getting interrupted.
+   // Will be a parallel race composition that ends after one second with the two and three second commands getting interrupted.
    button.onTrue(Commands.race(twoSecCommand, oneSecCommand, threeSecCommand));
-      // Will be a parallel deadline composition that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
+   // Will be a parallel deadline composition that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
    button.onTrue(Commands.deadline(twoSecCommand, oneSecCommand, threeSecCommand));
    ```
 
    ```c++
    // Will be a parallel command composition that ends after three seconds with all three commands running their full duration.
    button.OnTrue(frc2::cmd::Parallel(std::move(twoSecCommand), std::move(oneSecCommand), std::move(threeSecCommand)));
-      // Will be a parallel race composition that ends after one second with the two and three second commands getting interrupted.
+   // Will be a parallel race composition that ends after one second with the two and three second commands getting interrupted.
    button.OnTrue(frc2::cmd::Race(std::move(twoSecCommand), std::move(oneSecCommand), std::move(threeSecCommand)));
-      // Will be a parallel deadline composition that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
+   // Will be a parallel deadline composition that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
    button.OnTrue(frc2::cmd::Deadline(std::move(twoSecCommand), std::move(oneSecCommand), std::move(threeSecCommand)));
    ```
 
    ```python
    # Will be a parallel command composition that ends after three seconds with all three commands running their full duration.
    button.onTrue(commands2.cmd.parallel(twoSecCommand, oneSecCommand, threeSecCommand))
-      # Will be a parallel race composition that ends after one second with the two and three second commands getting interrupted.
+   # Will be a parallel race composition that ends after one second with the two and three second commands getting interrupted.
    button.onTrue(commands2.cmd.race(twoSecCommand, oneSecCommand, threeSecCommand))
-      # Will be a parallel deadline composition that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
+   # Will be a parallel deadline composition that ends after two seconds (the deadline) with the three second command getting interrupted (one second command already finished).
    button.onTrue(commands2.cmd.deadline(twoSecCommand, oneSecCommand, threeSecCommand))
    ```
 
diff --git a/source/docs/software/commandbased/organizing-command-based.rst b/source/docs/software/commandbased/organizing-command-based.rst
index 175b1190c3..699022b797 100644
--- a/source/docs/software/commandbased/organizing-command-based.rst
+++ b/source/docs/software/commandbased/organizing-command-based.rst
@@ -44,9 +44,9 @@ 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)
+  Command intakeAndShoot = Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0), intake)
       .alongWith(new RunShooter(shooter));
-    Command autonomousCommand = Commands.sequence(
+  Command autonomousCommand = Commands.sequence(
       Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake).withTimeout(5.0),
       Commands.waitSeconds(3.0),
       Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake).withTimeout(5.0)
@@ -55,9 +55,9 @@ 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})
+  frc2::CommandPtr intakeAndShoot = frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake})
       .AlongWith(RunShooter(&shooter).ToPtr());
-    frc2::CommandPtr autonomousCommand = frc2::cmd::Sequence(
+  frc2::CommandPtr autonomousCommand = frc2::cmd::Sequence(
     frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake}).WithTimeout(5.0_s),
     frc2::cmd::Wait(3.0_s),
     frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake}).WithTimeout(5.0_s)
@@ -78,12 +78,12 @@ For example, a command like the intake-running command is conceptually related t
 
   ```java
   public class Intake extends SubsystemBase {
-      // [code for motor controllers, configuration, etc.]
-      // ...
-        public Command runIntakeCommand() {
-        // implicitly requires `this`
-        return this.startEnd(() -> this.set(1.0), () -> this.set(0.0));
-      }
+    // [code for motor controllers, configuration, etc.]
+    // ...
+    public Command runIntakeCommand() {
+      // implicitly requires `this`
+      return this.startEnd(() -> this.set(1.0), () -> this.set(0.0));
+    }
   }
   ```
 
@@ -104,8 +104,8 @@ Using this new factory method in command groups and button bindings is highly ex
 
   ```java
   intakeButton.whileTrue(intake.runIntakeCommand());
-    Command intakeAndShoot = intake.runIntakeCommand().alongWith(new RunShooter(shooter));
-    Command autonomousCommand = Commands.sequence(
+  Command intakeAndShoot = intake.runIntakeCommand().alongWith(new RunShooter(shooter));
+  Command autonomousCommand = Commands.sequence(
       intake.runIntakeCommand().withTimeout(5.0),
       Commands.waitSeconds(3.0),
       intake.runIntakeCommand().withTimeout(5.0)
@@ -114,8 +114,8 @@ Using this new factory method in command groups and button bindings is highly ex
 
   ```c++
   intakeButton.WhileTrue(intake.RunIntakeCommand());
-    frc2::CommandPtr intakeAndShoot = intake.RunIntakeCommand().AlongWith(RunShooter(&shooter).ToPtr());
-    frc2::CommandPtr autonomousCommand = frc2::cmd::Sequence(
+  frc2::CommandPtr intakeAndShoot = intake.RunIntakeCommand().AlongWith(RunShooter(&shooter).ToPtr());
+  frc2::CommandPtr autonomousCommand = frc2::cmd::Sequence(
     intake.RunIntakeCommand().WithTimeout(5.0_s),
     frc2::cmd::Wait(3.0_s),
     intake.RunIntakeCommand().WithTimeout(5.0_s)
@@ -167,7 +167,7 @@ Instance factory methods work great for single-subsystem commands.  However, com
 
   ```java
   public class AutoRoutines {
-        public static Command driveAndIntake(Drivetrain drivetrain, Intake intake) {
+      public static Command driveAndIntake(Drivetrain drivetrain, Intake intake) {
           return Commands.sequence(
               Commands.parallel(
                   drivetrain.driveCommand(0.5, 0.5),
@@ -193,25 +193,25 @@ If we want to avoid the verbosity of adding required subsystems as parameters to
 
   ```java
   public class AutoRoutines {
-        private Drivetrain drivetrain;
-        private Intake intake;
-        public AutoRoutines(Drivetrain drivetrain, Intake intake) {
-        this.drivetrain = drivetrain;
-        this.intake = intake;
+      private Drivetrain drivetrain;
+      private Intake intake;
+      public AutoRoutines(Drivetrain drivetrain, Intake intake) {
+          this.drivetrain = drivetrain;
+          this.intake = intake;
       }
-        public Command driveAndIntake() {
+      public Command driveAndIntake() {
           return Commands.sequence(
               Commands.parallel(
                   drivetrain.driveCommand(0.5, 0.5),
                   intake.runIntakeCommand(1.0)
               ).withTimeout(5.0),
               Commands.parallel(
-                drivetrain.stopCommand();
-                intake.stopCommand();
+                  drivetrain.stopCommand();
+                  intake.stopCommand();
               )
           );
       }
-        public Command driveThenIntake() {
+      public Command driveThenIntake() {
           return Commands.sequence(
               drivetrain.driveCommand(0.5, 0.5).withTimeout(5.0),
               drivetrain.stopCommand(),
@@ -232,9 +232,9 @@ Then, elsewhere in our code, we can instantiate an single instance of this class
 
   ```java
   AutoRoutines autoRoutines = new AutoRoutines(this.drivetrain, this.intake);
-    Command driveAndIntake = autoRoutines.driveAndIntake();
+  Command driveAndIntake = autoRoutines.driveAndIntake();
   Command driveThenIntake = autoRoutines.driveThenIntake();
-    Command drivingAndIntakingSequence = Commands.sequence(
+  Command drivingAndIntakingSequence = Commands.sequence(
     autoRoutines.driveAndIntake(),
     autoRoutines.driveThenIntake()
   );
@@ -260,7 +260,7 @@ However, it is still possible to ergonomically write a stateful command composit
       PIDController controller = new PIDController(Constants.kTurnToAngleP, 0, 0);
       // We can do whatever configuration we want on the created state before returning from the factory
       controller.setPositionTolerance(Constants.kTurnToAngleTolerance);
-        // Try to turn at a rate proportional to the heading error until we're at the setpoint, then stop
+      // Try to turn at a rate proportional to the heading error until we're at the setpoint, then stop
       return run(() -> arcadeDrive(0,-controller.calculate(gyro.getHeading(), targetDegrees)))
           .until(controller::atSetpoint)
           .andThen(runOnce(() -> arcadeDrive(0, 0)));
@@ -286,19 +286,19 @@ Returning to our simple intake command from earlier, we could do this by creatin
   ```java
   public class RunIntakeCommand extends Command {
       private Intake m_intake;
-        public RunIntakeCommand(Intake intake) {
+      public RunIntakeCommand(Intake intake) {
           this.m_intake = intake;
           addRequirements(intake);
       }
-        @Override
+      @Override
       public void initialize() {
           m_intake.set(1.0);
       }
-        @Override
+      @Override
       public void end(boolean interrupted) {
           m_intake.set(0.0);
       }
-        // execute() defaults to do nothing
+      // execute() defaults to do nothing
       // isFinished() defaults to return false
   }
   ```
diff --git a/source/docs/software/commandbased/subsystems.rst b/source/docs/software/commandbased/subsystems.rst
index 61efc033e4..2e602e7bee 100644
--- a/source/docs/software/commandbased/subsystems.rst
+++ b/source/docs/software/commandbased/subsystems.rst
@@ -36,29 +36,29 @@ The recommended method to create a subsystem for most users is to subclass the a
       ```python
       from commands2 import Command
       from commands2 import Subsystem
-                  class ExampleSubsystem(Subsystem):
-                def __init__(self):
+      class ExampleSubsystem(Subsystem):
+          def __init__(self):
               """Creates a new ExampleSubsystem."""
               super().__init__()
-                      def exampleMethodCommand()->Command:
+          def exampleMethodCommand()->Command:
               """
               Example command factory method.
-                     :return a command
+               :return a command
               """
-                    return self.runOnce(
+              return self.runOnce(
                   lambda: # one-time action goes here #
               )
-                def exampleCondition(self)->bool:
+          def exampleCondition(self)->bool:
               """
               An example method querying a boolean state of the subsystem (for example, a digital sensor).
-                    :return value of some boolean subsystem state, such as a digital sensor.
+              :return value of some boolean subsystem state, such as a digital sensor.
               """
-                    #Query some boolean state, such as a digital sensor.
+              #Query some boolean state, such as a digital sensor.
               return False
-                def periodic(self):
+          def periodic(self):
               # This method will be called once per scheduler run
               pass
-                def simulationPeriodic(self):
+          def simulationPeriodic(self):
               # This method will be called once per scheduler run during simulation
               pass
       ```
diff --git a/source/docs/software/convenience-features/scheduling-functions.rst b/source/docs/software/convenience-features/scheduling-functions.rst
index 9acb9d37e0..3fbfd53644 100644
--- a/source/docs/software/convenience-features/scheduling-functions.rst
+++ b/source/docs/software/convenience-features/scheduling-functions.rst
@@ -16,12 +16,12 @@ The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda
             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() {
+            public Robot() {
                 addPeriodic(() -> {
                     m_motor.set(m_controller.calculate(m_encoder.getRate()));
                 }, 0.01, 0.005);
             }
-                    @Override
+            @Override
             public teleopPeriodic() {
                 if (m_joystick.getRawButtonPressed(1)) {
                     if (m_controller.getSetpoint() == 0.0) {
@@ -31,7 +31,7 @@ The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda
                     }
                 }
             }
-          }
+        }
         ```
 
     .. tab-item:: C++ (Header)
@@ -44,8 +44,8 @@ The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda
           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;
+          Robot();
+          void TeleopPeriodic() override;
         };
         ```
 
@@ -58,7 +58,7 @@ The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda
             m_motor.Set(m_controller.Calculate(m_encoder.GetRate()));
           }, 10_ms, 5_ms);
         }
-                void Robot::TeleopPeriodic() {
+        void Robot::TeleopPeriodic() {
           if (m_joystick.GetRawButtonPressed(1)) {
             if (m_controller.GetSetpoint() == 0.0) {
               m_controller.SetSetpoint(30.0);
diff --git a/source/docs/software/dashboards/glass/command-based-widgets.rst b/source/docs/software/dashboards/glass/command-based-widgets.rst
index 543b7bd6ed..c1ecfcd5cb 100644
--- a/source/docs/software/dashboards/glass/command-based-widgets.rst
+++ b/source/docs/software/dashboards/glass/command-based-widgets.rst
@@ -14,14 +14,14 @@ The :guilabel:`Command Selector`  widget allows you to start and cancel a specif
 
    ```c++
    #include <frc/smartdashboard/SmartDashboard.h>
-      ...
-      MyCommand command{...};
+   ...
+   MyCommand command{...};
    frc::SmartDashboard::PutData("My Command", &command);
    ```
 
    ```python
    from wpilib import SmartDashboard
-      command = MyCommand(...)
+   command = MyCommand(...)
    SmartDashboard.putData("My Command", command)
    ```
 
diff --git a/source/docs/software/dashboards/glass/field2d-widget.rst b/source/docs/software/dashboards/glass/field2d-widget.rst
index e676c75fee..7c0b709fbb 100644
--- a/source/docs/software/dashboards/glass/field2d-widget.rst
+++ b/source/docs/software/dashboards/glass/field2d-widget.rst
@@ -9,28 +9,28 @@ To send your robot's position (usually obtained by :ref:`odometry <docs/software
 .. tab-set-code::
    ```java
    private final Field2d m_field = new Field2d();
-      // Do this in either robot or subsystem init
+   // Do this in either robot or subsystem init
    SmartDashboard.putData("Field", m_field);
-      // Do this in either robot periodic or subsystem periodic
+   // Do this in either robot periodic or subsystem periodic
    m_field.setRobotPose(m_odometry.getPoseMeters());
    ```
 
    ```c++
    #include <frc/smartdashboard/Field2d.h>
    #include <frc/smartdashboard/SmartDashboard.h>
-      frc::Field2d m_field;
-      // Do this in either robot or subsystem init
+   frc::Field2d m_field;
+   // Do this in either robot or subsystem init
    frc::SmartDashboard::PutData("Field", &m_field);
-      // Do this in either robot periodic or subsystem periodic
+   // Do this in either robot periodic or subsystem periodic
    m_field.SetRobotPose(m_odometry.GetPose());
    ```
 
    ```python
    from wpilib import SmartDashboard, Field2d
-      self.field = Field2d()
-      # Do this in either robot or subsystem init
+   self.field = Field2d()
+   # Do this in either robot or subsystem init
    SmartDashboard.putData("Field", self.field)
-      # Do this in either robot periodic or subsystem periodic
+   # Do this in either robot periodic or subsystem periodic
    self.field.setRobotPose(self.odometry.getPose())
    ```
 
diff --git a/source/docs/software/dashboards/glass/widgets.rst b/source/docs/software/dashboards/glass/widgets.rst
index 9cb331b620..fd1dc84433 100644
--- a/source/docs/software/dashboards/glass/widgets.rst
+++ b/source/docs/software/dashboards/glass/widgets.rst
@@ -39,7 +39,7 @@ The :guilabel:`Sendable Chooser` widget represents a ``SendableChooser`` instanc
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putData("Auto Selector", selector)
+   SmartDashboard.putData("Auto Selector", selector)
    ```
 
 .. note:: For more information on creating a ``SendableChooser``, please see :ref:`this document <docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard:Setting up SendableChooser>`.
@@ -63,7 +63,7 @@ The :guilabel:`PID Controller` widget allows you to quickly tune PID values for
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putData("Elevator PID Controller", elevatorPIDController)
+   SmartDashboard.putData("Elevator PID Controller", elevatorPIDController)
    ```
 
 This allows you to quickly tune P, I, and D values for various setpoints.
diff --git a/source/docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code.rst b/source/docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code.rst
index ee1bb342dc..36eaf71ef2 100644
--- a/source/docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code.rst
+++ b/source/docs/software/dashboards/labview-dashboard/using-the-labview-dashboard-with-c++-java-code.rst
@@ -66,7 +66,7 @@ Sending to the "Gyro" NetworkTables entry will populate the gyro here.
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putNumber("Gyro", self.drivetrain.getHeading())
+   SmartDashboard.putNumber("Gyro", self.drivetrain.getHeading())
    ```
 
 There are four outputs that show the motor power to the drivetrain.  This is configured for 2 motors per side and a tank style drivetrain.  This is done by setting "RobotDrive Motors" like the example below.
@@ -83,7 +83,7 @@ There are four outputs that show the motor power to the drivetrain.  This is con
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putNumberArray("RobotDrive Motors", [self.drivetrain.getLeftFront(), self.drivetrain.getRightFront(), self.drivetrain.getLeftBack(), self.drivetrain.getRightBack()])
+   SmartDashboard.putNumberArray("RobotDrive Motors", [self.drivetrain.getLeftFront(), self.drivetrain.getRightFront(), self.drivetrain.getLeftBack(), self.drivetrain.getRightBack()])
    ```
 
 ## Basic Tab
@@ -110,7 +110,7 @@ The strings are labeled top-to-bottom, left-to-right from "DB/String 0" to "DB/S
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putString("DB/String 0", "My 21 Char TestString")
+   SmartDashboard.putString("DB/String 0", "My 21 Char TestString")
    ```
 
 To read string data entered on the Dashboard:
@@ -127,7 +127,7 @@ To read string data entered on the Dashboard:
 
    ```python
    from wpilib import SmartDashboard
-      dashData = SmartDashboard.getString("DB/String 0", "myDefaultData")
+   dashData = SmartDashboard.getString("DB/String 0", "myDefaultData")
    ```
 
 ### Buttons and LEDs
@@ -148,7 +148,7 @@ The Buttons and LEDs are boolean values and are labeled top-to-bottom from "DB/B
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putBoolean("DB/Button 0", true)
+   SmartDashboard.putBoolean("DB/Button 0", true)
    ```
 
 To read from the Buttons: (default value is false)
@@ -165,7 +165,7 @@ To read from the Buttons: (default value is false)
 
    ```python
    from wpilib import SmartDashboard
-      buttonValue = SmartDashboard.getBoolean("DB/Button 0", false)
+   buttonValue = SmartDashboard.getBoolean("DB/Button 0", false)
    ```
 
 ### Sliders
@@ -186,7 +186,7 @@ The Sliders are bi-directional analog (double) controls/indicators with a range
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putNumber("DB/Slider 0", 2.58)
+   SmartDashboard.putNumber("DB/Slider 0", 2.58)
    ```
 
 To read values from the Dashboard into the robot program: (default value of 0.0)
@@ -203,6 +203,6 @@ To read values from the Dashboard into the robot program: (default value of 0.0)
 
    ```python
    from wpilib import SmartDashboard
-      dashData = SmartDashboard.getNumber("DB/Slider 0", 0.0)
+   dashData = SmartDashboard.getNumber("DB/Slider 0", 0.0)
    ```
 
diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.rst b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.rst
index 369db19261..2786243911 100644
--- a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.rst
+++ b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.rst
@@ -18,7 +18,7 @@ To see the status of a subsystem while the robot is operating in either autonomo
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putData(subsystem-reference)
+   SmartDashboard.putData(subsystem-reference)
    ```
 
 Shuffleboard will display the subsystem name, the default command associated with this subsystem, and the currently running command. In this example the default command for the Elevator subsystem is called ``AutonomousCommand`` and it is also the current command that is using the Elevator subsystem.
@@ -55,7 +55,7 @@ Using commands and subsystems makes very modular robot programs that can easily
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putData("ElevatorMove: up", ElevatorMove(2.7))
+   SmartDashboard.putData("ElevatorMove: up", ElevatorMove(2.7))
    ```
 
 Shuffleboard will display the command name and a button to execute the command. In this way individual commands and command groups can easily be tested without needing special test code in a robot program. In the image below there are a number of commands contained in a Shuffleboard list. Pressing the button once runs the command and pressing it again stops the command. To use this feature the robot must be enabled in teleop mode.
diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst
index fb4f15509e..a4d0e44922 100644
--- a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst
+++ b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst
@@ -40,9 +40,9 @@ The following example demonstrates how to create a button on your dashboard that
   ```java
   ShuffleboardTab tab = Shuffleboard.getTab("Shooter");
   GenericEntry shooterEnable = tab.add("Shooter Enable", false).getEntry();
-    // Command Example assumed to be in a PIDSubsystem
+  // Command Example assumed to be in a PIDSubsystem
   new NetworkButton(shooterEnable).onTrue(new InstantCommand(m_shooter::enable));
-    // Timed Robot Example
+  // Timed Robot Example
   if (shooterEnable.getBoolean()) {
     // Calculates the output of the PID algorithm based on the sensor reading
     // and sends it to a motor
@@ -53,9 +53,9 @@ The following example demonstrates how to create a button on your dashboard that
   ```c++
   frc::ShuffleboardTab& tab = frc::Shuffleboard::GetTab("Shooter");
   nt::GenericEntry& shooterEnable = *tab.Add("Shooter Enable", false).GetEntry();
-    // Command-based assumed to be in a PIDSubsystem
+  // Command-based assumed to be in a PIDSubsystem
   frc2::NetworkButton(shooterEnable).OnTrue(frc2::InstantCommand([&] { m_shooter.Enable(); }));
-    // Timed Robot Example
+  // Timed Robot Example
   if (shooterEnable.GetBoolean()) {
     // Calculates the output of the PID algorithm based on the sensor reading
     // and sends it to a motor
@@ -65,11 +65,11 @@ The following example demonstrates how to create a button on your dashboard that
 
   ```python
   from wpilib.shuffleboard import Shuffleboard
-    tab = Shuffleboard.getTab("Shooter")
+  tab = Shuffleboard.getTab("Shooter")
   shooterEnable = tab.add("Shooter Enable", false).getEntry()
-    # Command Example assumed to be in a PIDSubsystem
+  # Command Example assumed to be in a PIDSubsystem
   NetworkButton(shooterEnable).onTrue(InstantCommand(m_shooter.enable()))
-    # Timed Robot Example
+  # Timed Robot Example
   if (shooterEnable.getBoolean()):
     # Calculates the output of the PID algorithm based on the sensor reading
     # and sends it to a motor
diff --git a/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst b/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst
index 7206c6d6b2..f204cfd5a6 100644
--- a/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst
+++ b/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst
@@ -19,9 +19,9 @@ In order to define a plugin, the plugin class must be a subclass of [edu.wpi.fir
    ```java
    import edu.wpi.first.shuffleboard.api.plugin.Description;
    import edu.wpi.first.shuffleboard.api.plugin.Plugin;
-      @Description(group = "com.example", name = "MyPlugin", version = "1.2.3", summary = "An example plugin")
+   @Description(group = "com.example", name = "MyPlugin", version = "1.2.3", summary = "An example plugin")
    public class MyPlugin extends Plugin {
-      }
+   }
    ```
 
 Additional explanations on how these attributes are used, including version numbers can be found [here](https://semver.org/).
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 a38d1422f9..a555a1df5a 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data.rst
@@ -37,7 +37,7 @@ Often debugging or monitoring the status of a robot involves writing a number of
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge())
+   SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge())
    SmartDashboard.putNumber("Bridge Angle", bridgeTipper.getPosition())
    SmartDashboard.putNumber("Swerve Angle", drivetrain.getSwerveAngle())
    SmartDashboard.putNumber("Left Drive Encoder", drivetrain.getLeftEncoder())
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 24db4a77e9..894301312d 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst
@@ -50,7 +50,7 @@ The easiest way to get data displayed on the dashboard is simply to use methods
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putNumber("Joystick X value", joystick1.getX())
+   SmartDashboard.putNumber("Joystick X value", joystick1.getX())
    ```
 
 to see a field displayed with the label "Joystick X value" and a value of the X value of the joystick. Each time this line of code is executed, a new joystick value will be sent to Shuffleboard. Remember: you must write the joystick value whenever you want to see an updated value. Executing this line once at the start of the program will only display the value once at the time the line of code was executed.
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/configuring-widgets.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/configuring-widgets.rst
index 05efed4fff..9cb86e277a 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/configuring-widgets.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/configuring-widgets.rst
@@ -25,7 +25,7 @@ Call ``withWidget`` after ``add`` in the call chain:
    ```python
    from wpilib.shuffleboard import Shuffleboard
    from wpilib.shuffleboard import BuiltInWidgets
-      (Shuffleboard.getTab("Drive")
+   (Shuffleboard.getTab("Drive")
       .add("Max Speed", 1)
       .withWidget(BuiltInWidgets.kNumberSlider) # specify the widget here
       .getEntry())
@@ -63,7 +63,7 @@ Since the maximum speed only makes sense to be a value from 0 to 1 (full stop to
    ```python
    from wpilib.shuffleboard import Shuffleboard
    from wpilib.shuffleboard import BuiltInWidgets
-      (Shuffleboard.getTab("Drive")
+   (Shuffleboard.getTab("Drive")
       .add("Max Speed", 1)
       .withWidget(BuiltInWidgets.kNumberSlider)
       .withProperties(map("min", 0, "max", 1)) # specify widget properties here
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/organizing-widgets.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/organizing-widgets.rst
index a53bf4db8e..d647c96963 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/organizing-widgets.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/organizing-widgets.rst
@@ -26,7 +26,7 @@ Call ``withSize`` and ``withPosition`` to set the size and position of the widge
 
    ```python
    from wpilib.shuffleboard import Shuffleboard
-      (Shuffleboard.getTab("Pre-round")
+   (Shuffleboard.getTab("Pre-round")
      .add("Auto Mode", autoModeChooser)
      .withSize(2, 1) # make the widget 2x1
      .withPosition(0, 0)) # place it in the top-left corner
@@ -51,20 +51,20 @@ If there are many widgets in a tab with related data, it can be useful to place
    wpi::StringMap<std::shared_ptr<nt::Value>> properties{
      std::make_pair("Label position", nt::Value::MakeString("HIDDEN"))
    };
-      frc::ShuffleboardLayout& elevatorCommands = frc::Shuffleboard::GetTab("Commands")
+   frc::ShuffleboardLayout& elevatorCommands = frc::Shuffleboard::GetTab("Commands")
      .GetLayout("Elevator", frc::BuiltInLayouts::kList)
      .WithSize(2, 2)
      .WithProperties(properties);
-      ElevatorDownCommand* elevatorDown = new ElevatorDownCommand();
+   ElevatorDownCommand* elevatorDown = new ElevatorDownCommand();
    ElevatorUpCommand* elevatorUp = new ElevatorUpCommand();
-      elevatorCommands.Add("Elevator Down", elevatorDown);
+   elevatorCommands.Add("Elevator Down", elevatorDown);
    elevatorCommands.Add("Elevator Up", elevatorUp);
    ```
 
    ```python
    from wpilib.shuffleboard import Shuffleboard
    from wpilib.shuffleboard import BuiltInLayouts
-      (elevatorCommands = Shuffleboard.getTab("Commands")
+   (elevatorCommands = Shuffleboard.getTab("Commands")
      .getLayout("Elevator", BuiltInLayouts.kList)
      .withSize(2, 2)
      .withProperties(map("Label position", "HIDDEN"))) # hide labels for commands
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/retrieving-data.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/retrieving-data.rst
index a452f64c10..47a817694c 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/retrieving-data.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/retrieving-data.rst
@@ -9,11 +9,11 @@ Unlike ``SmartDashboard.getNumber`` and friends, retrieving data from Shuffleboa
       private GenericEntry maxSpeed =
          tab.add("Max Speed", 1)
             .getEntry();
-         private DifferentialDrive robotDrive = ...;
-         public void drive(double left, double right) {
-      // Retrieve the maximum speed from the dashboard
-      double max = maxSpeed.getDouble(1.0);
-      robotDrive.tankDrive(left * max, right * max);
+      private DifferentialDrive robotDrive = ...;
+      public void drive(double left, double right) {
+         // Retrieve the maximum speed from the dashboard
+         double max = maxSpeed.getDouble(1.0);
+         robotDrive.tankDrive(left * max, right * max);
       }
    }
    ```
@@ -22,13 +22,13 @@ Unlike ``SmartDashboard.getNumber`` and friends, retrieving data from Shuffleboa
    import commands2
    import wpilib.drive
    from wpilib.shuffleboard import Shuffleboard
-      class DriveSubsystem(commands2.SubsystemBase):
+   class DriveSubsystem(commands2.SubsystemBase):
       def __init__(self) -> None:
          super().__init__()
-            tab = Shuffleboard.getTab("Drive")
+         tab = Shuffleboard.getTab("Drive")
          self.maxSpeed = tab.add("Max Speed", 1).getEntry()
-            this.robotDrive = ...
-         def drive(self, left: float, right: float):
+         this.robotDrive = ...
+      def drive(self, left: float, right: float):
          # Retrieve the maximum speed from the dashboard
          max = self.maxSpeed.getDouble(1.0)
          self.robotDrive.tankDrive(left * max, right * max)
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst
index e6153ded05..bc8092034a 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst
@@ -18,7 +18,7 @@ Sending simple data (numbers, strings, booleans, and arrays of these) is done by
 
    ```python
    from wpilib.shuffleboard import Shuffleboard
-      Shuffleboard.getTab("Tab Title").add("Pi", 3.14)
+   Shuffleboard.getTab("Tab Title").add("Pi", 3.14)
    ```
 
 If data needs to be updated (for example, the output of some calculation done on the robot), call ``getEntry()`` after defining the value, then update it when needed or in a ``periodic`` function
@@ -31,19 +31,19 @@ If data needs to be updated (for example, the output of some calculation done on
       private GenericEntry distanceEntry =
          tab.add("Distance to target", 0)
             .getEntry();
-         public void calculate() {
-      double distance = ...;
-      distanceEntry.setDouble(distance);
+      public void calculate() {
+         double distance = ...;
+         distanceEntry.setDouble(distance);
       }
    }
    ```
 
    ```python
    from wpilib.shuffleboard import Shuffleboard
-      def robotInit(self):
+   def robotInit(self):
       tab = Shuffleboard.getTab("Vision")
       self.distanceEntry = tab.add("Distance to target", 0).getEntry()
-      def teleopPeriodic(self):
+   def teleopPeriodic(self):
       distance = self.encoder.getDistance()
       self.distanceEntry.setDouble(distance)
    ```
@@ -70,7 +70,7 @@ Simply using `addPersistent` instead of `add` will make the value saved on the r
 
    ```python
    from wpilib.shuffleboard import Shuffleboard
-      (Shuffleboard.getTab("Drive")
+   (Shuffleboard.getTab("Drive")
          .addPersistent("Max Speed", 1.0))
    ```
 
@@ -92,7 +92,7 @@ Analogous to ``SmartDashboard.putData``, any ``Sendable`` object (most sensors,
 
    ```python
    from wpilib.shuffleboard import Shuffleboard
-      (Shuffleboard.getTab("Tab Title")
+   (Shuffleboard.getTab("Tab Title")
          .add("Sendable Title", mySendable))
    ```
 
diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/using-tabs.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/using-tabs.rst
index bcc888d074..5935307b6c 100644
--- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/using-tabs.rst
+++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/using-tabs.rst
@@ -16,7 +16,7 @@ Creating a new tab
 
    ```python
    from wpilib.shuffleboard import Shuffleboard
-      tab = Shuffleboard.getTab("Tab Title")
+   tab = Shuffleboard.getTab("Tab Title")
    ```
 
 Creating a new tab is as simple as calling a single method on the Shuffleboard class, which will create a new tab on Shuffleboard and return a handle for adding your data to the tab. Calling getTab multiple times with the same tab title will return the same handle each time.
@@ -35,7 +35,7 @@ Creating a new tab is as simple as calling a single method on the Shuffleboard c
 
    ```python
    from wpilib.shuffleboard import Shuffleboard
-      Shuffleboard.selectTab("Tab Title")
+   Shuffleboard.selectTab("Tab Title")
    ```
 
 This method lets a tab be selected by title. This is case-sensitive (so "Tab Title" and "Tab title" are two individual tabs), and only works if a tab with that title exists at the time the method is called, so calling ``selectTab("Example")``\ will only have an effect if a tab named "Example" has previously been defined.
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 8372264025..a2623e2f3a 100644
--- a/source/docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard.rst
+++ b/source/docs/software/dashboards/smartdashboard/choosing-an-autonomous-program-from-smartdashboard.rst
@@ -33,7 +33,7 @@ In ``Robot.java`` / ``Robot.h``, create a variable to hold a reference to a ``Se
 
       ```python
       import wpilib
-            self.defaultAuto = "Default"
+      self.defaultAuto = "Default"
       self.customAuto = "My Auto";
       self.chooser = wpilib.SendableChooser()
       ```
@@ -63,7 +63,7 @@ The chooser allows you to pick from a list of defined elements, in this case the
 
       ```python
       from wpilib import SmartDashboard
-            self.chooser.setDefaultOption("Default Auto", self.defaultAuto)
+      self.chooser.setDefaultOption("Default Auto", self.defaultAuto)
       self.chooser.addOption("My Auto", self.customAuto)
       SmartDashboard.putData("Auto choices", self.chooser)
       ```
@@ -95,7 +95,7 @@ Now, in ``autonomousInit`` and ``autonomousPeriodic``, you can use the ``m_autoS
       def autonomousInit(self):
          self.autoSelected = self.chooser.getSelected()
          print("Auto selected: " + self.autoSelected)
-            def autonomousPeriodic(self):
+      def autonomousPeriodic(self):
          match self.autoSelected:
             case self.customAuto:
                # Put custom auto code here
@@ -202,7 +202,7 @@ Then, publish the chooser to the dashboard:
 
       ```python
       from wpilib import SmartDashboard
-            # Put the chooser on the dashboard
+      # Put the chooser on the dashboard
       SmartDashboard.putData(chooser)
       ```
 
diff --git a/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst b/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst
index ae86cf5ac0..5c741e7a1f 100644
--- a/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst
+++ b/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst
@@ -34,7 +34,7 @@
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge())
+   SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge())
    SmartDashboard.putNumber("Bridge Angle", bridgeTipper.getPosition())
    SmartDashboard.putNumber("Swerve Angle", drivetrain.getSwerveAngle())
    SmartDashboard.putNumber("Left Drive Encoder", drivetrain.getLeftEncoder())
diff --git a/source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst b/source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst
index 60e73296fa..2c628244e7 100644
--- a/source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst
+++ b/source/docs/software/dashboards/smartdashboard/displaying-status-of-commands-and-subsystems.rst
@@ -31,7 +31,7 @@ In the following examples, you'll see what the screen would look like when there
    ```python
    from wpilib import SmartDashboard
    from commands2 import CommandScheduler
-      SmartDashboard.putData(CommandScheduler.getInstance())
+   SmartDashboard.putData(CommandScheduler.getInstance())
    ```
 
 You can display the status of the Scheduler (the code that schedules your commands to run). This is easily done by adding a single line to the ``RobotInit`` method in your RobotProgram as shown here. In this example the Scheduler instance is written using the ``putData`` method to SmartDashboard. This line of code produces the display in the previous image.
@@ -55,7 +55,7 @@ This is the scheduler status when there are two commands running, ``ExampleComma
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putData(exampleSubsystem)
+   SmartDashboard.putData(exampleSubsystem)
    ```
 
 In this example we are writing the command instance, ``exampleSubsystem`` and instance of the ``ExampleSubsystem`` class to the SmartDashboard. This causes the display shown in the previous image. The text field will either contain a few dashes, ``---`` indicating that no command is current using this subsystem, or the name of the command currently using this subsystem.
@@ -79,7 +79,7 @@ Running commands will "require" subsystems. That is the command is reserving the
 
    ```python
    from wpilib import SmartDashboard
-      SmartDashboard.putData("Autonomous Command", exampleCommand)
+   SmartDashboard.putData("Autonomous Command", exampleCommand)
    ```
 
 This is the code required to create a button for the command on SmartDashboard. Pressing the button will schedule the command. While the command is running, the button label changes from ``start`` to ``cancel`` and pressing the button will cancel the command.
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 87a260f76c..4ece393c33 100644
--- a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst
+++ b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst
@@ -11,18 +11,18 @@ 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);
+    Jaguar elbow = new Jaguar(1);
     SendableRegistry.setName(elbow, "Arm", "Elbow");
-        Victor wrist = new Victor(2);
+    Victor wrist = new Victor(2);
     SendableRegistry.setName(wrist, "Arm", "Wrist");
     ```
 
     ```c++
     frc::Ultrasonic ultrasonic{1, 2};
     SendableRegistry::SetName(ultrasonic, "Arm", "Ultrasonic");
-        frc::Jaguar elbow{1};
+    frc::Jaguar elbow{1};
     SendableRegistry::SetName(elbow, "Arm", "Elbow");
-        frc::Victor wrist{2};
+    frc::Victor wrist{2};
     SendableRegistry::SetName(wrist, "Arm", "Wrist");
     ```
 
@@ -31,9 +31,9 @@ For each sensor or actuator that is created, set the subsystem name and display
     from wpiutil import SendableRegistry
         ultrasonic = Ultrasonic(1, 2)
     SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic")
-        elbow = Jaguar(1)
+    elbow = Jaguar(1)
     SendableRegistry.setName(elbow, "Arm", "Elbow")
-        wrist = Victor(2)
+    wrist = Victor(2)
     SendableRegistry.setName(wrist, "Arm", "Wrist")
     ```
 
@@ -44,18 +44,18 @@ 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);
+    Jaguar elbow = new Jaguar(1);
     addChild("Elbow", elbow);
-        Victor wrist = new Victor(2);
+    Victor wrist = new Victor(2);
     addChild("Wrist", wrist);
     ```
 
     ```c++
     frc::Ultrasonic ultrasonic{1, 2};
     AddChild("Ultrasonic", ultrasonic);
-        frc::Jaguar elbow{1};
+    frc::Jaguar elbow{1};
     AddChild("Elbow", elbow);
-        frc::Victor wrist{2};
+    frc::Victor wrist{2};
     AddChild("Wrist", wrist);
     ```
 
@@ -64,9 +64,9 @@ If your objects are in a ``Subsystem``, this can be simplified using the addChil
     from commands2 import SubsystemBase
         ultrasonic = Ultrasonic(1, 2)
     SubsystemBase.addChild("Ultrasonic", ultrasonic)
-        elbow = Jaguar(1)
+    elbow = Jaguar(1)
     SubsystemBase.addChild("Elbow", elbow)
-        wrist = Victor(2)
+    wrist = Victor(2)
     SubsystemBase.addChild("Wrist", wrist)
     ```
 
diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode.rst b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode.rst
index 914b75c395..6477f9ae46 100644
--- a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode.rst
+++ b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/enabling-test-mode.rst
@@ -38,7 +38,7 @@ To run LiveWindow in Test Mode, the following code is needed in the ``Robot`` cl
    PWMSparkMax rightDrive;
    PWMVictorSPX arm;
    BuiltInAccelerometer accel;
-      @Override
+   @Override
    public void robotInit() {
       leftDrive = new PWMSparkMax(0);
       rightDrive = new PWMSparkMax(1);
@@ -54,7 +54,7 @@ To run LiveWindow in Test Mode, the following code is needed in the ``Robot`` cl
    frc::PWMSparkMax rigthDrive{1};
    frc::BuiltInAccelerometer accel{};
    frc::PWMVictorSPX arm{3};
-      void Robot::RobotInit() {
+   void Robot::RobotInit() {
       wpi::SendableRegistry::SetName(&arm, "SomeSubsystem", "Arm");
       wpi::SendableRegistry::SetName(&accel, "SomeSubsystem", "Accelerometer");
    }
@@ -63,7 +63,7 @@ To run LiveWindow in Test Mode, the following code is needed in the ``Robot`` cl
    ```python
    from wpilib import BuiltInAccelerometer, PWMSparkMax, PWMVictorSPX
    from wpiutil import SendableRegistry
-      def robotInit(self) -> None:
+   def robotInit(self) -> None:
       leftDrive = PWMSparkMax(0)
       rightDrive = PWMSparkMax(1)
       arm = PWMVictorSPX(2)
diff --git a/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst b/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst
index 70fca25851..eee94956a5 100644
--- a/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst
+++ b/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst
@@ -23,7 +23,7 @@ SmartDashboard includes a connection indicator widget which will turn red or gre
    ```java
    public class Robot extends TimedRobot {
       double counter = 0.0;
-         public void teleopPeriodic() {
+      public void teleopPeriodic() {
          SmartDashboard.putNumber("Counter", counter++);
       }
    }
@@ -32,15 +32,15 @@ SmartDashboard includes a connection indicator widget which will turn red or gre
    ```c++
    #include "Robot.h"
    float counter = 0.0;
-      void Robot::TeleopPeriodic() {
+   void Robot::TeleopPeriodic() {
       frc::SmartDashboard::PutNumber("Counter", counter++);
    }
    ```
 
    ```python
    from wpilib import SmartDashboard
-      self.counter = 0.0
-      def teleopPeriodic(self) -> None:
+   self.counter = 0.0
+   def teleopPeriodic(self) -> None:
       SmartDashboard.putNumber("Counter", self.counter += 1)
    ```
 
diff --git a/source/docs/software/hardware-apis/misc/addressable-leds.rst b/source/docs/software/hardware-apis/misc/addressable-leds.rst
index f5628bd09c..d6a5686f36 100644
--- a/source/docs/software/hardware-apis/misc/addressable-leds.rst
+++ b/source/docs/software/hardware-apis/misc/addressable-leds.rst
@@ -60,7 +60,7 @@ RGB stands for Red, Green, and Blue. This is a fairly common color model as it's
          // Sets the specified LED to the RGB values for red
          m_ledBuffer.setRGB(i, 255, 0, 0);
       }
-            m_led.setData(m_ledBuffer);
+      m_led.setData(m_ledBuffer);
       ```
 
    .. tab-item:: C++
@@ -70,7 +70,7 @@ RGB stands for Red, Green, and Blue. This is a fairly common color model as it's
       for (int i = 0; i < kLength; i++) {
          m_ledBuffer[i].SetRGB(255, 0, 0);
       }
-            m_led.SetData(m_ledBuffer);
+      m_led.SetData(m_ledBuffer);
       ```
 
 ### Using HSV Values
@@ -92,7 +92,7 @@ LEDs can be set with the ``setHSV`` method that takes 4 arguments: index of the
          // Sets the specified LED to the HSV values for red
          m_ledBuffer.setHSV(i, 0, 100, 100);
       }
-            m_led.setData(m_ledBuffer);
+      m_led.setData(m_ledBuffer);
       ```
 
    .. tab-item:: C++
@@ -102,7 +102,7 @@ LEDs can be set with the ``setHSV`` method that takes 4 arguments: index of the
       for (int i = 0; i < kLength; i++) {
          m_ledBuffer[i].SetHSV(0, 100, 100);
       }
-            m_led.SetData(m_ledBuffer);
+      m_led.SetData(m_ledBuffer);
       ```
 
 ## Creating a Rainbow Effect
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 bc8d1b6e08..0c96ba54bd 100644
--- a/source/docs/software/hardware-apis/motors/using-motor-controllers.rst
+++ b/source/docs/software/hardware-apis/motors/using-motor-controllers.rst
@@ -12,24 +12,24 @@ PWM motor controllers can be controlled in the same way as a CAN motor controlle
 
    ```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
+   spark.set(-0.75); // the % output of the motor, between -1 and 1
+   VictorSP victor = new VictorSP(0); // 0 is the RIO PWM port this is connected to
+   victor.set(0.6); // the % output of the motor, between -1 and 1
    ```
 
    ```c++
    frc::Spark spark{0}; // 0 is the RIO PWM port this is connected to
-      spark.Set(-0.75); // the % output of the motor, between -1 and 1
-      frc::VictorSP victor{0}; // 0 is the RIO PWM port this is connected to
-      victor.Set(0.6); // the % output of the motor, between -1 and 1
+   spark.Set(-0.75); // the % output of the motor, between -1 and 1
+   frc::VictorSP victor{0}; // 0 is the RIO PWM port this is connected to
+   victor.Set(0.6); // the % output of the motor, between -1 and 1
    ```
 
    ```python
    spark = wpilib.Spark(0) # 0 is the RIO PWM port this is connected to
-      spark.set(-0.75) # the % output of the motor, between -1 and 1
-      victor = wpilib.VictorSP(0) # 0 is the RIO PWM port this is connected to
-      victor.set(0.6) # the % output of the motor, between -1 and 1
-      ```
+   spark.set(-0.75) # the % output of the motor, between -1 and 1
+   victor = wpilib.VictorSP(0) # 0 is the RIO PWM port this is connected to
+   victor.set(0.6) # the % output of the motor, between -1 and 1
+   ```
 
 ## CAN Motor Controllers
 
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 936ca8938c..208fb3bbc8 100644
--- a/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst
+++ b/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst
@@ -32,7 +32,7 @@ It is the responsibility of the user to manage proper inversions for their drive
 
    ```java
    PWMSparkMax m_motorRight = new PWMSparkMax(0);
-      @Override
+   @Override
    public void robotInit() {
       m_motorRight.setInverted(true);
    }
@@ -40,7 +40,7 @@ It is the responsibility of the user to manage proper inversions for their drive
 
    ```c++
    frc::PWMSparkMax m_motorLeft{0};
-      public:
+   public:
     void RobotInit() override {
       m_motorRight.SetInverted(true);
     }
@@ -192,11 +192,11 @@ Many FRC\ |reg| drivetrains have more than 1 motor on each side. Classes derived
            rearLeft = wpilib.Spark(2)
            left = wpilib.MotorControllerGroup(frontLeft, rearLeft)
            left.setInverted(True) # if you want to invert the entire side you can do so here
-                  frontRight = wpilib.Spark(3)
+           frontRight = wpilib.Spark(3)
            rearRight = wpilib.Spark(4)
            right = wpilib.MotorControllerGroup(frontLeft, rearLeft)
-                  self.drive = wpilib.drive.DifferentialDrive(left, right)
-                     ```
+           self.drive = wpilib.drive.DifferentialDrive(left, right)
+       ```
 
 ### Drive Modes
 .. note::
@@ -220,9 +220,9 @@ Like Arcade Drive, the Curvature Drive mode is used to control the drivetrain us
     public void teleopPeriodic() {
         // Tank drive with a given left and right rates
         myDrive.tankDrive(-leftStick.getY(), -rightStick.getY());
-            // Arcade drive with a given forward and turn rate
+        // Arcade drive with a given forward and turn rate
         myDrive.arcadeDrive(-driveStick.getY(), -driveStick.getX());
-            // Curvature drive with a given forward and turn rate, as well as a button for turning in-place.
+        // Curvature drive with a given forward and turn rate, as well as a button for turning in-place.
         myDrive.curvatureDrive(-driveStick.getY(), -driveStick.getX(), driveStick.getButton(1));
     }
     ```
@@ -231,9 +231,9 @@ Like Arcade Drive, the Curvature Drive mode is used to control the drivetrain us
     void TeleopPeriodic() override {
         // Tank drive with a given left and right rates
         myDrive.TankDrive(-leftStick.GetY(), -rightStick.GetY());
-            // Arcade drive with a given forward and turn rate
+        // Arcade drive with a given forward and turn rate
         myDrive.ArcadeDrive(-driveStick.GetY(), -driveStick.GetX());
-            // Curvature drive with a given forward and turn rate, as well as a quick-turn button
+        // Curvature drive with a given forward and turn rate, as well as a quick-turn button
         myDrive.CurvatureDrive(-driveStick.GetY(), -driveStick.GetX(), driveStick.GetButton(1));
     }
     ```
@@ -242,9 +242,9 @@ Like Arcade Drive, the Curvature Drive mode is used to control the drivetrain us
     def teleopPeriodic(self):
         # Tank drive with a given left and right rates
         self.myDrive.tankDrive(-self.leftStick.getY(), -self.rightStick.getY())
-            # Arcade drive with a given forward and turn rate
+        # Arcade drive with a given forward and turn rate
         self.myDrive.arcadeDrive(-self.driveStick.getY(), -self.driveStick.getX())
-            # Curvature drive with a given forward and turn rate, as well as a button for turning in-place.
+        # Curvature drive with a given forward and turn rate, as well as a button for turning in-place.
         self.myDrive.curvatureDrive(-self.driveStick.getY(), -self.driveStick.getX(), self.driveStick.getButton(1))
     ```
 
diff --git a/source/docs/software/hardware-apis/pneumatics/solenoids.rst b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
index 5b44c69642..1efca2b8d6 100644
--- a/source/docs/software/hardware-apis/pneumatics/solenoids.rst
+++ b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
@@ -95,9 +95,9 @@ Solenoids can be switched from one output to the other (known as toggling) by us
    ```java
    Solenoid exampleSingle = new Solenoid(PneumaticsModuleType.CTREPCM, 0);
    DoubleSolenoid exampleDouble = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 1, 2);
-      // Initialize the DoubleSolenoid so it knows where to start.  Not required for single solenoids.
+   // Initialize the DoubleSolenoid so it knows where to start.  Not required for single solenoids.
    exampleDouble.set(kReverse);
-      if (m_controller.getYButtonPressed()) {
+   if (m_controller.getYButtonPressed()) {
       exampleSingle.toggle();
       exampleDouble.toggle();
    }
@@ -106,9 +106,9 @@ Solenoids can be switched from one output to the other (known as toggling) by us
    ```c++
    frc::Solenoid exampleSingle{frc::PneumaticsModuleType::CTREPCM, 0};
    frc::DoubleSolenoid exampleDouble{frc::PneumaticsModuleType::CTREPCM, 1, 2};
-      // Initialize the DoubleSolenoid so it knows where to start.  Not required for single solenoids.
+   // Initialize the DoubleSolenoid so it knows where to start.  Not required for single solenoids.
    exampleDouble.Set(frc::DoubleSolenoid::Value::kReverse);
-      if (m_controller.GetYButtonPressed()) {
+   if (m_controller.GetYButtonPressed()) {
       exampleSingle.Toggle();
       exampleDouble.Toggle();
    }
diff --git a/source/docs/software/hardware-apis/sensors/accelerometers-software.rst b/source/docs/software/hardware-apis/sensors/accelerometers-software.rst
index 9dfc0aab00..3d6c3885f2 100644
--- a/source/docs/software/hardware-apis/sensors/accelerometers-software.rst
+++ b/source/docs/software/hardware-apis/sensors/accelerometers-software.rst
@@ -26,22 +26,22 @@ The :code:`AnalogAccelerometer` class ([Java](https://github.wpilib.org/allwpili
     ```java
     // Creates an analog accelerometer on analog input 0
     AnalogAccelerometer accelerometer = new AnalogAccelerometer(0);
-        // Sets the sensitivity of the accelerometer to 1 volt per G
+    // Sets the sensitivity of the accelerometer to 1 volt per G
     accelerometer.setSensitivity(1);
-        // Sets the zero voltage of the accelerometer to 3 volts
+    // Sets the zero voltage of the accelerometer to 3 volts
     accelerometer.setZero(3);
-        // Gets the current acceleration
+    // Gets the current acceleration
     double accel = accelerometer.getAcceleration();
     ```
 
     ```c++
     // Creates an analog accelerometer on analog input 0
     frc::AnalogAccelerometer accelerometer{0};
-        // Sets the sensitivity of the accelerometer to 1 volt per G
+    // Sets the sensitivity of the accelerometer to 1 volt per G
     accelerometer.SetSensitivity(1);
-        // Sets the zero voltage of the accelerometer to 3 volts
+    // Sets the zero voltage of the accelerometer to 3 volts
     accelerometer.SetZero(3);
-        // Gets the current acceleration
+    // Gets the current acceleration
     double accel = accelerometer.GetAcceleration();
     ```
 
@@ -150,17 +150,17 @@ For detecting collisions, it is often more robust to measure the jerk than the a
     ```java
     double prevXAccel = 0.0;
     double prevYAccel = 0.0;
-        BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
-        @Override
+    BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
+    @Override
     public void robotPeriodic() {
         // Gets the current accelerations in the X and Y directions
         double xAccel = accelerometer.getX();
         double yAccel = accelerometer.getY();
-            // Calculates the jerk in the X and Y directions
+        // Calculates the jerk in the X and Y directions
         // Divides by .02 because default loop timing is 20ms
         double xJerk = (xAccel - prevXAccel) / 0.02;
         double yJerk = (yAccel - prevYAccel) / 0.02;
-            prevXAccel = xAccel;
+        prevXAccel = xAccel;
         prevYAccel = yAccel;
     }
     ```
@@ -168,16 +168,16 @@ For detecting collisions, it is often more robust to measure the jerk than the a
     ```c++
     double prevXAccel = 0.0;
     double prevYAccel = 0.0;
-        frc::BuiltInAccelerometer accelerometer;
-        void Robot::RobotPeriodic() {
+    frc::BuiltInAccelerometer accelerometer;
+    void Robot::RobotPeriodic() {
         // Gets the current accelerations in the X and Y directions
         double xAccel = accelerometer.GetX();
         double yAccel = accelerometer.GetY();
-            // Calculates the jerk in the X and Y directions
+        // Calculates the jerk in the X and Y directions
         // Divides by .02 because default loop timing is 20ms
         double xJerk = (xAccel - prevXAccel) / 0.02;
         double yJerk = (yAccel - prevYAccel) / 0.02;
-            prevXAccel = xAccel;
+        prevXAccel = xAccel;
         prevYAccel = yAccel;
     }
     ```
@@ -188,9 +188,9 @@ Most accelerometers legal for FRC use are quite noisy, and it is often a good id
 
     ```java
     BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
-        // Create a LinearFilter that will calculate a moving average of the measured X acceleration over the past 10 iterations of the main loop
-        LinearFilter xAccelFilter = LinearFilter.movingAverage(10);
-        @Override
+    // Create a LinearFilter that will calculate a moving average of the measured X acceleration over the past 10 iterations of the main loop
+    LinearFilter xAccelFilter = LinearFilter.movingAverage(10);
+    @Override
     public void robotPeriodic() {
         // Get the filtered X acceleration
         double filteredXAccel = xAccelFilter.calculate(accelerometer.getX());
@@ -199,9 +199,9 @@ Most accelerometers legal for FRC use are quite noisy, and it is often a good id
 
     ```c++
     frc::BuiltInAccelerometer accelerometer;
-        // Create a LinearFilter that will calculate a moving average of the measured X acceleration over the past 10 iterations of the main loop
+    // Create a LinearFilter that will calculate a moving average of the measured X acceleration over the past 10 iterations of the main loop
     auto xAccelFilter = frc::LinearFilter::MovingAverage(10);
-        void Robot::RobotPeriodic() {
+    void Robot::RobotPeriodic() {
         // Get the filtered X acceleration
         double filteredXAccel = xAccelFilter.Calculate(accelerometer.GetX());
     }
diff --git a/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst b/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
index 59b13ada7c..9b50b4f83f 100644
--- a/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
+++ b/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
@@ -147,14 +147,14 @@ Analog input channels 0 and 1 additionally support an accumulator, which integra
     // Sets the initial value of the accumulator to 0
     // This is the "starting point" from which the value will change over time
     analog.setAccumulatorInitialValue(0);
-        // Sets the "center" of the accumulator to 0.  This value is subtracted from
+    // Sets the "center" of the accumulator to 0.  This value is subtracted from
     // all measured values prior to accumulation.
     analog.setAccumulatorCenter(0);
-        // Returns the number of accumulated samples since the accumulator was last started/reset
+    // Returns the number of accumulated samples since the accumulator was last started/reset
     analog.getAccumulatorCount();
-        // Returns the value of the accumulator.  Return type is long.
+    // Returns the value of the accumulator.  Return type is long.
     analog.getAccumulatorValue();
-        // Resets the accumulator to the initial value
+    // Resets the accumulator to the initial value
     analog.resetAccumulator();
     ```
 
@@ -162,14 +162,14 @@ Analog input channels 0 and 1 additionally support an accumulator, which integra
     // Sets the initial value of the accumulator to 0
     // This is the "starting point" from which the value will change over time
     analog.SetAccumulatorInitialValue(0);
-        // Sets the "center" of the accumulator to 0.  This value is subtracted from
+    // Sets the "center" of the accumulator to 0.  This value is subtracted from
     // all measured values prior to accumulation.
     analog.SetAccumulatorCenter(0);
-        // Returns the number of accumulated samples since the accumulator was last started/reset
+    // Returns the number of accumulated samples since the accumulator was last started/reset
     analog.GetAccumulatorCount();
-        // Returns the value of the accumulator.  Return type is long.
+    // Returns the value of the accumulator.  Return type is long.
     analog.GetAccumulatorValue();
-        // Resets the accumulator to the initial value
+    // Resets the accumulator to the initial value
     analog.ResetAccumulator();
     ```
 
@@ -182,9 +182,9 @@ Sometimes, it is necessarily to obtain matched measurements of the count and the
     ```java
     // Instantiate an AccumulatorResult object to hold the matched measurements
     AccumulatorResult result = new AccumulatorResult();
-        // Fill the AccumulatorResult with the matched measurements
+    // Fill the AccumulatorResult with the matched measurements
     analog.getAccumulatorOutput(result);
-        // Read the values from the AccumulatorResult
+    // Read the values from the AccumulatorResult
     long count = result.count;
     long value = result.value;
     ```
@@ -193,7 +193,7 @@ Sometimes, it is necessarily to obtain matched measurements of the count and the
     // The count and value variables to fill
     int_64t count;
     int_64t value;
-        // Fill the count and value variables with the matched measurements
+    // Fill the count and value variables with the matched measurements
     analog.GetAccumulatorOutput(count, value);
     ```
 
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 7d044e811f..457d90e83e 100644
--- a/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
+++ b/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
@@ -20,14 +20,14 @@ An AnalogPotentiometer can be initialized as follows:
     // Initializes an AnalogPotentiometer on analog port 0
     // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
     // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
-        AnalogPotentiometer pot = new AnalogPotentiometer(0, 180, 30);
+    AnalogPotentiometer pot = new AnalogPotentiometer(0, 180, 30);
     ```
 
     ```c++
     // Initializes an AnalogPotentiometer on analog port 0
     // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
     // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
-        frc::AnalogPotentiometer pot{0, 180, 30};
+    frc::AnalogPotentiometer pot{0, 180, 30};
     ```
 
 ### Customizing the underlying AnalogInput
@@ -42,20 +42,20 @@ If the user would like to apply custom settings to the underlying :code:`AnalogI
     // Initializes an AnalogInput on port 0, and enables 2-bit averaging
     AnalogInput input = new AnalogInput(0);
     input.setAverageBits(2);
-        // Initializes an AnalogPotentiometer with the given AnalogInput
+    // Initializes an AnalogPotentiometer with the given AnalogInput
     // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
     // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
-        AnalogPotentiometer pot = new AnalogPotentiometer(input, 180, 30);
+    AnalogPotentiometer pot = new AnalogPotentiometer(input, 180, 30);
     ```
 
     ```c++
     // Initializes an AnalogInput on port 0, and enables 2-bit averaging
     frc::AnalogInput input{0};
     input.SetAverageBits(2);
-        // Initializes an AnalogPotentiometer with the given AnalogInput
+    // Initializes an AnalogPotentiometer with the given AnalogInput
     // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for instance)
     // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer reads 0v, is 30.
-        frc::AnalogPotentiometer pot{input, 180, 30};
+    frc::AnalogPotentiometer pot{input, 180, 30};
     ```
 
 ### Reading values from the AnalogPotentiometer
diff --git a/source/docs/software/hardware-apis/sensors/counters.rst b/source/docs/software/hardware-apis/sensors/counters.rst
index 60e58f7f1b..ae842a1313 100644
--- a/source/docs/software/hardware-apis/sensors/counters.rst
+++ b/source/docs/software/hardware-apis/sensors/counters.rst
@@ -31,12 +31,12 @@ In two-pulse mode, the :code:`Counter` will count up for every edge/pulse on the
     ```java
     // Create a new Counter object in two-pulse mode
     Counter counter = new Counter(Counter.Mode.k2Pulse);
-        @Override
+    @Override
     public void robotInit() {
         // Set up the input channels for the counter
         counter.setUpSource(1);
         counter.setDownSource(2);
-            // Set the decoding type to 2X
+        // Set the decoding type to 2X
         counter.setUpSourceEdge(true, true);
         counter.setDownSourceEdge(true, true);
     }
@@ -45,11 +45,11 @@ In two-pulse mode, the :code:`Counter` will count up for every edge/pulse on the
     ```c++
     // Create a new Counter object in two-pulse mode
     frc::Counter counter{frc::Counter::Mode::k2Pulse};
-        void Robot::RobotInit() {
+    void Robot::RobotInit() {
         // Set up the input channels for the counter
         counter.SetUpSource(1);
         counter.SetDownSource(2);
-            // Set the decoding type to 2X
+        // Set the decoding type to 2X
         counter.SetUpSourceEdge(true, true);
         counter.SetDownSourceEdge(true, true);
     ```
@@ -63,11 +63,11 @@ In semi-period mode, the :code:`Counter` will count the duration of the pulses o
     ```java
     // Create a new Counter object in two-pulse mode
     Counter counter = new Counter(Counter.Mode.kSemiperiod);
-        @Override
+    @Override
     public void robotInit() {
         // Set up the input channel for the counter
         counter.setUpSource(1);
-            // Set the encoder to count pulse duration from rising edge to falling edge
+        // Set the encoder to count pulse duration from rising edge to falling edge
         counter.setSemiPeriodMode(true);
     }
     ```
@@ -75,10 +75,10 @@ In semi-period mode, the :code:`Counter` will count the duration of the pulses o
     ```c++
     // Create a new Counter object in two-pulse mode
     frc::Counter counter{frc::Counter::Mode::kSemiperiod};
-        void Robot() {
+    void Robot() {
         // Set up the input channel for the counter
         counter.SetUpSource(1);
-            // Set the encoder to count pulse duration from rising edge to falling edge
+        // Set the encoder to count pulse duration from rising edge to falling edge
         counter.SetSemiPeriodMode(true);
     ```
 
@@ -105,13 +105,13 @@ In pulse-length mode, the counter will count either up or down depending on the
     ```java
     // Create a new Counter object in two-pulse mode
     Counter counter = new Counter(Counter.Mode.kPulseLength);
-        @Override
+    @Override
     public void robotInit() {
         // Set up the input channel for the counter
         counter.setUpSource(1);
-            // Set the decoding type to 2X
+        // Set the decoding type to 2X
         counter.setUpSourceEdge(true, true);
-            // Set the counter to count down if the pulses are longer than .05 seconds
+        // Set the counter to count down if the pulses are longer than .05 seconds
         counter.setPulseLengthMode(.05)
     }
     ```
@@ -119,12 +119,12 @@ In pulse-length mode, the counter will count either up or down depending on the
     ```c++
     // Create a new Counter object in two-pulse mode
     frc::Counter counter{frc::Counter::Mode::kPulseLength};
-        void Robot::RobotInit() {
+    void Robot::RobotInit() {
         // Set up the input channel for the counter
         counter.SetUpSource(1);
-            // Set the decoding type to 2X
+        // Set the decoding type to 2X
         counter.SetUpSourceEdge(true, true);
-            // Set the counter to count down if the pulses are longer than .05 seconds
+        // Set the counter to count down if the pulses are longer than .05 seconds
         counter.SetPulseLengthMode(.05)
     ```
 
@@ -137,12 +137,12 @@ In external direction mode, the counter counts either up or down depending on th
     ```java
     // Create a new Counter object in two-pulse mode
     Counter counter = new Counter(Counter.Mode.kExternalDirection);
-        @Override
+    @Override
     public void robotInit() {
         // Set up the input channels for the counter
         counter.setUpSource(1);
         counter.setDownSource(2);
-            // Set the decoding type to 2X
+        // Set the decoding type to 2X
         counter.setUpSourceEdge(true, true);
     }
     ```
@@ -150,11 +150,11 @@ In external direction mode, the counter counts either up or down depending on th
     ```c++
     // Create a new Counter object in two-pulse mode
     frc::Counter counter{frc::Counter::Mode::kExternalDirection};
-        void RobotInit() {
+    void RobotInit() {
         // Set up the input channels for the counter
         counter.SetUpSource(1);
         counter.SetDownSource(2);
-            // Set the decoding type to 2X
+        // Set the decoding type to 2X
         counter.SetUpSourceEdge(true, true);
     ```
 
@@ -172,13 +172,13 @@ Apart from the mode-specific configurations, the :code:`Counter` class offers a
     // Configures the counter to return a distance of 4 for every 256 pulses
     // Also changes the units of getRate
     counter.setDistancePerPulse(4./256.);
-        // Configures the counter to consider itself stopped after .1 seconds
+    // Configures the counter to consider itself stopped after .1 seconds
     counter.setMaxPeriod(.1);
-        // Configures the counter to consider itself stopped when its rate is below 10
+    // Configures the counter to consider itself stopped when its rate is below 10
     counter.setMinRate(10);
-        // Reverses the direction of the counter
+    // Reverses the direction of the counter
     counter.setReverseDirection(true);
-        // Configures an counter to average its period measurement over 5 samples
+    // Configures an counter to average its period measurement over 5 samples
     // Can be between 1 and 127 samples
     counter.setSamplesToAverage(5);
     ```
@@ -187,13 +187,13 @@ Apart from the mode-specific configurations, the :code:`Counter` class offers a
     // Configures the counter to return a distance of 4 for every 256 pulses
     // Also changes the units of getRate
     counter.SetDistancePerPulse(4./256.);
-        // Configures the counter to consider itself stopped after .1 seconds
+    // Configures the counter to consider itself stopped after .1 seconds
     counter.SetMaxPeriod(.1);
-        // Configures the counter to consider itself stopped when its rate is below 10
+    // Configures the counter to consider itself stopped when its rate is below 10
     counter.SetMinRate(10);
-        // Reverses the direction of the counter
+    // Reverses the direction of the counter
     counter.SetReverseDirection(true);
-        // Configures an counter to average its period measurement over 5 samples
+    // Configures an counter to average its period measurement over 5 samples
     // Can be between 1 and 127 samples
     counter.SetSamplesToAverage(5);
     ```
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 43a22ef9a3..8738e7131c 100644
--- a/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst
+++ b/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst
@@ -53,20 +53,20 @@ An :code:`AnalogTrigger` may be initialized as follows.  As with :code:`AnalogPo
     ```java
     // Initializes an AnalogTrigger on port 0
     AnalogTrigger trigger0 = new AnalogTrigger(0);
-        // Initializes an AnalogInput on port 1 and enables 2-bit oversampling
+    // Initializes an AnalogInput on port 1 and enables 2-bit oversampling
     AnalogInput input = new AnalogInput(1);
     input.setAverageBits(2);
-        // Initializes an AnalogTrigger using the above input
+    // Initializes an AnalogTrigger using the above input
     AnalogTrigger trigger1 = new AnalogTrigger(input);
     ```
 
     ```c++
     // Initializes an AnalogTrigger on port 0
     frc::AnalogTrigger trigger0{0};
-        // Initializes an AnalogInput on port 1 and enables 2-bit oversampling
+    // Initializes an AnalogInput on port 1 and enables 2-bit oversampling
     frc::AnalogInput input{1};
     input.SetAverageBits(2);
-        // Initializes an AnalogTrigger using the above input
+    // Initializes an AnalogTrigger using the above input
     frc::AnalogTrigger trigger1{input};
     ```
 
@@ -81,14 +81,14 @@ To convert the analog signal to a digital one, it is necessary to specify at wha
     ```java
     // Sets the trigger to enable at a raw value of 3500, and disable at a value of 1000
     trigger.setLimitsRaw(1000, 3500);
-        // Sets the trigger to enable at a voltage of 4 volts, and disable at a value of 1.5 volts
+    // Sets the trigger to enable at a voltage of 4 volts, and disable at a value of 1.5 volts
     trigger.setLimitsVoltage(1.5, 4);
     ```
 
     ```c++
     // Sets the trigger to enable at a raw value of 3500, and disable at a value of 1000
     trigger.SetLimitsRaw(1000, 3500);
-        // Sets the trigger to enable at a voltage of 4 volts, and disable at a value of 1.5 volts
+    // Sets the trigger to enable at a voltage of 4 volts, and disable at a value of 1.5 volts
     trigger.SetLimitsVoltage(1.5, 4);
     ```
 
@@ -104,9 +104,9 @@ Nearly all motorized mechanisms (such as arms and elevators) in FRC\ |reg| shoul
 
     ```java
     Spark spark = new Spark(0);
-        // Limit switch on DIO 2
+    // Limit switch on DIO 2
     DigitalInput limit = new DigitalInput(2);
-        public void autonomousPeriodic() {
+    public void autonomousPeriodic() {
         // Runs the motor forwards at half speed, unless the limit is pressed
         if(!limit.get()) {
             spark.set(.5);
@@ -119,9 +119,9 @@ Nearly all motorized mechanisms (such as arms and elevators) in FRC\ |reg| shoul
     ```c++
     // Motor for the mechanism
     frc::Spark spark{0};
-        // Limit switch on DIO 2
+    // Limit switch on DIO 2
     frc::DigitalInput limit{2};
-        void AutonomousPeriodic() {
+    void AutonomousPeriodic() {
         // Runs the motor forwards at half speed, unless the limit is pressed
         if(!limit.Get()) {
             spark.Set(.5);
diff --git a/source/docs/software/hardware-apis/sensors/encoders-software.rst b/source/docs/software/hardware-apis/sensors/encoders-software.rst
index aff15e2528..132c3c055f 100644
--- a/source/docs/software/hardware-apis/sensors/encoders-software.rst
+++ b/source/docs/software/hardware-apis/sensors/encoders-software.rst
@@ -87,13 +87,13 @@ The :code:`Encoder` class offers a number of configuration methods:
     // Configures the encoder to return a distance of 4 for every 256 pulses
     // Also changes the units of getRate
     encoder.setDistancePerPulse(4.0/256.0);
-        // Configures the encoder to consider itself stopped after .1 seconds
+    // Configures the encoder to consider itself stopped after .1 seconds
     encoder.setMaxPeriod(0.1);
-        // Configures the encoder to consider itself stopped when its rate is below 10
+    // Configures the encoder to consider itself stopped when its rate is below 10
     encoder.setMinRate(10);
-        // Reverses the direction of the encoder
+    // Reverses the direction of the encoder
     encoder.setReverseDirection(true);
-        // Configures an encoder to average its period measurement over 5 samples
+    // Configures an encoder to average its period measurement over 5 samples
     // Can be between 1 and 127 samples
     encoder.setSamplesToAverage(5);
     ```
@@ -102,13 +102,13 @@ The :code:`Encoder` class offers a number of configuration methods:
     // Configures the encoder to return a distance of 4 for every 256 pulses
     // Also changes the units of getRate
     encoder.SetDistancePerPulse(4.0/256.0);
-        // Configures the encoder to consider itself stopped after .1 seconds
+    // Configures the encoder to consider itself stopped after .1 seconds
     encoder.SetMaxPeriod(0.1);
-        // Configures the encoder to consider itself stopped when its rate is below 10
+    // Configures the encoder to consider itself stopped when its rate is below 10
     encoder.SetMinRate(10);
-        // Reverses the direction of the encoder
+    // Reverses the direction of the encoder
     encoder.SetReverseDirection(true);
-        // Configures an encoder to average its period measurement over 5 samples
+    // Configures an encoder to average its period measurement over 5 samples
     // Can be between 1 and 127 samples
     encoder.SetSamplesToAverage(5);
     ```
@@ -281,7 +281,7 @@ Users can obtain the distance measured by the encoder with the :code:`getDistanc
     ```c++
     // Gets the distance traveled
     encoder.GetDistance();
-        ```
+    ```
 
 ### Detecting a Duty Cycle Encoder is Connected
 
@@ -297,7 +297,7 @@ As duty cycle encoders output a continuous set of pulses, it is possible to dete
     ```c++
     // Gets if the encoder is connected
     encoder.IsConnected();
-        ```
+    ```
 
 ### Resetting a Duty Cycle Encoder
 
@@ -308,18 +308,18 @@ To reset an encoder so the current distance is 0, call the :code:`reset()` metho
     ```java
     // Resets the encoder to read a distance of zero at the current position
     encoder.reset();
-        // get the position offset from when the encoder was reset
+    // get the position offset from when the encoder was reset
     encoder.getPositionOffset();
-        // set the position offset to half a rotation
+    // set the position offset to half a rotation
     encoder.setPositionOffset(0.5);
     ```
 
     ```c++
     // Resets the encoder to read a distance of zero at the current position
     encoder.Reset();
-        // get the position offset from when the encoder was reset
+    // get the position offset from when the encoder was reset
     encoder.GetPositionOffset();
-        // set the position offset to half a rotation
+    // set the position offset to half a rotation
     encoder.SetPositionOffset(0.5);
     ```
 
@@ -383,7 +383,7 @@ Users can obtain the distance measured by the encoder with the :code:`getDistanc
     ```c++
     // Gets the distance measured
     encoder.GetDistance();
-            ```
+    ```
 
 ### Resetting an Analog Encoder
 
@@ -394,18 +394,18 @@ To reset an analog encoder so the current distance is 0, call the :code:`reset()
     ```java
     // Resets the encoder to read a distance of zero at the current position
     encoder.reset();
-        // get the position offset from when the encoder was reset
+    // get the position offset from when the encoder was reset
     encoder.getPositionOffset();
-        // set the position offset to half a rotation
+    // set the position offset to half a rotation
     encoder.setPositionOffset(0.5);
     ```
 
     ```c++
     // Resets the encoder to read a distance of zero at the current position
     encoder.Reset();
-        // get the position offset from when the encoder was reset
+    // get the position offset from when the encoder was reset
     encoder.GetPositionOffset();
-        // set the position offset to half a rotation
+    // set the position offset to half a rotation
     encoder.SetPositionOffset(0.5);
     ```
 
@@ -424,25 +424,25 @@ Encoders can be used on a robot drive to create a simple "drive to distance" rou
     ```java
     // Creates an encoder on DIO ports 0 and 1
     Encoder encoder = new Encoder(0, 1);
-        // Initialize motor controllers and drive
+    // Initialize motor controllers and drive
     Spark leftLeader = new Spark(0);
     Spark leftFollower = new Spark(1);
-        Spark rightLeader = new Spark(2);
+    Spark rightLeader = new Spark(2);
     Spark rightFollower = new Spark(3);
-        DifferentialDrive drive = new DifferentialDrive(leftLeader::set, rightLeader::set);
-        @Override
+    DifferentialDrive drive = new DifferentialDrive(leftLeader::set, rightLeader::set);
+    @Override
     public void robotInit() {
         // Configures the encoder's distance-per-pulse
         // The robot moves forward 1 foot per encoder rotation
         // There are 256 pulses per encoder rotation
         encoder.setDistancePerPulse(1./256.);
-            // Invert the right side of the drivetrain. You might have to invert the other side
+        // Invert the right side of the drivetrain. You might have to invert the other side
         rightLeader.setInverted(true);
-            // Configure the followers to follow the leaders
+        // Configure the followers to follow the leaders
         leftLeader.addFollower(leftFollower);
         rightLeader.addFollower(rightFollower);
     }
-        @Override
+    @Override
     public void autonomousPeriodic() {
         // Drives forward at half speed until the robot has moved 5 feet, then stops:
         if(encoder.getDistance() < 5) {
@@ -456,25 +456,25 @@ Encoders can be used on a robot drive to create a simple "drive to distance" rou
     ```c++
      // Creates an encoder on DIO ports 0 and 1.
     frc::Encoder encoder{0, 1};
-        // Initialize motor controllers and drive
+    // Initialize motor controllers and drive
     frc::Spark leftLeader{0};
     frc::Spark leftFollower{1};
-        frc::Spark rightLeader{2};
+    frc::Spark rightLeader{2};
     frc::Spark rightFollower{3};
-        frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
+    frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
                                  [&](double output) { rightLeader.Set(output); }};
         void Robot::RobotInit() {
         // Configures the encoder's distance-per-pulse
         // The robot moves forward 1 foot per encoder rotation
         // There are 256 pulses per encoder rotation
         encoder.SetDistancePerPulse(1.0/256.0);
-            // Invert the right side of the drivetrain. You might have to invert the other side
+        // Invert the right side of the drivetrain. You might have to invert the other side
         rightLeader.SetInverted(true);
-            // Configure the followers to follow the leaders
+        // Configure the followers to follow the leaders
         leftLeader.AddFollower(leftFollower);
         rightLeader.AddFollower(rightFollower);
     }
-        void Robot::AutonomousPeriodic() {
+    void Robot::AutonomousPeriodic() {
         // Drives forward at half speed until the robot has moved 5 feet, then stops:
         if(encoder.GetDistance() < 5) {
             drive.TankDrive(0.5, 0.5);
@@ -494,10 +494,10 @@ Since quadrature encoders measure *relative* distance, it is often important to
 
     ```java
     Encoder encoder = new Encoder(0, 1);
-        Spark spark = new Spark(0);
-        // Limit switch on DIO 2
+    Spark spark = new Spark(0);
+    // Limit switch on DIO 2
     DigitalInput limit = new DigitalInput(2);
-        public void autonomousPeriodic() {
+    public void autonomousPeriodic() {
         // Runs the motor backwards at half speed until the limit switch is pressed
         // then turn off the motor and reset the encoder
         if(!limit.get()) {
@@ -511,10 +511,10 @@ Since quadrature encoders measure *relative* distance, it is often important to
 
     ```c++
     frc::Encoder encoder{0,1};
-        frc::Spark spark{0};
-        // Limit switch on DIO 2
+    frc::Spark spark{0};
+    // Limit switch on DIO 2
     frc::DigitalInput limit{2};
-        void AutonomousPeriodic() {
+    void AutonomousPeriodic() {
         // Runs the motor backwards at half speed until the limit switch is pressed
         // then turn off the motor and reset the encoder
         if(!limit.Get()) {
diff --git a/source/docs/software/hardware-apis/sensors/gyros-software.rst b/source/docs/software/hardware-apis/sensors/gyros-software.rst
index 2795961d4b..51827c21b9 100644
--- a/source/docs/software/hardware-apis/sensors/gyros-software.rst
+++ b/source/docs/software/hardware-apis/sensors/gyros-software.rst
@@ -30,7 +30,7 @@ The ADIS16448 uses the :code:`ADIS16448_IMU` class ([Java](https://github.wpilib
 
     ```python
     from wpilib import ADIS16448_IMU
-        # ADIS16448 plugged into the MXP port
+    # ADIS16448 plugged into the MXP port
     self.gyro = ADIS16448_IMU()
     ```
 
@@ -121,7 +121,7 @@ The navX uses the :code:`AHRS` class.  See the [navX documentation](https://pdoc
 
     ```python
     import navx
-        # navX MXP using SPI
+    # navX MXP using SPI
     self.gyro = navx.AHRS(SPI.Port.kMXP)
     ```
 
@@ -148,7 +148,7 @@ The Pigeon should use the :code:`WPI_PigeonIMU` class.  The Pigeon can either be
     ```python
     import phoenix5
     import ctre.sensors
-        self.gyro = ctre.WPI_PigeonIMU(0); # Pigeon is on CAN Bus with device ID 0
+    self.gyro = ctre.WPI_PigeonIMU(0); # Pigeon is on CAN Bus with device ID 0
     # OR (choose one or the other based on your connection)
     talon = ctre.TalonSRX(0); # TalonSRX is on CAN Bus with device ID 0
     self.gyro = ctre.WPI_PigeonIMU(talon) # Pigeon uses the talon created above
@@ -168,7 +168,7 @@ Gyros are extremely useful in FRC for both measuring and controlling robot headi
 
     ```java
     // Use gyro declaration from above here
-        public void robotInit() {
+    public void robotInit() {
         // Places a compass indicator for the gyro heading on the dashboard
         Shuffleboard.getTab("Example tab").add(gyro);
     }
@@ -176,7 +176,7 @@ Gyros are extremely useful in FRC for both measuring and controlling robot headi
 
     ```c++
     // Use gyro declaration from above here
-        void Robot::RobotInit() {
+    void Robot::RobotInit() {
         // Places a compass indicator for the gyro heading on the dashboard
         frc::Shuffleboard.GetTab("Example tab").Add(gyro);
     }
@@ -184,9 +184,9 @@ Gyros are extremely useful in FRC for both measuring and controlling robot headi
 
     ```python
     from wpilib.shuffleboard import Shuffleboard
-        def robotInit(self):
+    def robotInit(self):
         # Use gyro declaration from above here
-            # Places a compass indicator for the gyro heading on the dashboard
+        # Places a compass indicator for the gyro heading on the dashboard
         Shuffleboard.getTab("Example tab").add(self.gyro)
     ```
 
@@ -206,57 +206,57 @@ The following example shows how to stabilize heading using a simple P loop close
 
     ```java
     // Use gyro declaration from above here
-        // The gain for a simple P loop
+    // The gain for a simple P loop
     double kP = 1;
-        // Initialize motor controllers and drive
+    // Initialize motor controllers and drive
     Spark leftLeader = new Spark(0);
     Spark leftFollower = new Spark(1);
-        Spark rightLeader = new Spark(2);
+    Spark rightLeader = new Spark(2);
     Spark rightFollower = new Spark(3);
-        DifferentialDrive drive = new DifferentialDrive(leftLeader::set, rightLeader::set);
-        @Override
+    DifferentialDrive drive = new DifferentialDrive(leftLeader::set, rightLeader::set);
+    @Override
     public void robotInit() {
         // Configures the encoder's distance-per-pulse
         // The robot moves forward 1 foot per encoder rotation
         // There are 256 pulses per encoder rotation
         encoder.setDistancePerPulse(1./256.);
-            // Invert the right side of the drivetrain. You might have to invert the other side
+        // Invert the right side of the drivetrain. You might have to invert the other side
         rightLeader.setInverted(true);
-            // Configure the followers to follow the leaders
+        // Configure the followers to follow the leaders
         leftLeader.addFollower(leftFollower);
         rightLeader.addFollower(rightFollower);
     }
-        @Override
+    @Override
     public void autonomousPeriodic() {
         // Setpoint is implicitly 0, since we don't want the heading to change
         double error = -gyro.getRate();
-            // Drives forward continuously at half speed, using the gyro to stabilize the heading
+        // Drives forward continuously at half speed, using the gyro to stabilize the heading
         drive.tankDrive(.5 + kP * error, .5 - kP * error);
     }
     ```
 
     ```c++
     // Use gyro declaration from above here
-        // The gain for a simple P loop
+    // The gain for a simple P loop
     double kP = 1;
-        // Initialize motor controllers and drive
+    // Initialize motor controllers and drive
     frc::Spark leftLeader{0};
     frc::Spark leftFollower{1};
-        frc::Spark rightLeader{2};
+    frc::Spark rightLeader{2};
     frc::Spark rightFollower{3};
-        frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
+    frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
                                  [&](double output) { rightLeader.Set(output); }};
-        void Robot::RobotInit() {
+    void Robot::RobotInit() {
         // Invert the right side of the drivetrain. You might have to invert the other side
         rightLeader.SetInverted(true);
-            // Configure the followers to follow the leaders
+        // Configure the followers to follow the leaders
         leftLeader.AddFollower(leftFollower);
         rightLeader.AddFollower(rightFollower);
     }
-        void Robot::AutonomousPeriodic() {
+    void Robot::AutonomousPeriodic() {
         // Setpoint is implicitly 0, since we don't want the heading to change
         double error = -gyro.GetRate();
-            // Drives forward continuously at half speed, using the gyro to stabilize the heading
+        // Drives forward continuously at half speed, using the gyro to stabilize the heading
         drive.TankDrive(.5 + kP * error, .5 - kP * error);
     }
     ```
@@ -265,23 +265,23 @@ The following example shows how to stabilize heading using a simple P loop close
     from wpilib import Spark
     from wpilib import MotorControllerGroup
     from wpilib.drive import DifferentialDrive
-        def robotInit(self):
+    def robotInit(self):
         # Use gyro declaration from above here
-            # The gain for a simple P loop
+        # The gain for a simple P loop
         self.kP = 1
-            # Initialize motor controllers and drive
+        # Initialize motor controllers and drive
         left1 = Spark(0)
         left2 = Spark(1)
         right1 = Spark(2)
         right2 = Spark(3)
-            leftMotors = MotorControllerGroup(left1, left2)
+        leftMotors = MotorControllerGroup(left1, left2)
         rightMotors = MotorControllerGroup(right1, right2)
-            self.drive = DifferentialDrive(leftMotors, rightMotors)
-            rightMotors.setInverted(true)
-        def autonomousPeriodic(self):
+        self.drive = DifferentialDrive(leftMotors, rightMotors)
+        rightMotors.setInverted(true)
+    def autonomousPeriodic(self):
         # Setpoint is implicitly 0, since we don't want the heading to change
         error = -self.gyro.getRate()
-            # Drives forward continuously at half speed, using the gyro to stabilize the heading
+        # Drives forward continuously at half speed, using the gyro to stabilize the heading
         self.drive.tankDrive(.5 + self.kP * error, .5 - self.kP * error)
     ```
 
@@ -297,59 +297,59 @@ The following example shows how to stabilize heading using a simple P loop close
 
     ```java
     // Use gyro declaration from above here
-        // The gain for a simple P loop
+    // The gain for a simple P loop
     double kP = 1;
-        // The heading of the robot when starting the motion
+    // The heading of the robot when starting the motion
     double heading;
-        // Initialize motor controllers and drive
+    // Initialize motor controllers and drive
     Spark left1 = new Spark(0);
     Spark left2 = new Spark(1);
-        Spark right1 = new Spark(2);
+    Spark right1 = new Spark(2);
     Spark right2 = new Spark(3);
-        MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
+    MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
     MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
-        DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
-        @Override
+    DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
+    @Override
     public void robotInit() {
         rightMotors.setInverted(true);
     }
-        @Override
+    @Override
     public void autonomousInit() {
         // Set setpoint to current heading at start of auto
         heading = gyro.getAngle();
     }
-        @Override
+    @Override
     public void autonomousPeriodic() {
         double error = heading - gyro.getAngle();
-            // Drives forward continuously at half speed, using the gyro to stabilize the heading
+        // Drives forward continuously at half speed, using the gyro to stabilize the heading
         drive.tankDrive(.5 + kP * error, .5 - kP * error);
     }
     ```
 
     ```c++
     // Use gyro declaration from above here
-        // The gain for a simple P loop
+    // The gain for a simple P loop
     double kP = 1;
-        // The heading of the robot when starting the motion
+    // The heading of the robot when starting the motion
     double heading;
-        // Initialize motor controllers and drive
+    // Initialize motor controllers and drive
     frc::Spark left1{0};
     frc::Spark left2{1};
     frc::Spark right1{2};
     frc::Spark right2{3};
-        frc::MotorControllerGroup leftMotors{left1, left2};
+    frc::MotorControllerGroup leftMotors{left1, left2};
     frc::MotorControllerGroup rightMotors{right1, right2};
-        frc::DifferentialDrive drive{leftMotors, rightMotors};
-        void Robot::RobotInit() {
+    frc::DifferentialDrive drive{leftMotors, rightMotors};
+    void Robot::RobotInit() {
       rightMotors.SetInverted(true);
     }
-        void Robot::AutonomousInit() {
+    void Robot::AutonomousInit() {
         // Set setpoint to current heading at start of auto
         heading = gyro.GetAngle();
     }
-        void Robot::AutonomousPeriodic() {
+    void Robot::AutonomousPeriodic() {
         double error = heading - gyro.GetAngle();
-            // Drives forward continuously at half speed, using the gyro to stabilize the heading
+        // Drives forward continuously at half speed, using the gyro to stabilize the heading
         drive.TankDrive(.5 + kP * error, .5 - kP * error);
     }
     ```
@@ -358,25 +358,25 @@ The following example shows how to stabilize heading using a simple P loop close
     from wpilib import Spark
     from wpilib import MotorControllerGroup
     from wpilib.drive import DifferentialDrive
-        def robotInit(self):
+    def robotInit(self):
         # Use gyro declaration from above here
-            # The gain for a simple P loop
+        # The gain for a simple P loop
         self.kP = 1
-            # Initialize motor controllers and drive
+        # Initialize motor controllers and drive
         left1 = Spark(0)
         left2 = Spark(1)
         right1 = Spark(2)
         right2 = Spark(3)
-            leftMotors = MotorControllerGroup(left1, left2)
+        leftMotors = MotorControllerGroup(left1, left2)
         rightMotors = MotorControllerGroup(right1, right2)
-            self.drive = DifferentialDrive(leftMotors, rightMotors)
-            rightMotors.setInverted(true)
-        def autonomousInit(self):
+        self.drive = DifferentialDrive(leftMotors, rightMotors)
+        rightMotors.setInverted(true)
+    def autonomousInit(self):
         # Set setpoint to current heading at start of auto
         self.heading = self.gyro.getAngle()
         def autonomousPeriodic(self):
         error = self.heading - self.gyro.getAngle()
-            # Drives forward continuously at half speed, using the gyro to stabilize the heading
+        # Drives forward continuously at half speed, using the gyro to stabilize the heading
         self.drive.tankDrive(.5 + self.kP * error, .5 - self.kP * error)
     ```
 
@@ -392,48 +392,48 @@ Much like with heading stabilization, this is often accomplished with a PID loop
 
     ```java
     // Use gyro declaration from above here
-        // The gain for a simple P loop
+    // The gain for a simple P loop
     double kP = 0.05;
-        // Initialize motor controllers and drive
+    // Initialize motor controllers and drive
     Spark left1 = new Spark(0);
     Spark left2 = new Spark(1);
-        Spark right1 = new Spark(2);
+    Spark right1 = new Spark(2);
     Spark right2 = new Spark(3);
-        MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
+    MotorControllerGroup leftMotors = new MotorControllerGroup(left1, left2);
     MotorControllerGroup rightMotors = new MotorControllerGroup(right1, right2);
-        DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
-        @Override
+    DifferentialDrive drive = new DifferentialDrive(leftMotors, rightMotors);
+    @Override
     public void robotInit() {
         rightMotors.setInverted(true);
     }
-        @Override
+    @Override
     public void autonomousPeriodic() {
         // Find the heading error; setpoint is 90
         double error = 90 - gyro.getAngle();
-            // Turns the robot to face the desired direction
+        // Turns the robot to face the desired direction
         drive.tankDrive(kP * error, -kP * error);
     }
     ```
 
     ```c++
     // Use gyro declaration from above here
-        // The gain for a simple P loop
+    // The gain for a simple P loop
     double kP = 0.05;
-        // Initialize motor controllers and drive
+    // Initialize motor controllers and drive
     frc::Spark left1{0};
     frc::Spark left2{1};
     frc::Spark right1{2};
     frc::Spark right2{3};
-        frc::MotorControllerGroup leftMotors{left1, left2};
+    frc::MotorControllerGroup leftMotors{left1, left2};
     frc::MotorControllerGroup rightMotors{right1, right2};
-        frc::DifferentialDrive drive{leftMotors, rightMotors};
-        void Robot::RobotInit() {
+    frc::DifferentialDrive drive{leftMotors, rightMotors};
+    void Robot::RobotInit() {
       rightMotors.SetInverted(true);
     }
-        void Robot::AutonomousPeriodic() {
+    void Robot::AutonomousPeriodic() {
         // Find the heading error; setpoint is 90
         double error = 90 - gyro.GetAngle();
-            // Turns the robot to face the desired direction
+        // Turns the robot to face the desired direction
         drive.TankDrive(kP * error, -kP * error);
     }
     ```
@@ -442,23 +442,23 @@ Much like with heading stabilization, this is often accomplished with a PID loop
     from wpilib import Spark
     from wpilib import MotorControllerGroup
     from wpilib.drive import DifferentialDrive
-        def robotInit(self):
+    def robotInit(self):
         # Use gyro declaration from above here
-            # The gain for a simple P loop
+        # The gain for a simple P loop
         self.kP = 0.05
-            # Initialize motor controllers and drive
+        # Initialize motor controllers and drive
         left1 = Spark(0)
         left2 = Spark(1)
         right1 = Spark(2)
         right2 = Spark(3)
-            leftMotors = MotorControllerGroup(left1, left2)
+        leftMotors = MotorControllerGroup(left1, left2)
         rightMotors = MotorControllerGroup(right1, right2)
-            self.drive = DifferentialDrive(leftMotors, rightMotors)
-            rightMotors.setInverted(true)
-        def autonomousPeriodic(self):
+        self.drive = DifferentialDrive(leftMotors, rightMotors)
+        rightMotors.setInverted(true)
+    def autonomousPeriodic(self):
         # Find the heading error; setpoint is 90
         error = 90 - self.gyro.getAngle()
-            # Drives forward continuously at half speed, using the gyro to stabilize the heading
+        # Drives forward continuously at half speed, using the gyro to stabilize the heading
         self.drive.tankDrive(self.kP * error, -self.kP * error)
     ```
 
diff --git a/source/docs/software/hardware-apis/sensors/limit-switch.rst b/source/docs/software/hardware-apis/sensors/limit-switch.rst
index 2d1d6dca77..8f78514634 100644
--- a/source/docs/software/hardware-apis/sensors/limit-switch.rst
+++ b/source/docs/software/hardware-apis/sensors/limit-switch.rst
@@ -13,11 +13,11 @@ Limit switches can have "normally open" or "normally closed" outputs.  This will
    DigitalInput bottomlimitSwitch = new DigitalInput(1);
    PWMVictorSPX motor = new PWMVictorSPX(0);
    Joystick joystick = new Joystick(0);
-      @Override
+   @Override
    public void teleopPeriodic() {
        setMotorSpeed(joystick.getRawAxis(2));
    }
-      public void setMotorSpeed(double speed) {
+   public void setMotorSpeed(double speed) {
        if (speed > 0) {
            if (toplimitSwitch.get()) {
                // We are going up and top limit is tripped so stop
@@ -43,10 +43,10 @@ Limit switches can have "normally open" or "normally closed" outputs.  This will
    frc::DigitalInput bottomlimitSwitch {1};
    frc::PWMVictorSPX motor {0};
    frc::Joystick joystick {0};
-      void TeleopPeriodic() {
+   void TeleopPeriodic() {
        SetMotorSpeed(joystick.GetRawAxis(2));
    }
-      void SetMotorSpeed(double speed) {
+   void SetMotorSpeed(double speed) {
        if (speed > 0) {
            if (toplimitSwitch.Get()) {
                // We are going up and top limit is tripped so stop
diff --git a/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst b/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst
index 045479c68d..79872e21c8 100644
--- a/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst
+++ b/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst
@@ -15,24 +15,24 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(Ch
    // Creating my kinematics object: track width of 27 inches
    DifferentialDriveKinematics kinematics =
      new DifferentialDriveKinematics(Units.inchesToMeters(27.0));
-      // Example chassis speeds: 2 meters per second linear velocity,
+   // Example chassis speeds: 2 meters per second linear velocity,
    // 1 radian per second angular velocity.
    var chassisSpeeds = new ChassisSpeeds(2.0, 0, 1.0);
-      // Convert to wheel speeds
+   // Convert to wheel speeds
    DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
-      // Left velocity
+   // Left velocity
    double leftVelocity = wheelSpeeds.leftMetersPerSecond;
-      // Right velocity
+   // Right velocity
    double rightVelocity = wheelSpeeds.rightMetersPerSecond;
    ```
 
    ```c++
    // Creating my kinematics object: track width of 27 inches
    frc::DifferentialDriveKinematics kinematics{27_in};
-      // Example chassis speeds: 2 meters per second linear velocity,
+   // Example chassis speeds: 2 meters per second linear velocity,
    // 1 radian per second angular velocity.
    frc::ChassisSpeeds chassisSpeeds{2_mps, 0_mps, 1_rad_per_s};
-      // Convert to wheel speeds. Here, we can use C++17's structured bindings
+   // Convert to wheel speeds. Here, we can use C++17's structured bindings
    // feature to automatically split the DifferentialDriveWheelSpeeds
    // struct into left and right velocities.
    auto [left, right] = kinematics.ToWheelSpeeds(chassisSpeeds);
@@ -42,14 +42,14 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(Ch
    from wpimath.kinematics import DifferentialDriveKinematics
    from wpimath.kinematics import ChassisSpeeds
    from wpimath.units import inchesToMeters
-      # Creating my kinematics object: track width of 27 inches
+   # Creating my kinematics object: track width of 27 inches
    kinematics = DifferentialDriveKinematics(Units.inchesToMeters(27.0))
-      # Example chassis speeds: 2 meters per second linear velocity,
+   # Example chassis speeds: 2 meters per second linear velocity,
    # 1 radian per second angular velocity.
    chassisSpeeds = ChassisSpeeds(2.0, 0, 1.0)
-      # Convert to wheel speeds
+   # Convert to wheel speeds
    wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds)
-      # Left velocity
+   # Left velocity
    leftVelocity = wheelSpeeds.left
    # Right velocity
    rightVelocity = wheelSpeeds.right
@@ -64,24 +64,24 @@ One can also use the kinematics object to convert individual wheel speeds (left
    // Creating my kinematics object: track width of 27 inches
    DifferentialDriveKinematics kinematics =
      new DifferentialDriveKinematics(Units.inchesToMeters(27.0));
-      // Example differential drive wheel speeds: 2 meters per second
+   // Example differential drive wheel speeds: 2 meters per second
    // for the left side, 3 meters per second for the right side.
    var wheelSpeeds = new DifferentialDriveWheelSpeeds(2.0, 3.0);
-      // Convert to chassis speeds.
+   // Convert to chassis speeds.
    ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(wheelSpeeds);
-      // Linear velocity
+   // Linear velocity
    double linearVelocity = chassisSpeeds.vxMetersPerSecond;
-      // Angular velocity
+   // Angular velocity
    double angularVelocity = chassisSpeeds.omegaRadiansPerSecond;
    ```
 
    ```c++
    // Creating my kinematics object: track width of 27 inches
    frc::DifferentialDriveKinematics kinematics{27_in};
-      // Example differential drive wheel speeds: 2 meters per second
+   // Example differential drive wheel speeds: 2 meters per second
    // for the left side, 3 meters per second for the right side.
    frc::DifferentialDriveWheelSpeeds wheelSpeeds{2_mps, 3_mps};
-      // Convert to chassis speeds. Here we can use C++17's structured bindings
+   // Convert to chassis speeds. Here we can use C++17's structured bindings
    // feature to automatically split the ChassisSpeeds struct into its 3 components.
    // Note that because a differential drive is non-holonomic, the vy variable
    // will be equal to zero.
@@ -92,16 +92,16 @@ One can also use the kinematics object to convert individual wheel speeds (left
    from wpimath.kinematics import DifferentialDriveKinematics
    from wpimath.kinematics import DifferentialDriveWheelSpeeds
    from wpimath.units import inchesToMeters
-      # Creating my kinematics object: track width of 27 inches
+   # Creating my kinematics object: track width of 27 inches
    kinematics = DifferentialDriveKinematics(inchesToMeters(27.0))
-      # Example differential drive wheel speeds: 2 meters per second
+   # Example differential drive wheel speeds: 2 meters per second
    # for the left side, 3 meters per second for the right side.
    wheelSpeeds = DifferentialDriveWheelSpeeds(2.0, 3.0)
-      # Convert to chassis speeds.
+   # Convert to chassis speeds.
    chassisSpeeds = kinematics.toChassisSpeeds(wheelSpeeds)
-      # Linear velocity
+   # Linear velocity
    linearVelocity = chassisSpeeds.vx
-      # Angular velocity
+   # Angular velocity
    angularVelocity = chassisSpeeds.omega
    ```
 
diff --git a/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst b/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst
index bd9e629691..7eb7362f70 100644
--- a/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst
+++ b/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst
@@ -40,14 +40,14 @@ The optional argument is the starting pose of your robot on the field (as a ``Po
    from wpimath.kinematics import DifferentialDriveOdometry
    from wpimath.geometry import Pose2d
    from wpimath.geometry import Rotation2d
-      # Creating my odometry object. Here,
+   # Creating my odometry object. Here,
    # our starting pose is 5 meters along the long end of the field and in the
    # center of the field along the short end, facing forward.
    m_odometry = DifferentialDriveOdometry(
      m_gyro.getRotation2d(),
      m_leftEncoder.getDistance(), m_rightEncoder.getDistance(),
      Pose2d(5.0, 13.5, Rotation2d()))
-      ```
+   ```
 
 ## Updating the Robot Pose
 The ``update`` method can be used to update the robot's position on the field. This method must be called periodically, preferably in the ``periodic()`` method of a :ref:`Subsystem <docs/software/commandbased/subsystems:Subsystems>`. The ``update`` method returns the new updated pose of the robot. This method takes in the gyro angle of the robot, along with the left encoder distance and right encoder distance.
@@ -61,7 +61,7 @@ The ``update`` method can be used to update the robot's position on the field. T
    public void periodic() {
      // Get the rotation of the robot from the gyro.
      var gyroAngle = m_gyro.getRotation2d();
-        // Update the pose
+     // Update the pose
      m_pose = m_odometry.update(gyroAngle,
        m_leftEncoder.getDistance(),
        m_rightEncoder.getDistance());
@@ -72,7 +72,7 @@ The ``update`` method can be used to update the robot's position on the field. T
    void Periodic() override {
      // Get the rotation of the robot from the gyro.
      frc::Rotation2d gyroAngle = m_gyro.GetRotation2d();
-        // Update the pose
+     // Update the pose
      m_pose = m_odometry.Update(gyroAngle,
        units::meter_t{m_leftEncoder.GetDistance()},
        units::meter_t{m_rightEncoder.GetDistance()});
@@ -83,7 +83,7 @@ The ``update`` method can be used to update the robot's position on the field. T
    def periodic(self):
      # Get the rotation of the robot from the gyro.
      gyroAngle = m_gyro.getRotation2d()
-        # Update the pose
+     # Update the pose
      m_pose = m_odometry.update(gyroAngle,
        m_leftEncoder.getDistance(),
        m_rightEncoder.getDistance())
diff --git a/source/docs/software/kinematics-and-odometry/intro-and-chassis-speeds.rst b/source/docs/software/kinematics-and-odometry/intro-and-chassis-speeds.rst
index 4c4d40a1f8..902974f060 100644
--- a/source/docs/software/kinematics-and-odometry/intro-and-chassis-speeds.rst
+++ b/source/docs/software/kinematics-and-odometry/intro-and-chassis-speeds.rst
@@ -41,7 +41,7 @@ The constructor for the ``ChassisSpeeds`` object is very straightforward, accept
    ```python
    import math
    from wpimath.kinematics import ChassisSpeeds
-      # The robot is moving at 3 meters per second forward, 2 meters
+   # The robot is moving at 3 meters per second forward, 2 meters
    # per second to the right, and rotating at half a rotation per
    # second counterclockwise.
    speeds = ChassisSpeeds(3.0, -2.0, math.pi)
@@ -78,7 +78,7 @@ The static ``ChassisSpeeds.fromFieldRelativeSpeeds`` (Java / Python) / ``Chassis
    import math
    from wpimath.kinematics import ChassisSpeeds
    from wpimath.geometry  import Rotation2d
-      # The desired field relative speed here is 2 meters per second
+   # The desired field relative speed here is 2 meters per second
    # toward the opponent's alliance station wall, and 2 meters per
    # second toward the left field boundary. The desired rotation
    # is a quarter of a rotation per second counterclockwise. The current
diff --git a/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst b/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst
index dc4df5a598..f25b923ba0 100644
--- a/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst
+++ b/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst
@@ -14,7 +14,7 @@ The ``MecanumDriveKinematics`` class accepts four constructor arguments, with ea
    Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
    Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
    Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
-      // Creating my kinematics object using the wheel locations.
+   // Creating my kinematics object using the wheel locations.
    MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
    );
@@ -26,7 +26,7 @@ The ``MecanumDriveKinematics`` class accepts four constructor arguments, with ea
    frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
    frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
    frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
-      // Creating my kinematics object using the wheel locations.
+   // Creating my kinematics object using the wheel locations.
    frc::MecanumDriveKinematics m_kinematics{
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
      m_backRightLocation};
@@ -35,12 +35,12 @@ The ``MecanumDriveKinematics`` class accepts four constructor arguments, with ea
    ```python
    from wpimath.geometry import Translation2d
    from wpimath.kinematics import MecanumDriveKinematics
-      # Locations of the wheels relative to the robot center.
+   # Locations of the wheels relative to the robot center.
    frontLeftLocation = Translation2d(0.381, 0.381)
    frontRightLocation = Translation2d(0.381, -0.381)
    backLeftLocation = Translation2d(-0.381, 0.381)
    backRightLocation = Translation2d(-0.381, -0.381)
-      # Creating my kinematics object using the wheel locations.
+   # Creating my kinematics object using the wheel locations.
    self.kinematics = MecanumDriveKinematics(
      frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
    )
@@ -56,9 +56,9 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(Ch
    // per second to the left, and rotation at 1.5 radians per second
    // counterclockwise.
    ChassisSpeeds speeds = new ChassisSpeeds(1.0, 3.0, 1.5);
-      // Convert to wheel speeds
+   // Convert to wheel speeds
    MecanumDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(speeds);
-      // Get the individual wheel speeds
+   // Get the individual wheel speeds
    double frontLeft = wheelSpeeds.frontLeftMetersPerSecond
    double frontRight = wheelSpeeds.frontRightMetersPerSecond
    double backLeft = wheelSpeeds.rearLeftMetersPerSecond
@@ -70,7 +70,7 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(Ch
    // per second to the left, and rotation at 1.5 radians per second
    // counterclockwise.
    frc::ChassisSpeeds speeds{1_mps, 3_mps, 1.5_rad_per_s};
-      // Convert to wheel speeds. Here, we can use C++17's structured
+   // Convert to wheel speeds. Here, we can use C++17's structured
    // bindings feature to automatically split up the MecanumDriveWheelSpeeds
    // struct into it's individual components
    auto [fl, fr, bl, br] = kinematics.ToWheelSpeeds(speeds);
@@ -78,11 +78,11 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(Ch
 
    ```python
    from wpimath.kinematics import ChassisSpeeds
-      # Example chassis speeds: 1 meter per second forward, 3 meters
+   # Example chassis speeds: 1 meter per second forward, 3 meters
    # per second to the left, and rotation at 1.5 radians per second
    # counterclockwise.
    speeds = ChassisSpeeds(1.0, 3.0, 1.5)
-      # Convert to wheel speeds
+   # Convert to wheel speeds
    frontLeft, frontRight, backLeft, backRight = self.kinematics.toWheelSpeeds(speeds)
    ```
 
@@ -99,7 +99,7 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(Ch
    // robot angle is 45 degrees.
    ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
      2.0, 2.0, Math.PI / 2.0, Rotation2d.fromDegrees(45.0));
-      // Now use this in our kinematics
+   // Now use this in our kinematics
    MecanumDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(speeds);
    ```
 
@@ -111,7 +111,7 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(Ch
    // robot angle is 45 degrees.
    frc::ChassisSpeeds speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
      2_mps, 2_mps, units::radians_per_second_t(std::numbers::pi / 2.0), Rotation2d(45_deg));
-      // Now use this in our kinematics
+   // Now use this in our kinematics
    auto [fl, fr, bl, br] = kinematics.ToWheelSpeeds(speeds);
    ```
 
@@ -119,14 +119,14 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(Ch
    from wpimath.kinematics import ChassisSpeeds
    import math
    from wpimath.geometry import Rotation2d
-      # The desired field relative speed here is 2 meters per second
+   # The desired field relative speed here is 2 meters per second
    # toward the opponent's alliance station wall, and 2 meters per
    # second toward the left field boundary. The desired rotation
    # is a quarter of a rotation per second counterclockwise. The current
    # robot angle is 45 degrees.
    speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
      2.0, 2.0, math.pi / 2.0, Rotation2d.fromDegrees(45.0))
-      # Now use this in our kinematics
+   # Now use this in our kinematics
    wheelSpeeds = self.kinematics.toWheelSpeeds(speeds)
    ```
 
@@ -145,9 +145,9 @@ One can also use the kinematics object to convert a ``MecanumDriveWheelSpeeds``
    ```java
    // Example wheel speeds
    var wheelSpeeds = new MecanumDriveWheelSpeeds(-17.67, 20.51, -13.44, 16.26);
-      // Convert to chassis speeds
+   // Convert to chassis speeds
    ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(wheelSpeeds);
-      // Getting individual speeds
+   // Getting individual speeds
    double forward = chassisSpeeds.vxMetersPerSecond;
    double sideways = chassisSpeeds.vyMetersPerSecond;
    double angular = chassisSpeeds.omegaRadiansPerSecond;
@@ -156,7 +156,7 @@ One can also use the kinematics object to convert a ``MecanumDriveWheelSpeeds``
    ```c++
    // Example wheel speeds
    frc::MecanumDriveWheelSpeeds wheelSpeeds{-17.67_mps, 20.51_mps, -13.44_mps, 16.26_mps};
-      // Convert to chassis speeds. Here, we can use C++17's structured bindings
+   // Convert to chassis speeds. Here, we can use C++17's structured bindings
    // feature to automatically break up the ChassisSpeeds struct into its
    // three components.
    auto [forward, sideways, angular] = kinematics.ToChassisSpeeds(wheelSpeeds);
@@ -164,11 +164,11 @@ One can also use the kinematics object to convert a ``MecanumDriveWheelSpeeds``
 
    ```python
    from wpimath.kinematics import MecanumDriveWheelSpeeds
-      # Example wheel speeds
+   # Example wheel speeds
    wheelSpeeds = MecanumDriveWheelSpeeds(-17.67, 20.51, -13.44, 16.26)
-      # Convert to chassis speeds
+   # Convert to chassis speeds
    chassisSpeeds = self.kinematics.toChassisSpeeds(wheelSpeeds)
-      # Getting individual speeds
+   # Getting individual speeds
    forward = chassisSpeeds.vx
    sideways = chassisSpeeds.vy
    angular = chassisSpeeds.omega
diff --git a/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst b/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst
index 3f2f049cf5..2a6fe09cd7 100644
--- a/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst
+++ b/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst
@@ -24,11 +24,11 @@ The fourth optional argument is the starting pose of your robot on the field (as
    Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
    Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
    Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
-      // Creating my kinematics object using the wheel locations.
+   // Creating my kinematics object using the wheel locations.
    MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
    );
-      // Creating my odometry object from the kinematics object and the initial wheel positions.
+   // Creating my odometry object from the kinematics object and the initial wheel positions.
    // Here, our starting pose is 5 meters along the long end of the field and in the
    // center of the field along the short end, facing the opposing alliance wall.
    MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(
@@ -48,12 +48,12 @@ The fourth optional argument is the starting pose of your robot on the field (as
    frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
    frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
    frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
-      // Creating my kinematics object using the wheel locations.
+   // Creating my kinematics object using the wheel locations.
    frc::MecanumDriveKinematics m_kinematics{
      m_frontLeftLocation, m_frontRightLocation,
      m_backLeftLocation, m_backRightLocation
    };
-      // Creating my odometry object from the kinematics object. Here,
+   // Creating my odometry object from the kinematics object. Here,
    // our starting pose is 5 meters along the long end of the field and in the
    // center of the field along the short end, facing forward.
    frc::MecanumDriveOdometry m_odometry{
@@ -75,16 +75,16 @@ The fourth optional argument is the starting pose of your robot on the field (as
    from wpimath.kinematics import MecanumDriveWheelPositions
    from wpimath.geometry import Pose2d
    from wpimath.geometry import Rotation2d
-      # Locations of the wheels relative to the robot center.
+   # Locations of the wheels relative to the robot center.
    frontLeftLocation = Translation2d(0.381, 0.381)
    frontRightLocation = Translation2d(0.381, -0.381)
    backLeftLocation = Translation2d(-0.381, 0.381)
    backRightLocation = Translation2d(-0.381, -0.381)
-      # Creating my kinematics object using the wheel locations.
+   # Creating my kinematics object using the wheel locations.
    self.kinematics = MecanumDriveKinematics(
      frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
    )
-      # Creating my odometry object from the kinematics object and the initial wheel positions.
+   # Creating my odometry object from the kinematics object and the initial wheel positions.
    # Here, our starting pose is 5 meters along the long end of the field and in the
    # center of the field along the short end, facing the opposing alliance wall.
    self.odometry = MecanumDriveOdometry(
@@ -110,9 +110,9 @@ The ``update`` method of the odometry class updates the robot position on the fi
      var wheelPositions = new MecanumDriveWheelPositions(
        m_frontLeftEncoder.getDistance(), m_frontRightEncoder.getDistance(),
        m_backLeftEncoder.getDistance(), m_backRightEncoder.getDistance());
-        // Get the rotation of the robot from the gyro.
+     // Get the rotation of the robot from the gyro.
      var gyroAngle = m_gyro.getRotation2d();
-        // Update the pose
+     // Update the pose
      m_pose = m_odometry.update(gyroAngle, wheelPositions);
    }
    ```
@@ -125,9 +125,9 @@ The ``update`` method of the odometry class updates the robot position on the fi
        units::meter_t{m_frontRightEncoder.GetDistance()},
        units::meter_t{m_backLeftEncoder.GetDistance()},
        units::meter_t{m_backRightEncoder.GetDistance()}};
-        // Get the rotation of the robot from the gyro.
+     // Get the rotation of the robot from the gyro.
      frc::Rotation2d gyroAngle = m_gyro.GetRotation2d();
-        // Update the pose
+     // Update the pose
      m_pose = m_odometry.Update(gyroAngle, wheelPositions);
    }
    ```
@@ -139,9 +139,9 @@ The ``update`` method of the odometry class updates the robot position on the fi
      wheelPositions = MecanumDriveWheelPositions(
        self.frontLeftEncoder.getDistance(), self.frontRightEncoder.getDistance(),
        self.backLeftEncoder.getDistance(), self.backRightEncoder.getDistance())
-        # Get the rotation of the robot from the gyro.
+     # Get the rotation of the robot from the gyro.
      gyroAngle = gyro.getRotation2d()
-        # Update the pose
+     # Update the pose
      self.pose = odometry.update(gyroAngle, wheelPositions)
    ```
 
diff --git a/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst b/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
index df333afcb9..a3aa1fe551 100644
--- a/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
+++ b/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
@@ -26,7 +26,7 @@ The locations for the modules must be relative to the center of the robot. Posit
    Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
    Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
    Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
-      // Creating my kinematics object using the module locations
+   // Creating my kinematics object using the module locations
    SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
    );
@@ -38,7 +38,7 @@ The locations for the modules must be relative to the center of the robot. Posit
    frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
    frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
    frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
-      // Creating my kinematics object using the module locations.
+   // Creating my kinematics object using the module locations.
    frc::SwerveDriveKinematics<4> m_kinematics{
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
      m_backRightLocation};
@@ -46,14 +46,14 @@ The locations for the modules must be relative to the center of the robot. Posit
 
    ```python
    # Python requires using the right class for the number of modules you have
-      from wpimath.geometry import Translation2d
+   from wpimath.geometry import Translation2d
    from wpimath.kinematics import SwerveDrive4Kinematics
-      # Locations for the swerve drive modules relative to the robot center.
+   # Locations for the swerve drive modules relative to the robot center.
    frontLeftLocation = Translation2d(0.381, 0.381)
    frontRightLocation = Translation2d(0.381, -0.381)
    backLeftLocation = Translation2d(-0.381, 0.381)
    backRightLocation = Translation2d(-0.381, -0.381)
-      # Creating my kinematics object using the module locations
+   # Creating my kinematics object using the module locations
    self.kinematics = SwerveDrive4Kinematics(
      frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
    )
@@ -71,15 +71,15 @@ The elements in the array that is returned by this method are the same order in
    // per second to the left, and rotation at 1.5 radians per second
    // counterclockwise.
    ChassisSpeeds speeds = new ChassisSpeeds(1.0, 3.0, 1.5);
-      // Convert to module states
+   // Convert to module states
    SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(speeds);
-      // Front left module state
+   // Front left module state
    SwerveModuleState frontLeft = moduleStates[0];
-      // Front right module state
+   // Front right module state
    SwerveModuleState frontRight = moduleStates[1];
-      // Back left module state
+   // Back left module state
    SwerveModuleState backLeft = moduleStates[2];
-      // Back right module state
+   // Back right module state
    SwerveModuleState backRight = moduleStates[3];
    ```
 
@@ -88,7 +88,7 @@ The elements in the array that is returned by this method are the same order in
    // per second to the left, and rotation at 1.5 radians per second
    // counterclockwise.
    frc::ChassisSpeeds speeds{1_mps, 3_mps, 1.5_rad_per_s};
-      // Convert to module states. Here, we can use C++17's structured
+   // Convert to module states. Here, we can use C++17's structured
    // bindings feature to automatically split up the array into its
    // individual SwerveModuleState components.
    auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(speeds);
@@ -96,11 +96,11 @@ The elements in the array that is returned by this method are the same order in
 
    ```python
    from wpimath.kinematics import ChassisSpeeds
-      # Example chassis speeds: 1 meter per second forward, 3 meters
+   # Example chassis speeds: 1 meter per second forward, 3 meters
    # per second to the left, and rotation at 1.5 radians per second
    # counterclockwise.
    speeds = ChassisSpeeds(1.0, 3.0, 1.5)
-      # Convert to module states
+   # Convert to module states
    frontLeft, frontRight, backLeft, backRight = self.kinematics.toSwerveModuleStates(speeds)
    ```
 
@@ -123,7 +123,7 @@ This method takes two parameters: the desired state (usually from the ``toSwerve
    ```python
    from wpimath.kinematics import SwerveModuleState
    from wpimath.geometry import Rotation2d
-      frontLeftOptimized = SwerveModuleState.optimize(frontLeft,
+   frontLeftOptimized = SwerveModuleState.optimize(frontLeft,
       Rotation2d(self.m_turningEncoder.getDistance()))
    ```
 
@@ -139,21 +139,21 @@ Cosine compensation has been shown to reduce the amount of "skew" a swerve drive
 .. tab-set-code::
    ```java
    var currentAngle = new Rotation2d.fromRadians(m_turningEncoder.getDistance());
-      var frontLeftOptimized = SwerveModuleState.optimize(frontLeft, currentAngle);
+   var frontLeftOptimized = SwerveModuleState.optimize(frontLeft, currentAngle);
    frontLeftOptimized.speedMetersPerSecond *= frontLeftOptimized.angle.minus(currentAngle).getCos();
    ```
 
    ```c++
    Rotation2d currentAngle(m_turningEncoder.GetDistance());
-      auto flOptimized = frc::SwerveModuleState::Optimize(fl, currentAngle);
+   auto flOptimized = frc::SwerveModuleState::Optimize(fl, currentAngle);
    flOptimized.speed *= (flOptimized.angle - currentAngle).Cos();
    ```
 
    ```python
    from wpimath.kinematics import SwerveModuleState
    from wpimath.geometry import Rotation2d
-      currentAngle = Rotation2d(self.m_turningEncoder.getDistance())
-      frontLeftOptimized = SwerveModuleState.optimize(frontLeft, currentAngle)
+   currentAngle = Rotation2d(self.m_turningEncoder.getDistance())
+   frontLeftOptimized = SwerveModuleState.optimize(frontLeft, currentAngle)
    frontLeftOptimized.speed *= (frontLeftOptimized.angle - currentAngle).cos()
    ```
 
@@ -170,7 +170,7 @@ Cosine compensation has been shown to reduce the amount of "skew" a swerve drive
    // robot angle is 45 degrees.
    ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
      2.0, 2.0, Math.PI / 2.0, Rotation2d.fromDegrees(45.0));
-      // Now use this in our kinematics
+   // Now use this in our kinematics
    SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(speeds);
    ```
 
@@ -182,7 +182,7 @@ Cosine compensation has been shown to reduce the amount of "skew" a swerve drive
    // robot angle is 45 degrees.
    frc::ChassisSpeeds speeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
      2_mps, 2_mps, units::radians_per_second_t(std::numbers::pi / 2.0), Rotation2d(45_deg));
-      // Now use this in our kinematics
+   // Now use this in our kinematics
    auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(speeds);
    ```
 
@@ -190,14 +190,14 @@ Cosine compensation has been shown to reduce the amount of "skew" a swerve drive
    from wpimath.kinematics import ChassisSpeeds
    import math
    from wpimath.geometry import Rotation2d
-      # The desired field relative speed here is 2 meters per second
+   # The desired field relative speed here is 2 meters per second
    # toward the opponent's alliance station wall, and 2 meters per
    # second toward the left field boundary. The desired rotation
    # is a quarter of a rotation per second counterclockwise. The current
    # robot angle is 45 degrees.
    speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
      2.0, 2.0, math.pi / 2.0, Rotation2d.fromDegrees(45.0))
-      # Now use this in our kinematics
+   # Now use this in our kinematics
    self.moduleStates = self.kinematics.toSwerveModuleStates(speeds)
    ```
 
@@ -219,10 +219,10 @@ One can also use the kinematics object to convert an array of ``SwerveModuleStat
    var frontRightState = new SwerveModuleState(23.43, Rotation2d.fromDegrees(-39.81));
    var backLeftState = new SwerveModuleState(54.08, Rotation2d.fromDegrees(-109.44));
    var backRightState = new SwerveModuleState(54.08, Rotation2d.fromDegrees(-70.56));
-      // Convert to chassis speeds
+   // Convert to chassis speeds
    ChassisSpeeds chassisSpeeds = kinematics.toChassisSpeeds(
      frontLeftState, frontRightState, backLeftState, backRightState);
-      // Getting individual speeds
+   // Getting individual speeds
    double forward = chassisSpeeds.vxMetersPerSecond;
    double sideways = chassisSpeeds.vyMetersPerSecond;
    double angular = chassisSpeeds.omegaRadiansPerSecond;
@@ -234,7 +234,7 @@ One can also use the kinematics object to convert an array of ``SwerveModuleStat
    frc::SwerveModuleState frontRightState{23.43_mps, Rotation2d(-39.81_deg)};
    frc::SwerveModuleState backLeftState{54.08_mps, Rotation2d(-109.44_deg)};
    frc::SwerveModuleState backRightState{54.08_mps, Rotation2d(-70.56_deg)};
-      // Convert to chassis speeds. Here, we can use C++17's structured bindings
+   // Convert to chassis speeds. Here, we can use C++17's structured bindings
    // feature to automatically break up the ChassisSpeeds struct into its
    // three components.
    auto [forward, sideways, angular] = kinematics.ToChassisSpeeds(
@@ -244,15 +244,15 @@ One can also use the kinematics object to convert an array of ``SwerveModuleStat
    ```python
    from wpimath.kinematics import SwerveModuleState
    from wpimath.geometry import Rotation2d
-      # Example module states
+   # Example module states
    frontLeftState = SwerveModuleState(23.43, Rotation2d.fromDegrees(-140.19))
    frontRightState = SwerveModuleState(23.43, Rotation2d.fromDegrees(-39.81))
    backLeftState = SwerveModuleState(54.08, Rotation2d.fromDegrees(-109.44))
    backRightState = SwerveModuleState(54.08, Rotation2d.fromDegrees(-70.56))
-      # Convert to chassis speeds
+   # Convert to chassis speeds
    chassisSpeeds = self.kinematics.toChassisSpeeds(
      frontLeftState, frontRightState, backLeftState, backRightState)
-      # Getting individual speeds
+   # Getting individual speeds
    forward = chassisSpeeds.vx
    sideways = chassisSpeeds.vy
    angular = chassisSpeeds.omega
@@ -266,12 +266,12 @@ By recording a set of swerve module states using :ref:`NetworkTables <docs/softw
    ```java
    public class Example {
      private final StructArrayPublisher<SwerveModuleState> publisher;
-        public Example() {
+     public Example() {
        // Start publishing an array of module states with the "/SwerveStates" key
        publisher = NetworkTableInstance.getDefault()
          .getStructArrayTopic("/SwerveStates", SwerveModuleState.struct).publish();
      }
-        public void periodic() {
+     public void periodic() {
        // Periodically send a set of module states
        publisher.set(new SwerveModuleState[] {
          frontLeftState,
@@ -286,13 +286,13 @@ By recording a set of swerve module states using :ref:`NetworkTables <docs/softw
    ```c++
    class Example {
      nt::StructArrayPublisher<frc::SwerveModuleState> publisher
-       public:
+    public:
      Example() {
        // Start publishing an array of module states with the "/SwerveStates" key
        publisher = nt::NetworkTableInstance::GetDefault()
          .GetStructArrayTopic<frc::SwerveModuleState>("/SwerveStates").Publish();
      }
-        void Periodic() {
+     void Periodic() {
        // Periodically send a set of module states
        swervePublisher.Set(
          std::vector{
@@ -309,12 +309,12 @@ By recording a set of swerve module states using :ref:`NetworkTables <docs/softw
    ```python
    import ntcore
    from wpimath.kinematics import SwerveModuleState
-      # get the default instance of NetworkTables
+   # get the default instance of NetworkTables
    nt = ntcore.NetworkTableInstance.getDefault()
-      # Start publishing an array of module states with the "/SwerveStates" key
+   # Start publishing an array of module states with the "/SwerveStates" key
    topic = nt.getStructArrayTopic("/SwerveStates", SwerveModuleState)
    self.pub = topic.publish()
-      def periodic(self):
+   def periodic(self):
      # Periodically send a set of module states
      self.pub.set([frontLeftState,frontRightState,backLeftState,backRightState])
    ```
diff --git a/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst b/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst
index ea6cad4040..7ce9703f69 100644
--- a/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst
+++ b/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst
@@ -24,11 +24,11 @@ The fourth optional argument is the starting pose of your robot on the field (as
    Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
    Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
    Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
-      // Creating my kinematics object using the module locations
+   // Creating my kinematics object using the module locations
    SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
    );
-      // Creating my odometry object from the kinematics object and the initial wheel positions.
+   // Creating my odometry object from the kinematics object and the initial wheel positions.
    // Here, our starting pose is 5 meters along the long end of the field and in the
    // center of the field along the short end, facing the opposing alliance wall.
    SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(
@@ -47,12 +47,12 @@ The fourth optional argument is the starting pose of your robot on the field (as
    frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
    frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
    frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
-      // Creating my kinematics object using the module locations.
+   // Creating my kinematics object using the module locations.
    frc::SwerveDriveKinematics<4> m_kinematics{
      m_frontLeftLocation, m_frontRightLocation,
      m_backLeftLocation, m_backRightLocation
    };
-      // Creating my odometry object from the kinematics object. Here,
+   // Creating my odometry object from the kinematics object. Here,
    // our starting pose is 5 meters along the long end of the field and in the
    // center of the field along the short end, facing forward.
    frc::SwerveDriveOdometry<4> m_odometry{m_kinematics, m_gyro.GetRotation2d(),
@@ -64,23 +64,23 @@ The fourth optional argument is the starting pose of your robot on the field (as
    ```python
    # Python requires using the right class for the number of modules you have
    # For both the Kinematics and Odometry classes
-      from wpimath.geometry import Translation2d
+   from wpimath.geometry import Translation2d
    from wpimath.kinematics import SwerveDrive4Kinematics
    from wpimath.kinematics import SwerveDrive4Odometry
    from wpimath.geometry import Pose2d
    from wpimath.geometry import Rotation2d
-      class MyRobot:
+   class MyRobot:
      def robotInit(self):
        # Locations for the swerve drive modules relative to the robot center.
        frontLeftLocation = Translation2d(0.381, 0.381)
        frontRightLocation = Translation2d(0.381, -0.381)
        backLeftLocation = Translation2d(-0.381, 0.381)
        backRightLocation = Translation2d(-0.381, -0.381)
-          # Creating my kinematics object using the module locations
+       # Creating my kinematics object using the module locations
        self.kinematics = SwerveDrive4Kinematics(
          frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
        )
-          # Creating my odometry object from the kinematics object and the initial wheel positions.
+       # Creating my odometry object from the kinematics object and the initial wheel positions.
        # Here, our starting pose is 5 meters along the long end of the field and in the
        # center of the field along the short end, facing the opposing alliance wall.
        self.odometry = SwerveDrive4Odometry(
@@ -106,7 +106,7 @@ This ``update`` method must be called periodically, preferably in the ``periodic
    public void periodic() {
      // Get the rotation of the robot from the gyro.
      var gyroAngle = m_gyro.getRotation2d();
-        // Update the pose
+     // Update the pose
      m_pose = m_odometry.update(gyroAngle,
        new SwerveModulePosition[] {
          m_frontLeftModule.getPosition(), m_frontRightModule.getPosition(),
@@ -119,7 +119,7 @@ This ``update`` method must be called periodically, preferably in the ``periodic
    void Periodic() override {
      // Get the rotation of the robot from the gyro.
      frc::Rotation2d gyroAngle = m_gyro.GetRotation2d();
-        // Update the pose
+     // Update the pose
      m_pose = m_odometry.Update(gyroAngle,
        {
          m_frontLeftModule.GetPosition(), m_frontRightModule.GetPosition(),
@@ -133,7 +133,7 @@ This ``update`` method must be called periodically, preferably in the ``periodic
    def periodic(self):
      # Get the rotation of the robot from the gyro.
      self.gyroAngle = self.gyro.getRotation2d()
-        # Update the pose
+     # Update the pose
      self.pose = self.odometry.update(self.gyroAngle,
          self.frontLeftModule.getPosition(), self.frontRightModule.getPosition(),
          self.backLeftModule.getPosition(), self.backRightModule.getPosition()
diff --git a/source/docs/software/networktables/client-side-program.rst b/source/docs/software/networktables/client-side-program.rst
index 321810c6fb..1a781eb848 100644
--- a/source/docs/software/networktables/client-side-program.rst
+++ b/source/docs/software/networktables/client-side-program.rst
@@ -17,21 +17,21 @@ A basic client program looks like the following example.
         import edu.wpi.first.networktables.NetworkTableInstance;
         import edu.wpi.first.networktables.NetworkTablesJNI;
         import edu.wpi.first.util.CombinedRuntimeLoader;
-                import java.io.IOException;
-                import edu.wpi.first.cscore.CameraServerJNI;
+        import java.io.IOException;
+        import edu.wpi.first.cscore.CameraServerJNI;
         import edu.wpi.first.math.WPIMathJNI;
         import edu.wpi.first.util.WPIUtilJNI;
-                        public class Program {
+        public class Program {
             public static void main(String[] args) throws IOException {
                 NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
                 WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
                 WPIMathJNI.Helper.setExtractOnStaticLoad(false);
                 CameraServerJNI.Helper.setExtractOnStaticLoad(false);
-                        CombinedRuntimeLoader.loadLibraries(Program.class, "wpiutiljni", "wpimathjni", "ntcorejni",
-                        "cscorejnicvstatic");
+                CombinedRuntimeLoader.loadLibraries(Program.class, "wpiutiljni", "wpimathjni", "ntcorejni",
+                    "cscorejnicvstatic");
                 new Program().run();
             }
-                    public void run() {
+            public void run() {
                 NetworkTableInstance inst = NetworkTableInstance.getDefault();
                 NetworkTable table = inst.getTable("datatable");
                 DoubleSubscriber xSub = table.getDoubleTopic("x").subscribe(0.0);
@@ -64,7 +64,7 @@ A basic client program looks like the following example.
         #include <networktables/NetworkTableInstance.h>
         #include <networktables/NetworkTable.h>
         #include <networktables/DoubleTopic.h>
-                int main() {
+        int main() {
           auto inst = nt::NetworkTableInstance::GetDefault();
           auto table = inst.GetTable("datatable");
           auto xSub = table->GetDoubleTopic("x").Subscribe(0.0);
@@ -90,7 +90,7 @@ A basic client program looks like the following example.
         #include <thread>
         #include <fmt/format.h>
         #include <ntcore_cpp.h>
-                int main() {
+        int main() {
           NT_Inst inst = nt::GetDefaultInstance();
           NT_Subscriber xSub =
               nt::Subscribe(nt::GetTopic(inst, "/datatable/x"), NT_DOUBLE, "double");
@@ -117,7 +117,7 @@ A basic client program looks like the following example.
         #include <threads.h>
         #include <time.h>
         #include <networktables/ntcore.h>
-                int main() {
+        int main() {
           NT_Instance inst = NT_GetDefaultInstance();
           NT_Subscriber xSub =
               NT_Subscribe(NT_GetTopic(inst, "/datatable/x"), NT_DOUBLE, "double", NULL, 0);
@@ -141,9 +141,9 @@ A basic client program looks like the following example.
 
         ```python
         #!/usr/bin/env python3
-                import ntcore
+        import ntcore
         import time
-                if __name__ == "__main__":
+        if __name__ == "__main__":
             inst = ntcore.NetworkTableInstance.getDefault()
             table = inst.getTable("datatable")
             xSub = table.getDoubleTopic("x").subscribe(0)
@@ -151,12 +151,12 @@ A basic client program looks like the following example.
             inst.startClient4("example client")
             inst.setServerTeam(TEAM) # where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
             inst.startDSClient() # recommended if running on DS computer; this gets the robot IP from the DS
-                    while True:
+            while True:
                 time.sleep(1)
-                        x = xSub.get()
+                x = xSub.get()
                 y = ySub.get()
                 print(f"X: {x} Y: {y}")
-                ```
+        ```
 
 In this example an instance of NetworkTables is created and subscribers are created to reference the values of "x" and "y" from a table called "datatable".
 
diff --git a/source/docs/software/networktables/listening-for-change.rst b/source/docs/software/networktables/listening-for-change.rst
index dac964b8ee..82181e2c62 100644
--- a/source/docs/software/networktables/listening-for-change.rst
+++ b/source/docs/software/networktables/listening-for-change.rst
@@ -13,33 +13,33 @@ There are a few different ways to detect that a topic's value has changed; the e
         public class Example {
           final DoubleSubscriber ySub;
           double prev;
-                  public Example() {
+          public Example() {
             // get the default instance of NetworkTables
             NetworkTableInstance inst = NetworkTableInstance.getDefault();
-                    // get the subtable called "datatable"
+            // get the subtable called "datatable"
             NetworkTable datatable = inst.getTable("datatable");
-                    // subscribe to the topic in "datatable" called "Y"
+            // subscribe to the topic in "datatable" called "Y"
             ySub = datatable.getDoubleTopic("Y").subscribe(0.0);
           }
-                  public void periodic() {
+          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;
+            // 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
+            // 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
+          // may not be necessary for robot programs if this class lives for
           // the length of the program
           public void close() {
             ySub.close();
@@ -54,28 +54,28 @@ There are a few different ways to detect that a topic's value has changed; the e
         class Example {
           nt::DoubleSubscriber ySub;
           double prev = 0;
-                 public:
+         public:
           Example() {
             // get the default instance of NetworkTables
             nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-                    // get the subtable called "datatable"
+            // get the subtable called "datatable"
             auto datatable = inst.GetTable("datatable");
-                    // subscribe to the topic in "datatable" called "Y"
+            // subscribe to the topic in "datatable" called "Y"
             ySub = datatable->GetDoubleTopic("Y").Subscribe(0.0);
           }
-                  void Periodic() {
+          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;
+            // 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
+            // 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);
@@ -91,21 +91,21 @@ There are a few different ways to detect that a topic's value has changed; the e
         class Example {
           NT_Subscriber ySub;
           double prev = 0;
-                 public:
+         public:
           Example() {
             // get the default instance of NetworkTables
             NT_Inst inst = nt::GetDefaultInstance();
-                    // subscribe to the topic in "datatable" called "Y"
+            // subscribe to the topic in "datatable" called "Y"
             ySub = nt::Subscribe(nt::GetTopic(inst, "/datatable/Y"), NT_DOUBLE, "double");
           }
-                  void Periodic() {
+          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;
+            // 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);
@@ -121,21 +121,21 @@ There are a few different ways to detect that a topic's value has changed; the e
         ```python
         class Example:
             def __init__(self) -> None:
-                        # get the default instance of NetworkTables
+                # get the default instance of NetworkTables
                 inst = ntcore.NetworkTableInstance.getDefault()
-                        # get the subtable called "datatable"
+                # get the subtable called "datatable"
                 datatable = inst.getTable("datatable")
-                        # subscribe to the topic in "datatable" called "Y"
+                # subscribe to the topic in "datatable" called "Y"
                 self.ySub = datatable.getDoubleTopic("Y").subscribe(0.0)
-                        self.prev = 0
-                    def periodic(self):
+                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;
+                # 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}")
@@ -177,10 +177,10 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
           int connListenerHandle;
           int valueListenerHandle;
           int topicListenerHandle;
-                  public Example() {
+          public Example() {
             // get the default instance of NetworkTables
             NetworkTableInstance inst = NetworkTableInstance.getDefault();
-                    // add a connection listener; the first parameter will cause the
+            // 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)) {
@@ -189,11 +189,11 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
                 System.out.println("Disconnected from " + event.connInfo.remote_id);
               }
             });
-                    // get the subtable called "datatable"
+            // get the subtable called "datatable"
             NetworkTable datatable = inst.getTable("datatable");
-                    // subscribe to the topic in "datatable" called "Y"
+            // 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
+            // add a listener to only value changes on the Y subscriber
             valueListenerHandle = inst.addListener(
                 ySub,
                 EnumSet.of(NetworkTableEvent.Kind.kValueAll),
@@ -202,7 +202,7 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
                   // could check value.isDouble() here too
                   yValue.set(event.valueData.value.getDouble());
                 });
-                    // add a listener to see when new topics are published within datatable
+            // 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() + "/" },
@@ -214,7 +214,7 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
                   }
                 });
           }
-                  public void periodic() {
+          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);
@@ -222,7 +222,7 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
               System.out.println("got new value " + value);
             }
           }
-                  // may not be needed for robot programs if this class exists for the
+          // may not be needed for robot programs if this class exists for the
           // lifetime of the program
           public void close() {
             NetworkTableInstance inst = NetworkTableInstance.getDefault();
@@ -248,11 +248,11 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
           NT_Listener connListenerHandle;
           NT_Listener valueListenerHandle;
           NT_Listener topicListenerHandle;
-                 public:
+         public:
           Example() {
             // get the default instance of NetworkTables
             nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-                    // add a connection listener; the first parameter will cause the
+            // 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)) {
@@ -261,11 +261,11 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
                 fmt::print("Disconnected from {}\n", event.GetConnectionInfo()->remote_id);
               }
             });
-                    // get the subtable called "datatable"
+            // get the subtable called "datatable"
             auto datatable = inst.GetTable("datatable");
-                    // subscribe to the topic in "datatable" called "Y"
+            // 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
+            // add a listener to only value changes on the Y subscriber
             valueListenerHandle = inst.AddListener(
                 ySub,
                 nt::EventFlags::kValueAll,
@@ -276,7 +276,7 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
                   yValue = event.GetValueData()->value.GetDouble();
                   yValueUpdated = true;
                 });
-                    // add a listener to see when new topics are published within datatable
+            // 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())}},
@@ -288,7 +288,7 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
                   }
                 });
           }
-                  void Periodic() {
+          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};
@@ -297,7 +297,7 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
               fmt::print("got new value {}\n", yValue);
             }
           }
-                  ~Example() {
+          ~Example() {
             nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
             inst.RemoveListener(connListenerHandle);
             inst.RemoveListener(valueListenerHandle);
@@ -313,14 +313,14 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
         ```python
         import ntcore
         import threading
-                class Example:
+        class Example:
             def __init__(self) -> None:
-                        # get the default instance of NetworkTables
+                # get the default instance of NetworkTables
                 inst = ntcore.NetworkTableInstance.getDefault()
-                        # Use a mutex to ensure thread safety
+                # Use a mutex to ensure thread safety
                 self.lock = threading.Lock()
                 self.yValue = None
-                        # add a connection listener; the first parameter will cause the
+                # 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):
@@ -328,11 +328,11 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
                     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"
+                # get the subtable called "datatable"
                 datatable = inst.getTable("datatable")
-                        # subscribe to the topic in "datatable" called "Y"
+                # 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
+                # 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
@@ -341,7 +341,7 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
                         self.valueListenerHandle = inst.addListener(
                     self.ySub, ntcore.EventFlags.kValueAll, _on_ysub
                 )
-                        # add a listener to see when new topics are published within datatable
+                # 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):
diff --git a/source/docs/software/networktables/multiple-instances.rst b/source/docs/software/networktables/multiple-instances.rst
index 71a80db937..614b7fb2e6 100644
--- a/source/docs/software/networktables/multiple-instances.rst
+++ b/source/docs/software/networktables/multiple-instances.rst
@@ -18,9 +18,9 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
         ```java
         // get the default NetworkTable instance
         NetworkTableInstance defaultInst = NetworkTableInstance.getDefault();
-                // create a NetworkTable instance
+        // create a NetworkTable instance
         NetworkTableInstance inst = NetworkTableInstance.create();
-                // destroy a NetworkTable instance
+        // destroy a NetworkTable instance
         inst.close();
         ```
 
@@ -30,9 +30,9 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
         ```c++
         // get the default NetworkTable instance
         nt::NetworkTableInstance defaultInst = nt::NetworkTableInstance::GetDefault();
-                // create a NetworkTable instance
+        // create a NetworkTable instance
         nt::NetworkTableInstance inst = nt::NetworkTableInstance::Create();
-                // destroy a NetworkTable instance; NetworkTableInstance objects are not RAII
+        // destroy a NetworkTable instance; NetworkTableInstance objects are not RAII
         nt::NetworkTableInstance::Destroy(inst);
         ```
 
@@ -42,9 +42,9 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
         ```c++
         // get the default NetworkTable instance
         NT_Instance defaultInst = nt::GetDefaultInstance();
-                // create a NetworkTable instance
+        // create a NetworkTable instance
         NT_Instance inst = nt::CreateInstance();
-                // destroy a NetworkTable instance
+        // destroy a NetworkTable instance
         nt::DestroyInstance(inst);
         ```
 
@@ -54,9 +54,9 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
         ```c
         // get the default NetworkTable instance
         NT_Instance defaultInst = NT_GetDefaultInstance();
-                // create a NetworkTable instance
+        // create a NetworkTable instance
         NT_Instance inst = NT_CreateInstance();
-                // destroy a NetworkTable instance
+        // destroy a NetworkTable instance
         NT_DestroyInstance(inst);
         ```
 
@@ -66,11 +66,11 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
 
         ```python
         import ntcore
-                # get the default NetworkTable instance
+        # get the default NetworkTable instance
         defaultInst = ntcore.NetworkTableInstance.getDefault()
-                # create a NetworkTable instance
+        # create a NetworkTable instance
         inst = ntcore.NetworkTableInstance.create()
-                # destroy a NetworkTable instance
+        # destroy a NetworkTable instance
         ntcore.NetworkTableInstance.destroy(inst)
         ```
 
diff --git a/source/docs/software/networktables/networktables-networking.rst b/source/docs/software/networktables/networktables-networking.rst
index e99555d18e..67aa39ec83 100644
--- a/source/docs/software/networktables/networktables-networking.rst
+++ b/source/docs/software/networktables/networktables-networking.rst
@@ -44,9 +44,9 @@ The advantage of the robot program being the server is that it's at a known netw
 
         ```python
         import ntcore
-                inst = ntcore.NetworkTableInstance.getDefault()
+        inst = ntcore.NetworkTableInstance.getDefault()
         inst.startServer()
-                ```
+        ```
 
 ## Starting a NetworkTables Client
 
@@ -57,13 +57,13 @@ The advantage of the robot program being the server is that it's at a known netw
 
         ```java
         NetworkTableInstance inst = NetworkTableInstance.getDefault();
-                // start a NT4 client
+        // start a NT4 client
         inst.startClient4("example client");
-                // connect to a roboRIO with team number TEAM
+        // connect to a roboRIO with team number TEAM
         inst.setServerTeam(TEAM);
-                // starting a DS client will try to get the roboRIO address from the DS application
+        // starting a DS client will try to get the roboRIO address from the DS application
         inst.startDSClient();
-                // connect to a specific host/port
+        // connect to a specific host/port
         inst.setServer("host", NetworkTableInstance.kDefaultPort4)
         ```
 
@@ -72,13 +72,13 @@ The advantage of the robot program being the server is that it's at a known netw
 
         ```c++
         nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-                // start a NT4 client
+        // start a NT4 client
         inst.StartClient4("example client");
-                // connect to a roboRIO with team number TEAM
+        // connect to a roboRIO with team number TEAM
         inst.SetServerTeam(TEAM);
-                // starting a DS client will try to get the roboRIO address from the DS application
+        // starting a DS client will try to get the roboRIO address from the DS application
         inst.StartDSClient();
-                // connect to a specific host/port
+        // connect to a specific host/port
         inst.SetServer("host", NT_DEFAULT_PORT4)
         ```
 
@@ -87,13 +87,13 @@ The advantage of the robot program being the server is that it's at a known netw
 
         ```c++
         NT_Inst inst = nt::GetDefaultInstance();
-                // start a NT4 client
+        // start a NT4 client
         nt::StartClient4(inst, "example client");
-                // connect to a roboRIO with team number TEAM
+        // connect to a roboRIO with team number TEAM
         nt::SetServerTeam(inst, TEAM);
-                // starting a DS client will try to get the roboRIO address from the DS application
+        // starting a DS client will try to get the roboRIO address from the DS application
         nt::StartDSClient(inst);
-                // connect to a specific host/port
+        // connect to a specific host/port
         nt::SetServer(inst, "host", NT_DEFAULT_PORT4)
         ```
 
@@ -102,13 +102,13 @@ The advantage of the robot program being the server is that it's at a known netw
 
         ```c
         NT_Inst inst = NT_GetDefaultInstance();
-                // start a NT4 client
+        // start a NT4 client
         NT_StartClient4(inst, "example client");
-                // connect to a roboRIO with team number TEAM
+        // connect to a roboRIO with team number TEAM
         NT_SetServerTeam(inst, TEAM);
-                // starting a DS client will try to get the roboRIO address from the DS application
+        // starting a DS client will try to get the roboRIO address from the DS application
         NT_StartDSClient(inst);
-                // connect to a specific host/port
+        // connect to a specific host/port
         NT_SetServer(inst, "host", NT_DEFAULT_PORT4)
         ```
 
@@ -118,14 +118,14 @@ The advantage of the robot program being the server is that it's at a known netw
 
         ```python
         import ntcore
-                inst = ntcore.NetworkTableInstance.getDefault()
-                # start a NT4 client
+        inst = ntcore.NetworkTableInstance.getDefault()
+        # start a NT4 client
         inst.startClient4("example client")
-                # connect to a roboRIO with team number TEAM
+        # connect to a roboRIO with team number TEAM
         inst.setServerTeam(TEAM)
-                # starting a DS client will try to get the roboRIO address from the DS application
+        # starting a DS client will try to get the roboRIO address from the DS application
         inst.startDSClient()
-                # connect to a specific host/port
+        # connect to a specific host/port
         inst.setServer("host", ntcore.NetworkTableInstance.kDefaultPort4)
         ```
 
diff --git a/source/docs/software/networktables/nt4-migration-guide.rst b/source/docs/software/networktables/nt4-migration-guide.rst
index 4be0d0c372..b4adc26f9e 100644
--- a/source/docs/software/networktables/nt4-migration-guide.rst
+++ b/source/docs/software/networktables/nt4-migration-guide.rst
@@ -14,60 +14,60 @@ NT3 code (was):
       public class Example {
         final NetworkTableEntry yEntry;
         final NetworkTableEntry outEntry;
-              public Example() {
+        public Example() {
           NetworkTableInstance inst = NetworkTableInstance.getDefault();
-                // get the subtable called "datatable"
+          // get the subtable called "datatable"
           NetworkTable datatable = inst.getTable("datatable");
-                // get the entry in "datatable" called "Y"
+          // get the entry in "datatable" called "Y"
           yEntry = datatable.getEntry("Y");
-                // get the entry in "datatable" called "Out"
+          // get the entry in "datatable" called "Out"
           outEntry = datatable.getEntry("Out");
         }
-              public void periodic() {
+        public void periodic() {
           // read a double value from Y, and set Out to that value multiplied by 2
           double value = yEntry.getDouble(0.0);  // default to 0
           outEntry.setDouble(value * 2);
         }
       }
-            ```
+      ```
 
       ```c++
       class Example {
         nt::NetworkTableEntry yEntry;
         nt::NetworkTableEntry outEntry;
-              public:
+       public:
         Example() {
           nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-                // get the subtable called "datatable"
+          // get the subtable called "datatable"
           auto datatable = inst.GetTable("datatable");
-                // get the entry in "datatable" called "Y"
+          // get the entry in "datatable" called "Y"
           yEntry = datatable->GetEntry("Y");
-                // get the entry in "datatable" called "Out"
+          // get the entry in "datatable" called "Out"
           outEntry = datatable->GetEntry("Out");
         }
-              void Periodic() {
+        void Periodic() {
           // read a double value from Y, and set Out to that value multiplied by 2
           double value = yEntry.GetDouble(0.0);  // default to 0
           outEntry.SetDouble(value * 2);
         }
       };
-            ```
+      ```
 
       ```python
       class Example:
           def __init__(self):
               inst = ntcore.NetworkTableInstance.getDefault()
-                    # get the subtable called "datatable"
+              # get the subtable called "datatable"
               datatable = inst.getTable("datatable")
-                    # get the entry in "datatable" called "Y"
+              # get the entry in "datatable" called "Y"
               self.yEntry = datatable.getEntry("Y")
-                    # get the entry in "datatable" called "Out"
+              # get the entry in "datatable" called "Out"
               self.outEntry = datatable.getEntry("Out")
-                def periodic(self):
+          def periodic(self):
               # read a double value from Y, and set Out to that value multiplied by 2
               value = self.yEntry.getDouble(0.0)  # default to 0
               self.outEntry.setDouble(value * 2)
-            ```
+      ```
 
 Recommended NT4 equivalent (should be):
 
@@ -77,22 +77,22 @@ Recommended NT4 equivalent (should be):
       public class Example {
         final DoubleSubscriber ySub;
         final DoublePublisher outPub;
-              public Example() {
+        public Example() {
           NetworkTableInstance inst = NetworkTableInstance.getDefault();
-                // get the subtable called "datatable"
+          // get the subtable called "datatable"
           NetworkTable datatable = inst.getTable("datatable");
-                // subscribe to the topic in "datatable" called "Y"
+          // subscribe to the topic in "datatable" called "Y"
           // default value is 0
           ySub = datatable.getDoubleTopic("Y").subscribe(0.0);
-                // publish to the topic in "datatable" called "Out"
+          // publish to the topic in "datatable" called "Out"
           outPub = datatable.getDoubleTopic("Out").publish();
         }
-              public void periodic() {
+        public void periodic() {
           // read a double value from Y, and set Out to that value multiplied by 2
           double value = ySub.get();
           outPub.set(value * 2);
         }
-              // often not required in robot code, unless this class doesn't exist for
+        // 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() {
@@ -100,47 +100,47 @@ Recommended NT4 equivalent (should be):
           outPub.close();
         }
       }
-            ```
+      ```
 
       ```c++
       class Example {
         nt::DoubleSubscriber ySub;
         nt::DoublePublisher outPub;
-              public:
+       public:
         Example() {
           nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
-                // get the subtable called "datatable"
+          // get the subtable called "datatable"
           auto datatable = inst.GetTable("datatable");
-                // subscribe to the topic in "datatable" called "Y"
+          // subscribe to the topic in "datatable" called "Y"
           // default value is 0
           ySub = datatable->GetDoubleTopic("Y").Subscribe(0.0);
-                // publish to the topic in "datatable" called "Out"
+          // publish to the topic in "datatable" called "Out"
           outPub = datatable->GetDoubleTopic("Out").Publish();
         }
-              void Periodic() {
+        void Periodic() {
           // read a double value from Y, and set Out to that value multiplied by 2
           double value = ySub.Get();
           outPub.Set(value * 2);
         }
       };
-            ```
+      ```
 
       ```python
       class Example:
           def __init__(self) -> None:
               inst = ntcore.NetworkTableInstance.getDefault()
-                    # get the subtable called "datatable"
+              # get the subtable called "datatable"
               datatable = inst.getTable("datatable")
-                    # subscribe to the topic in "datatable" called "Y"
+              # subscribe to the topic in "datatable" called "Y"
               # default value is 0
               self.ySub = datatable.getDoubleTopic("Y").subscribe(0.0)
-                    # publish to the topic in "datatable" called "Out"
+              # publish to the topic in "datatable" called "Out"
               self.outPub = datatable.getDoubleTopic("Out").publish()
-                def periodic(self):
+          def periodic(self):
               # read a double value from Y, and set Out to that value multiplied by 2
               value = self.ySub.get()
               self.outPub.set(value * 2)
-                # often not required in robot code, unless this class doesn't exist for
+          # 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):
diff --git a/source/docs/software/networktables/publish-and-subscribe.rst b/source/docs/software/networktables/publish-and-subscribe.rst
index bcd62e81ac..d5396ae040 100644
--- a/source/docs/software/networktables/publish-and-subscribe.rst
+++ b/source/docs/software/networktables/publish-and-subscribe.rst
@@ -19,34 +19,34 @@ Publishing values is done via a ``set()`` operation. By default, this operation
         public class Example {
           // the publisher is an instance variable so its lifetime matches that of the class
           final DoublePublisher dblPub;
-                  public Example(DoubleTopic dblTopic) {
+          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
+            // publish options may be specified using PubSubOption
             dblPub = dblTopic.publish(PubSubOption.keepDuplicates(true));
-                    // publishEx provides additional options such as setting initial
+            // 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() {
+          public void periodic() {
             // publish a default value
             dblPub.setDefault(0.0);
-                    // publish a value with current timestamp
+            // 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
+            // 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;
+            // 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
+          // 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() {
@@ -64,26 +64,26 @@ Publishing values is done via a ``set()`` operation. By default, this operation
           // 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:
+         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
+            // publish options may be specified using PubSubOptions
             dblPub = dblTopic.Publish({.keepDuplicates = true});
-                    // PublishEx provides additional options such as setting initial
+            // 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() {
+          void Periodic() {
             // publish a default value
             dblPub.SetDefault(0.0);
-                    // publish a value with current timestamp
+            // 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
+            // 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);
@@ -99,30 +99,30 @@ Publishing values is done via a ``set()`` operation. By default, this operation
           // 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:
+         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
+            // publish options may be specified using PubSubOptions
             dblPub = nt::Publish(dblTopic, NT_DOUBLE, "double",
                 {.keepDuplicates = true});
-                    // PublishEx allows setting initial properties. The
+            // PublishEx allows setting initial properties. The
             // properties must be a JSON map.
             dblPub = nt::PublishEx(dblTopic, NT_DOUBLE, "double", {{"myprop", 5}});
           }
-                  void Periodic() {
+          void Periodic() {
             // publish a default value
             nt::SetDefaultDouble(dblPub, 0.0);
-                    // publish a value with current timestamp
+            // 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
+            // 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() {
+          ~Example() {
             // stop publishing
             nt::Unpublish(dblPub);
           }
@@ -134,29 +134,29 @@ Publishing values is done via a ``set()`` operation. By default, this operation
 
         ```c
         // This code assumes that a NT_Topic dblTopic variable already exists
-                // start publishing. It's recommended that the type string be standard
+        // 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
+        // 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
+        // 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
+        // publish a default value
         NT_SetDefaultDouble(dblPub, 0.0);
-                // publish a value with current timestamp
+        // 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
+        // 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
+        // stop publishing
         NT_Unpublish(dblPub);
         ```
 
@@ -167,33 +167,33 @@ Publishing values is done via a ``set()`` operation. By default, this operation
         ```python
         class Example:
             def __init__(self, dblTopic: ntcore.DoubleTopic):
-                        # start publishing; the return value must be retained (in this case, via
+                # 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
+                # publish options may be specified using PubSubOption
                 self.dblPub = dblTopic.publish(ntcore.PubSubOptions(keepDuplicates=True))
-                        # publishEx provides additional options such as setting initial
+                # 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):
+            def periodic(self):
                 # publish a default value
                 self.dblPub.setDefault(0.0)
-                        # publish a value with current timestamp
+                # 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.
+                # 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
+            # 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
 
@@ -210,34 +210,34 @@ Subscribers have a range of different ways to read received values. It's possibl
         public class Example {
           // the subscriber is an instance variable so its lifetime matches that of the class
           final DoubleSubscriber dblSub;
-                  public Example(DoubleTopic dblTopic) {
+          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
+            // 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.
+            // 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() {
+          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
+            // 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
+            // subscribers also implement the appropriate Supplier interface, e.g. DoubleSupplier
             double val = dblSub.getAsDouble();
-                    // get the most recent value, along with its timestamp
+            // get the most recent value, along with its timestamp
             TimestampedDouble tsVal = dblSub.getAtomic();
-                    // read all value changes since the last call to readQueue/readQueueValues
+            // 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
+          // 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() {
@@ -255,29 +255,29 @@ Subscribers have a range of different ways to read received values. It's possibl
           // 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:
+         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
+            // 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.
+            // 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() {
+          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
+            // 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
+            // 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
+            // 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();
@@ -293,28 +293,28 @@ Subscribers have a range of different ways to read received values. It's possibl
           // 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:
+         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
+            // subscribe options may be specified using PubSubOptions
             dblSub =
                 nt::Subscribe(dblTopic, NT_DOUBLE, "double",
                 {.pollStorage = 10, .keepDuplicates = true});
           }
-                  void Periodic() {
+          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
+            // 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
+            // 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() {
+          ~Example() {
             // stop subscribing
             nt::Unsubscribe(dblSub);
           }
@@ -325,65 +325,64 @@ Subscribers have a range of different ways to read received values. It's possibl
 
         ```c
         // This code assumes that a NT_Topic dblTopic variable already exists
-                // start subscribing
+        // 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
+        // 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
+        // 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
+        // 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
+        // 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;
+        size_t valUpdatesLen;
         double* valUpdates = NT_ReadQueueValuesDouble(dblSub, &valUpdatesLen);
         NT_FreeDoubleArray(valUpdates, valUpdatesLen);
-                // stop subscribing
+        // 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.
+                # 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
+                # 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.
+                # 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):
+            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
+                # 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
+                # get the most recent value, along with its timestamp
                 tsVal = self.dblSub.getAtomic()
-                        # read all value changes since the last call to readQueue
+                # 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
+                # 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):
@@ -404,18 +403,18 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
         public class Example {
           // the entry is an instance variable so its lifetime matches that of the class
           final DoubleEntry dblEntry;
-                  public Example(DoubleTopic dblTopic) {
+          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
+            // 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.
+            // 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() {
+          public void periodic() {
             // entries support all the same methods as subscribers:
             double val = dblEntry.get();
             double val = dblEntry.get(-1.0);
@@ -423,7 +422,7 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
             TimestampedDouble tsVal = dblEntry.getAtomic();
             TimestampedDouble[] tsUpdates = dblEntry.readQueue();
             double[] valUpdates = dblEntry.readQueueValues();
-                    // entries also support all the same methods as publishers; the first time
+            // 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);
@@ -432,11 +431,11 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
             dblEntry.set(3.0, time);
             myFunc(dblEntry);
           }
-                  public void unpublish() {
+          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
+          // 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() {
@@ -455,27 +454,27 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
           // subscribing/publishing is automatically stopped when dblEntry is destroyed by
           // the class destructor
           nt::DoubleEntry dblEntry;
-                 public:
+         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
+            // 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.
+            // 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() {
+          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
+            // 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);
@@ -483,7 +482,7 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
             int64_t time = nt::Now();
             dblEntry.Set(3.0, time);
           }
-                  void Unpublish() {
+          void Unpublish() {
             // you can stop publishing while keeping the subscriber alive
             dblEntry.Unpublish();
           }
@@ -498,23 +497,23 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
           // 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:
+         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
+            // publish and subscribe options may be specified using PubSubOptions
             dblEntry =
                 nt::GetEntry(dblTopic, NT_DOUBLE, "double",
                 {.pollStorage = 10, .keepDuplicates = true});
           }
-                  void Periodic() {
+          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
+            // 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);
@@ -522,11 +521,11 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
             int64_t time = nt::Now();
             nt::SetDouble(dblPub, 3.0, time);
           }
-                  void Unpublish() {
+          void Unpublish() {
             // you can stop publishing while keeping the subscriber alive
             nt::Unpublish(dblEntry);
           }
-                  ~Example() {
+          ~Example() {
             // stop publishing and subscribing
             nt::ReleaseEntry(dblEntry);
           }
@@ -537,38 +536,38 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
 
         ```c
         // This code assumes that a NT_Topic dblTopic variable already exists
-                // start subscribing
+        // 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
+        // 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:
+        // entries support all the same methods as subscribers:
         double val = NT_GetDouble(dblEntry, 0.0);
-                struct NT_TimestampedDouble tsVal;
+        struct NT_TimestampedDouble tsVal;
         NT_GetAtomic(dblEntry, 0.0, &tsVal);
         NT_DisposeTimestamped(&tsVal);
-                size_t tsUpdatesLen;
+        size_t tsUpdatesLen;
         struct NT_TimestampedDouble* tsUpdates = NT_ReadQueueDouble(dblEntry, &tsUpdatesLen);
         NT_FreeQueueDouble(tsUpdates, tsUpdatesLen);
-                size_t valUpdatesLen;
+        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
+        // 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
+        // you can stop publishing while keeping the subscriber alive
         // it's not necessary to call this before NT_ReleaseEntry()
         NT_Unpublish(dblEntry);
-                // stop subscribing
+        // stop subscribing
         NT_ReleaseEntry(dblEntry);
         ```
 
@@ -579,40 +578,40 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
         ```python
         class Example:
             def __init__(self, dblTopic: ntcore.DoubleTopic):
-                        # start subscribing; the return value must be retained.
+                # 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
+                # 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.
+                # 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):
+            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
+                # 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):
+            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
+            # 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
 
@@ -629,52 +628,52 @@ For the most robust code, using the type-specific Publisher, Subscriber, and Ent
           final GenericPublisher pub;
           final GenericSubscriber sub;
           final GenericEntry entry;
-                  public Example(Topic topic) {
+          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
+            // 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
+            // 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
+            // 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.
+            // genericPublishEx provides the option of setting initial properties.
             pub = topic.genericPublishEx("double", "{\"retained\": true}",
                 PubSubOption.keepDuplicates(true), PubSubOption.pollStorage(10));
           }
-                  public void periodic() {
+          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)
+            // they also support an untyped get (also meets Supplier<NetworkTableValue> interface)
             NetworkTableValue val = sub.get();
             NetworkTableValue val = entry.get();
-                    // they also support readQueue
+            // they also support readQueue
             NetworkTableValue[] updates = sub.readQueue();
             NetworkTableValue[] updates = entry.readQueue();
-                    // publishers and entries have typed set operations; these return false if the
+            // 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
+            // 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() {
+          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
+          // 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() {
@@ -696,48 +695,48 @@ For the most robust code, using the type-specific Publisher, Subscriber, and Ent
           nt::GenericPublisher pub;
           nt::GenericSubscriber sub;
           nt::GenericEntry entry;
-                 public:
+         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
+            // 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
+            // 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
+            // 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.
+            // genericPublishEx provides the option of setting initial properties.
             pub = topic.genericPublishEx("double", {{"myprop", 5}},
                 {.pollStorage = 10, .keepDuplicates = true});
           }
-                  void Periodic() {
+          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
+            // they also support an untyped get
             nt::NetworkTableValue val = sub.Get();
             nt::NetworkTableValue val = entry.Get();
-                    // they also support readQueue
+            // 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
+            // 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
+            // they also implement a generic set and Consumer<NetworkTableValue> interface
             bool success = entry.Set(nt::NetworkTableValue::MakeDouble(...));
           }
-                  void Unpublish() {
+          void Unpublish() {
             // you can stop publishing an entry while keeping the subscriber alive
             entry.Unpublish();
           }
@@ -751,18 +750,18 @@ For the most robust code, using the type-specific Publisher, Subscriber, and Ent
         ```python
         class Example:
             def __init__(self, topic: ntcore.Topic):
-                        # start subscribing; the return value must be retained.
+                # 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
+                # 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
+                # 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
+                # publish and subscribe options may be specified using PubSubOption
                 self.pub = topic.genericPublish(
                     "double", ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
                 )
@@ -772,32 +771,32 @@ For the most robust code, using the type-specific Publisher, Subscriber, and Ent
                 self.entry = topic.getGenericEntry(
                     ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10)
                 )
-                        # genericPublishEx provides the option of setting initial properties.
+                # genericPublishEx provides the option of setting initial properties.
                 self.pub = topic.genericPublishEx(
                     "double",
                     '{"retained": true}',
                     ntcore.PubSubOptions(keepDuplicates=True, pollStorage=10),
                 )
-                    def periodic(self):
+            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)
+                # they also support an untyped get (also meets Supplier<NetworkTableValue> interface)
                 val = self.sub.get()
                 val = self.entry.get()
-                        # they also support readQueue
+                # they also support readQueue
                 updates = self.sub.readQueue()
                 updates = self.entry.readQueue()
-                        # publishers and entries have typed set operations; these return false if the
+                # 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
+                # they also implement a generic set
                 success = self.entry.set(ntcore.Value.makeDouble(...))
-                    def unpublish(self):
+            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
+            # 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):
@@ -820,26 +819,26 @@ While in most cases it's only necessary to subscribe to individual topics, it is
           // the subscriber is an instance variable so its lifetime matches that of the class
           final MultiSubscriber multiSub;
           final NetworkTableListenerPoller poller;
-                  public Example(NetworkTableInstance inst) {
+          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
+            // 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
+            // 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() {
+          public void periodic() {
             // read value events
             NetworkTableEvent[] events = poller.readQueue();
-                    for (NetworkTableEvent event : events) {
+            for (NetworkTableEvent event : events) {
               NetworkTableValue value = event.valueData.value;
             }
           }
-                  // often not required in robot code, unless this class doesn't exist for
+          // 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() {
@@ -860,23 +859,23 @@ While in most cases it's only necessary to subscribe to individual topics, it is
           // subscribing is automatically stopped when multiSub is destroyed by the class destructor
           nt::MultiSubscriber multiSub;
           nt::NetworkTableListenerPoller poller;
-                 public:
+         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
+            // 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
+            // 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() {
+          void Periodic() {
             // read value events
             std::vector<nt::Event> events = poller.ReadQueue();
-                    for (auto&& event : events) {
+            for (auto&& event : events) {
               nt::NetworkTableValue value = event.GetValueEventData()->value;
             }
           }
@@ -892,27 +891,27 @@ While in most cases it's only necessary to subscribe to individual topics, it is
           // not automatically released, so we need a destructor
           NT_MultiSubscriber multiSub;
           NT_ListenerPoller poller;
-                 public:
+         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
+            // 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
+            // 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() {
+          void Periodic() {
             // read value events
             std::vector<nt::Event> events = nt::ReadListenerQueue(poller);
-                    for (auto&& event : events) {
+            for (auto&& event : events) {
               nt::NetworkTableValue value = event.GetValueEventData()->value;
             }
           }
-                  ~Example() {
+          ~Example() {
             // close listener
             nt::DestroyListenerPoller(poller);
             // stop subscribing
@@ -925,7 +924,7 @@ While in most cases it's only necessary to subscribe to individual topics, it is
 
         ```c
         // This code assumes that a NT_Inst inst variable already exists
-                // start subscribing
+        // start subscribing
         // provide an array of topic name prefixes
         struct NT_String prefixes[2];
         prefixes[0].str = "/table1/";
@@ -933,24 +932,24 @@ While in most cases it's only necessary to subscribe to individual topics, it is
         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
+        // 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
+        // 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
+        // read value events
         size_t eventsLen;
         struct NT_Event* events = NT_ReadListenerQueue(poller, &eventsLen);
-                for (size_t i = 0; i < eventsLen; i++) {
+        for (size_t i = 0; i < eventsLen; i++) {
           NT_Value* value = &events[i].data.valueData.value;
         }
-                NT_DisposeEventArray(events, eventsLen);
-                // close listener
+        NT_DisposeEventArray(events, eventsLen);
+        // close listener
         NT_DestroyListenerPoller(poller);
         // stop subscribing
         NT_UnsubscribeMultiple(multiSub);
@@ -963,23 +962,23 @@ While in most cases it's only necessary to subscribe to individual topics, it is
         ```python
         class Example:
             def __init__(self, inst: ntcore.NetworkTableInstance):
-                        # start subscribing; the return value must be retained.
+                # 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
+                # 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
+                # 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):
+            def periodic(self):
                 # read value events
                 events = self.poller.readQueue()
-                        for event in events:
+                for event in events:
                     value: ntcore.Value = event.data.value
-                    # often not required in robot code, unless this class doesn't exist for
+            # 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):
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 386abed992..6683323a8a 100644
--- a/source/docs/software/networktables/reading-array-values-published-by-networktables.rst
+++ b/source/docs/software/networktables/reading-array-values-published-by-networktables.rst
@@ -20,35 +20,35 @@ Both of the following examples are extremely simplified programs that just illus
 
    ```java
    DoubleArraySubscriber areasSub;
-      @Override
+   @Override
    public void robotInit() {
      NetworkTable table = NetworkTableInstance.getDefault().getTable("GRIP/mycontoursReport");
      areasSub = table.getDoubleArrayTopic("area").subscribe(new double[] {});
    }
-      @Override
+   @Override
    public void teleopPeriodic() {
-       double[] areas = areasSub.get();
-          System.out.print("areas: " );
-          for (double area : areas) {
-         System.out.print(area + " ");
-       }
-          System.out.println();
+     double[] areas = areasSub.get();
+     System.out.print("areas: " );
+     for (double area : areas) {
+       System.out.print(area + " ");
+     }
+     System.out.println();
    }
    ```
 
    ```c++
    nt::DoubleArraySubscriber areasSub;
-      void Robot::RobotInit() override {
+   void Robot::RobotInit() override {
      auto table = nt::NetworkTableInstance::GetDefault().GetTable("GRIP/myContoursReport");
      areasSub = table->GetDoubleArrayTopic("area").Subscribe({});
    }
-      void Robot::TeleopPeriodic() override {
+   void Robot::TeleopPeriodic() override {
      std::cout << "Areas: ";
-        std::vector<double> arr = areasSub.Get();
-        for (double val : arr) {
+     std::vector<double> arr = areasSub.Get();
+     for (double val : arr) {
        std::cout << val << " ";
      }
-        std::cout << std::endl;
+     std::cout << std::endl;
    }
    ```
 
@@ -56,7 +56,7 @@ Both of the following examples are extremely simplified programs that just illus
    def robotInit(self):
        table = ntcore.NetworkTableInstance.getDefault().getTable("GRIP/mycontoursReport")
        self.areasSub = table.getDoubleArrayTopic("area").subscribe([])
-      def teleopPeriodic(self):
+   def teleopPeriodic(self):
        areas = self.areasSub.get()
        print("Areas:", areas)
    ```
diff --git a/source/docs/software/networktables/robot-program.rst b/source/docs/software/networktables/robot-program.rst
index 6a0b5b0617..b8d52203db 100644
--- a/source/docs/software/networktables/robot-program.rst
+++ b/source/docs/software/networktables/robot-program.rst
@@ -8,30 +8,30 @@ The example robot program below publishes incrementing X and Y values to a table
 
     ```java
     package edu.wpi.first.wpilibj.templates;
-        import edu.wpi.first.wpilibj.TimedRobot;
+    import edu.wpi.first.wpilibj.TimedRobot;
     import edu.wpi.first.networktables.DoublePublisher;
     import edu.wpi.first.networktables.NetworkTable;
     import edu.wpi.first.networktables.NetworkTableInstance;
-        public class EasyNetworkTableExample extends TimedRobot {
+    public class EasyNetworkTableExample extends TimedRobot {
       DoublePublisher xPub;
       DoublePublisher yPub;
-          public void robotInit() {
+      public void robotInit() {
         // Get the default instance of NetworkTables that was created automatically
         // when the robot program starts
         NetworkTableInstance inst = NetworkTableInstance.getDefault();
-            // Get the table within that instance that contains the data. There can
+        // Get the table within that instance that contains the data. There can
         // be as many tables as you like and exist to make it easier to organize
         // your data. In this case, it's a table called datatable.
         NetworkTable table = inst.getTable("datatable");
-            // Start publishing topics within that table that correspond to the X and Y values
+        // Start publishing topics within that table that correspond to the X and Y values
         // for some operation in your program.
         // The topic names are actually "/datatable/x" and "/datatable/y".
         xPub = table.getDoubleTopic("x").publish();
         yPub = table.getDoubleTopic("y").publish();
       }
-          double x = 0;
+      double x = 0;
       double y = 0;
-          public void teleopPeriodic() {
+      public void teleopPeriodic() {
         // Publish values that are constantly increasing.
         xPub.set(x);
         yPub.set(y);
@@ -46,27 +46,27 @@ The example robot program below publishes incrementing X and Y values to a table
     #include <networktables/DoubleTopic.h>
     #include <networktables/NetworkTable.h>
     #include <networktables/NetworkTableInstance.h>
-        class EasyNetworkExample : public frc::TimedRobot {
+    class EasyNetworkExample : public frc::TimedRobot {
      public:
       nt::DoublePublisher xPub;
       nt::DoublePublisher yPub;
-          void RobotInit() {
+      void RobotInit() {
         // Get the default instance of NetworkTables that was created automatically
         // when the robot program starts
         auto inst = nt::NetworkTableInstance::GetDefault();
-            // Get the table within that instance that contains the data. There can
+        // Get the table within that instance that contains the data. There can
         // be as many tables as you like and exist to make it easier to organize
         // your data. In this case, it's a table called datatable.
         auto table = inst.GetTable("datatable");
-            // Start publishing topics within that table that correspond to the X and Y values
+        // Start publishing topics within that table that correspond to the X and Y values
         // for some operation in your program.
         // The topic names are actually "/datatable/x" and "/datatable/y".
         xPub = table->GetDoubleTopic("x").Publish();
         yPub = table->GetDoubleTopic("y").Publish();
       }
-          double x = 0;
+      double x = 0;
       double y = 0;
-          void TeleopPeriodic() {
+      void TeleopPeriodic() {
         // Publish values that are constantly increasing.
         xPub.Set(x);
         yPub.Set(y);
@@ -74,29 +74,29 @@ The example robot program below publishes incrementing X and Y values to a table
         y += 0.05;
       }
     }
-        START_ROBOT_CLASS(EasyNetworkExample)
+    START_ROBOT_CLASS(EasyNetworkExample)
     ```
 
     ```python
     import ntcore
     import wpilib
-            class EasyNetworkTableExample(wpilib.TimedRobot):
+    class EasyNetworkTableExample(wpilib.TimedRobot):
         def robotInit(self) -> None:
             # Get the default instance of NetworkTables that was created automatically
             # when the robot program starts
             inst = ntcore.NetworkTableInstance.getDefault()
-                # Get the table within that instance that contains the data. There can
+            # Get the table within that instance that contains the data. There can
             # be as many tables as you like and exist to make it easier to organize
             # your data. In this case, it's a table called datatable.
             table = inst.getTable("datatable")
-                # Start publishing topics within that table that correspond to the X and Y values
+            # Start publishing topics within that table that correspond to the X and Y values
             # for some operation in your program.
             # The topic names are actually "/datatable/x" and "/datatable/y".
             self.xPub = table.getDoubleTopic("x").publish()
             self.yPub = table.getDoubleTopic("y").publish()
-                self.x = 0
+            self.x = 0
             self.y = 0
-            def teleopPeriodic(self) -> None:
+        def teleopPeriodic(self) -> None:
             # Publish values that are constantly increasing.
             self.xPub.set(self.x)
             self.yPub.set(self.y)
diff --git a/source/docs/software/networktables/tables-and-topics.rst b/source/docs/software/networktables/tables-and-topics.rst
index db0f8e7c4a..a44c78a632 100644
--- a/source/docs/software/networktables/tables-and-topics.rst
+++ b/source/docs/software/networktables/tables-and-topics.rst
@@ -18,14 +18,14 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
         ```java
         NetworkTableInstance inst = NetworkTableInstance.getDefault();
         NetworkTable table = inst.getTable("datatable");
-                // get a topic from a NetworkTableInstance
+        // get a topic from a NetworkTableInstance
         // the topic name in this case is the full name
         DoubleTopic dblTopic = inst.getDoubleTopic("/datatable/X");
-                // get a topic from a NetworkTable
+        // get a topic from a NetworkTable
         // the topic name in this case is the name within the table;
         // this line and the one above reference the same topic
         DoubleTopic dblTopic = table.getDoubleTopic("X");
-                // get a type-specific topic from a generic Topic
+        // get a type-specific topic from a generic Topic
         Topic genericTopic = inst.getTopic("/datatable/X");
         DoubleTopic dblTopic = new DoubleTopic(genericTopic);
         ```
@@ -36,14 +36,14 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
         ```c++
         nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
         std::shared_ptr<nt::NetworkTable> table = inst.GetTable("datatable");
-                // get a topic from a NetworkTableInstance
+        // get a topic from a NetworkTableInstance
         // the topic name in this case is the full name
         nt::DoubleTopic dblTopic = inst.GetDoubleTopic("/datatable/X");
-                // get a topic from a NetworkTable
+        // get a topic from a NetworkTable
         // the topic name in this case is the name within the table;
         // this line and the one above reference the same topic
         nt::DoubleTopic dblTopic = table->GetDoubleTopic("X");
-                // get a type-specific topic from a generic Topic
+        // get a type-specific topic from a generic Topic
         nt::Topic genericTopic = inst.GetTopic("/datatable/X");
         nt::DoubleTopic dblTopic{genericTopic};
         ```
@@ -53,7 +53,7 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
 
         ```c++
         NT_Instance inst = nt::GetDefaultInstance();
-                // get a topic from a NetworkTableInstance
+        // get a topic from a NetworkTableInstance
         NT_Topic topic = nt::GetTopic(inst, "/datatable/X");
         ```
 
@@ -62,7 +62,7 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
 
         ```c
         NT_Instance inst = NT_GetDefaultInstance();
-                // get a topic from a NetworkTableInstance
+        // get a topic from a NetworkTableInstance
         NT_Topic topic = NT_GetTopic(inst, "/datatable/X");
         ```
 
@@ -72,16 +72,16 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
 
         ```python
         import ntcore
-                inst = ntcore.NetworkTableInstance.getDefault()
+        inst = ntcore.NetworkTableInstance.getDefault()
         table = inst.getTable("datatable")
-                # get a topic from a NetworkTableInstance
+        # get a topic from a NetworkTableInstance
         # the topic name in this case is the full name
         dblTopic = inst.getDoubleTopic("/datatable/X")
-                # get a topic from a NetworkTable
+        # get a topic from a NetworkTable
         # the topic name in this case is the name within the table;
         # this line and the one above reference the same topic
         dblTopic = table.getDoubleTopic("X")
-                # get a type-specific topic from a generic Topic
+        # get a type-specific topic from a generic Topic
         genericTopic = inst.getTopic("/datatable/X")
         dblTopic = ntcore.DoubleTopic(genericTopic)
         ```
diff --git a/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst b/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst
index 68f24217f3..e5d69bd3e0 100644
--- a/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst
+++ b/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst
@@ -13,7 +13,7 @@ The ``fromPathweaverJson`` (Java) / ``FromPathweaverJson`` (C++) static methods
    ```java
    String trajectoryJSON = "paths/YourPath.wpilib.json";
    Trajectory trajectory = new Trajectory();
-      @Override
+   @Override
    public void robotInit() {
       try {
          Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
@@ -28,8 +28,8 @@ The ``fromPathweaverJson`` (Java) / ``FromPathweaverJson`` (C++) static methods
    #include <frc/Filesystem.h>
    #include <frc/trajectory/TrajectoryUtil.h>
    #include <wpi/fs.h>
-      frc::Trajectory trajectory;
-      void Robot::RobotInit() {
+   frc::Trajectory trajectory;
+   void Robot::RobotInit() {
       fs::path deployDirectory = frc::filesystem::GetDeployDirectory();
       deployDirectory = deployDirectory / "paths" / "YourPath.wpilib.json";
       trajectory = frc::TrajectoryUtil::FromPathweaverJson(deployDirectory.string());
diff --git a/source/docs/software/telemetry/datalog.rst b/source/docs/software/telemetry/datalog.rst
index e3987a404f..91dec02f42 100644
--- a/source/docs/software/telemetry/datalog.rst
+++ b/source/docs/software/telemetry/datalog.rst
@@ -26,19 +26,19 @@ The most basic usage of DataLogManager only requires a single line of code (typi
 
     ```java
     import edu.wpi.first.wpilibj.DataLogManager;
-        // Starts recording to data log
+    // Starts recording to data log
     DataLogManager.start();
     ```
 
     ```c++
     #include "frc/DataLogManager.h"
-        // Starts recording to data log
+    // Starts recording to data log
     frc::DataLogManager::Start();
     ```
 
     ```python
     from wpilib import DataLogManager
-        DataLogManager.start()
+    DataLogManager.start()
     ```
 
 DataLogManager provides a convenience function (``DataLogManager.log()``) for logging of text messages to the ``messages`` entry in the data log. The message is also printed to standard output, so this can be a replacement for ``System.out.println()``.
@@ -56,32 +56,32 @@ DataLogManager by default does not record joystick data.  The ``DriverStation``
     ```java
     import edu.wpi.first.wpilibj.DataLogManager;
     import edu.wpi.first.wpilibj.DriverStation;
-        // Starts recording to data log
+    // Starts recording to data log
     DataLogManager.start();
-        // Record both DS control and joystick data
+    // Record both DS control and joystick data
     DriverStation.startDataLog(DataLogManager.getLog());
-        // (alternatively) Record only DS control data
+    // (alternatively) Record only DS control data
     DriverStation.startDataLog(DataLogManager.getLog(), false);
     ```
 
     ```c++
     #include "frc/DataLogManager.h"
     #include "frc/DriverStation.h"
-        // Starts recording to data log
+    // Starts recording to data log
     frc::DataLogManager::Start();
-        // Record both DS control and joystick data
+    // Record both DS control and joystick data
     DriverStation::StartDataLog(DataLogManager::GetLog());
-        // (alternatively) Record only DS control data
+    // (alternatively) Record only DS control data
     DriverStation::StartDataLog(DataLogManager::GetLog(), false);
     ```
 
     ```python
     from wpilib import DataLogManager, DriverStation
-        # Starts recording to data log
+    # Starts recording to data log
     DataLogManager.start()
-        # Record both DS control and joystick data
+    # Record both DS control and joystick data
     DriverStation.startDataLog(DataLogManager.getLog())
-        # (alternatively) Record only DS control data
+    # (alternatively) Record only DS control data
     DriverStation.startDataLog(DataLogManager.getLog(), False)
     ```
 
@@ -101,19 +101,19 @@ The LogEntry classes can be used in conjunction with DataLogManager to record va
     import edu.wpi.first.util.datalog.DoubleLogEntry;
     import edu.wpi.first.util.datalog.StringLogEntry;
     import edu.wpi.first.wpilibj.DataLogManager;
-        BooleanLogEntry myBooleanLog;
+    BooleanLogEntry myBooleanLog;
     DoubleLogEntry myDoubleLog;
     StringLogEntry myStringLog;
-        public void robotInit() {
+    public void robotInit() {
       // Starts recording to data log
       DataLogManager.start();
-          // Set up custom log entries
+      // Set up custom log entries
       DataLog log = DataLogManager.getLog();
       myBooleanLog = new BooleanLogEntry(log, "/my/boolean");
       myDoubleLog = new DoubleLogEntry(log, "/my/double");
       myStringLog = new StringLogEntry(log, "/my/string");
     }
-        public void teleopPeriodic() {
+    public void teleopPeriodic() {
       if (...) {
         // Only log when necessary
         myBooleanLog.append(true);
@@ -126,19 +126,19 @@ The LogEntry classes can be used in conjunction with DataLogManager to record va
     ```c++
     #include "frc/DataLogManager.h"
     #include "wpi/DataLog.h"
-        wpi::log::BooleanLogEntry myBooleanLog;
+    wpi::log::BooleanLogEntry myBooleanLog;
     wpi::log::DoubleLogEntry myDoubleLog;
     wpi::log::StringLogEntry myStringLog;
-        void RobotInit() {
+    void RobotInit() {
       // Starts recording to data log
       frc::DataLogManager::Start();
-          // Set up custom log entries
+      // Set up custom log entries
       wpi::log::DataLog& log = frc::DataLogManager::GetLog();
       myBooleanLog = wpi::Log::BooleanLogEntry(log, "/my/boolean");
       myDoubleLog = wpi::log::DoubleLogEntry(log, "/my/double");
       myStringLog = wpi::log::StringLogEntry(log, "/my/string");
     }
-        void TeleopPeriodic() {
+    void TeleopPeriodic() {
       if (...) {
         // Only log when necessary
         myBooleanLog.Append(true);
@@ -156,16 +156,16 @@ The LogEntry classes can be used in conjunction with DataLogManager to record va
         DoubleLogEntry,
         StringLogEntry,
     )
-        class MyRobot(TimedRobot):
+   class MyRobot(TimedRobot):
         def robotInit(self):
             # Starts recording to data log
             DataLogManager.start()
-                # Set up custom log entries
+            # Set up custom log entries
             log = DataLogManager.getLog()
             self.myBooleanLog = BooleanLogEntry(log, "/my/boolean")
             self.myDoubleLog = DoubleLogEntry(log, "/my/double")
             self.myStringLog = StringLogEntry(log, "/my/string")
-            def teleopPeriodic(self):
+        def teleopPeriodic(self):
             if ...:
                 # Only log when necessary
                 self.myBooleanLog.append(True)
diff --git a/source/docs/software/telemetry/robot-telemetry-with-annotations.rst b/source/docs/software/telemetry/robot-telemetry-with-annotations.rst
index 295c9804da..41d1e937f4 100644
--- a/source/docs/software/telemetry/robot-telemetry-with-annotations.rst
+++ b/source/docs/software/telemetry/robot-telemetry-with-annotations.rst
@@ -15,18 +15,18 @@ This is enough to start logging data to NetworkTables for display and capture on
     public class Robot extends TimedRobot {
       private final Arm arm;
       private final Drivetrain drivetrain;
-          public Robot() {
+      public Robot() {
         arm = new Arm();
         drivetrain = new Drivetrain();
-            DataLogManager.start(); // Optional to mirror the NetworkTables-logged data to a file on disk
+        DataLogManager.start(); // Optional to mirror the NetworkTables-logged data to a file on disk
         Epilogue.bind(this);
       }
     }
-        @Logged
+    @Logged
     public class Arm {
       // ...
     }
-        @Logged
+    @Logged
     public class Drivetrain {
       // ...
     }
@@ -80,22 +80,22 @@ The names of log entries can be changed using the ``name`` configuration option
         ```java
         public class Robot extends RobotBase {
           private final Arm arm;
-                  public Robot() {
+          public Robot() {
             arm = new Arm();
           }
         }
-                class Arm {
+        class Arm {
           public final Trigger atLowStop = new Trigger(...);
           public final Trigger atHighStop = new Trigger(...);
           private Rotation2d lastPosition = getPosition();
-                  public Rotation2d getPosition() {
+          public Rotation2d getPosition() {
             // ...
           }
-                  public Measure<Velocity<Angle>> getSpeed() {
+          public Measure<Velocity<Angle>> getSpeed() {
             // ...
           }
         }
-                ```
+        ```
 
    .. tab-item:: Code with logging (minimal)
 
@@ -103,21 +103,21 @@ The names of log entries can be changed using the ``name`` configuration option
         @Logged
         public class Robot extends RobotBase {
           private final Arm arm; // Anything loggable within the arm object will be logged under an "arm" entry
-                  public Robot() {
+            public Robot() {
             arm = new Arm();
-                    Epilogue.bind(this);
+            Epilogue.bind(this);
           }
         }
-                @Logged
+        @Logged
         class Arm {
           public final Trigger atLowStop = new Trigger(...);  // Logged as a boolean in an "atLowStop" entry
           public final Trigger atHighStop = new Trigger(...); // Logged as a boolean in an "atHighStop" entry
           private Rotation2d lastPosition = getPosition();    // Logged as a Rotation2d struct in a "lastPosition" entry
-                  // Logged as a Rotation2d struct object in a "getPosition" entry
+          // Logged as a Rotation2d struct object in a "getPosition" entry
           public Rotation2d getPosition() {
             // ...
           }
-                  // Logged as a double in terms of radians per second in a "getSpeed" entry
+          // Logged as a double in terms of radians per second in a "getSpeed" entry
           public Measure<Velocity<Angle>> getSpeed() {
             // ...
           }
@@ -141,25 +141,25 @@ The names of log entries can be changed using the ``name`` configuration option
         public class Robot extends RobotBase {
           @Logged(name = "Arm")
           private Arm arm;
-                  public Robot() {
+          public Robot() {
             arm = new Arm();
-                    DataLogManager.start();
+            DataLogManager.start();
             Epilogue.bind(this);
           }
         }
-                @Logged(strategy = OPT_IN)
+        @Logged(strategy = OPT_IN)
         class Arm {
           @Logged(name = "At Low Stop", importance = DEBUG)
           public final Trigger atLowStop = new Trigger(...);
-                  @Logged(name = "At High Stop", importance = DEBUG)
+          @Logged(name = "At High Stop", importance = DEBUG)
           public final Trigger atHighStop = new Trigger(...);
-                  @NotLogged // Redundant because the class strategy is opt-in
+          @NotLogged // Redundant because the class strategy is opt-in
           private Rotation2d lastPosition = getPosition(); // No @Logged annotation, not logged
-                  @Logged(name = "Position", importance = CRITICAL)
+          @Logged(name = "Position", importance = CRITICAL)
           public Rotation2d getPosition() {
             // ...
           }
-                  @Logged(name = "Speed", importance = CRITICAL)
+          @Logged(name = "Speed", importance = CRITICAL)
           public Measure<Velocity<Angle>> getSpeed() {
               // ...
           }
@@ -211,19 +211,19 @@ If your main robot class inherits from ``TimedRobot``, the generated ``Epilogue`
           // Log only to disk, instead of the default NetworkTables logging
           // Note that this means data cannot be analyzed in realtime by a dashboard
           config.dataLogger = new FileLogger(DataLogManager.getLog());
-              if (isSimulation()) {
+          if (isSimulation()) {
             // If running in simulation, then we'd want to re-throw any errors that
             // occur so we can debug and fix them!
             config.errorHandler = ErrorHandler.crashOnError();
           }
               // Change the root data path
           config.root = "Telemetry";
-              // Only log critical information instead of the default DEBUG level.
+          // Only log critical information instead of the default DEBUG level.
           // This can be helpful in a pinch to reduce network bandwidth or log file size
           // while still logging important information.
           config.minimumImportance = Logged.Importance.CRITICAL;
         });
-            Epilogue.bind(this);
+        Epilogue.bind(this);
       }
     }
         ```
@@ -246,22 +246,22 @@ Custom loggers can be declared in any package, and only need to have the ``@Cust
       public double getAppliedVoltage();
       public double getInputCurrent();
     }
-        @CustomLoggerFor(VendorMotor.class)
+    @CustomLoggerFor(VendorMotor.class)
     public class YourCustomVendorMotorLogger extends ClassSpecificLogger<VendorMotor> {
       public YourCustomVendorMotorLogger() {
         super(VendorMotor.class);
       }
-          @Override
+      @Override
       public void update(DataLogger dataLogger, VendorMotor motor) {
         if (Epilogue.shouldLog(Logged.Importance.DEBUG)) {
           dataLogger.log("Faults", motor.getFaults());
         }
-            dataLogger.log("Requested Speed (Duty Cycle)", motor.get());
+        dataLogger.log("Requested Speed (Duty Cycle)", motor.get());
         dataLogger.log("Motor Voltage (V)", motor.getAppliedVoltage());
         dataLogger.log("Input Current (A)", motor.getInputCurrent());
       }
     }
-        ```
+    ```
 
 Caveats and Limitations
 -----------------------
diff --git a/source/docs/software/telemetry/robot-telemetry-with-sendable.rst b/source/docs/software/telemetry/robot-telemetry-with-sendable.rst
index e7e476d219..bf25a6d560 100644
--- a/source/docs/software/telemetry/robot-telemetry-with-sendable.rst
+++ b/source/docs/software/telemetry/robot-telemetry-with-sendable.rst
@@ -32,7 +32,7 @@ To send a ``Sendable`` object to the dashboard, simply use the dashboard's ``put
 
     ```python
     from wpilib import SmartDashboard
-        SmartDashboard.putData("Arm PID", armPIDController)
+    SmartDashboard.putData("Arm PID", armPIDController)
     ```
 
 Additionally, some ``Sendable`` classes bind setters to the data values sent *from the dashboard to the robot*, allowing remote tuning of robot parameters.
diff --git a/source/docs/software/vision-processing/introduction/cameraserver-class.rst b/source/docs/software/vision-processing/introduction/cameraserver-class.rst
index cae75d7b44..663db8e440 100644
--- a/source/docs/software/vision-processing/introduction/cameraserver-class.rst
+++ b/source/docs/software/vision-processing/introduction/cameraserver-class.rst
@@ -77,21 +77,21 @@ The above graph is what the following CameraServer snippet creates:
     import edu.wpi.first.cameraserver.CameraServer;
     import edu.wpi.cscore.CvSink;
     import edu.wpi.cscore.CvSource;
-        // Creates UsbCamera and MjpegServer [1] and connects them
+    // Creates UsbCamera and MjpegServer [1] and connects them
     CameraServer.startAutomaticCapture();
-        // Creates the CvSink and connects it to the UsbCamera
+    // Creates the CvSink and connects it to the UsbCamera
     CvSink cvSink = CameraServer.getVideo();
-        // Creates the CvSource and MjpegServer [2] and connects them
+    // Creates the CvSource and MjpegServer [2] and connects them
     CvSource outputStream = CameraServer.putVideo("Blur", 640, 480);
     ```
 
     ```c++
     #include "cameraserver/CameraServer.h"
-        // Creates UsbCamera and MjpegServer [1] and connects them
+    // Creates UsbCamera and MjpegServer [1] and connects them
     frc::CameraServer::StartAutomaticCapture();
-        // Creates the CvSink and connects it to the UsbCamera
+    // Creates the CvSink and connects it to the UsbCamera
     cs::CvSink cvSink = frc::CameraServer::GetVideo();
-        // Creates the CvSource and MjpegServer [2] and connects them
+    // Creates the CvSource and MjpegServer [2] and connects them
     cs::CvSource outputStream = frc::CameraServer::PutVideo("Blur", 640, 480);
     ```
 
@@ -104,14 +104,14 @@ The CameraServer implementation effectively does the following at the cscore lev
     import edu.wpi.cscore.CvSource;
     import edu.wpi.cscore.MjpegServer;
     import edu.wpi.cscore.UsbCamera;
-        // Creates UsbCamera and MjpegServer [1] and connects them
+    // Creates UsbCamera and MjpegServer [1] and connects them
     UsbCamera usbCamera = new UsbCamera("USB Camera 0", 0);
     MjpegServer mjpegServer1 = new MjpegServer("serve_USB Camera 0", 1181);
     mjpegServer1.setSource(usbCamera);
-        // Creates the CvSink and connects it to the UsbCamera
+    // Creates the CvSink and connects it to the UsbCamera
     CvSink cvSink = new CvSink("opencv_USB Camera 0");
     cvSink.setSource(usbCamera);
-        // Creates the CvSource and MjpegServer [2] and connects them
+    // Creates the CvSource and MjpegServer [2] and connects them
     CvSource outputStream = new CvSource("Blur", PixelFormat.kMJPEG, 640, 480, 30);
     MjpegServer mjpegServer2 = new MjpegServer("serve_Blur", 1182);
     mjpegServer2.setSource(outputStream);
@@ -119,14 +119,14 @@ The CameraServer implementation effectively does the following at the cscore lev
 
     ```c++
     #include "cscore_oo.h"
-        // Creates UsbCamera and MjpegServer [1] and connects them
+    // Creates UsbCamera and MjpegServer [1] and connects them
     cs::UsbCamera usbCamera("USB Camera 0", 0);
     cs::MjpegServer mjpegServer1("serve_USB Camera 0", 1181);
     mjpegServer1.SetSource(usbCamera);
-        // Creates the CvSink and connects it to the UsbCamera
+    // Creates the CvSink and connects it to the UsbCamera
     cs::CvSink cvSink("opencv_USB Camera 0");
     cvSink.SetSource(usbCamera);
-        // Creates the CvSource and MjpegServer [2] and connects them
+    // Creates the CvSource and MjpegServer [2] and connects them
     cs::CvSource outputStream("Blur", cs::PixelFormat::kMJPEG, 640, 480, 30);
     cs::MjpegServer mjpegServer2("serve_Blur", 1182);
     mjpegServer2.SetSource(outputStream);
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 7f226e1678..1e3ee1e1f5 100644
--- a/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst
+++ b/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst
@@ -14,13 +14,13 @@ If you're interested in just switching what the driver sees, and are using Smart
     UsbCamera camera2;
     Joystick joy1 = new Joystick(0);
     NetworkTableEntry cameraSelection;
-        @Override
+    @Override
     public void robotInit() {
         camera1 = CameraServer.startAutomaticCapture(0);
         camera2 = CameraServer.startAutomaticCapture(1);
-            cameraSelection = NetworkTableInstance.getDefault().getTable("").getEntry("CameraSelection");
+        cameraSelection = NetworkTableInstance.getDefault().getTable("").getEntry("CameraSelection");
     }
-        @Override
+    @Override
     public void teleopPeriodic() {
         if (joy1.getTriggerPressed()) {
             System.out.println("Setting camera 2");
@@ -39,13 +39,13 @@ If you're interested in just switching what the driver sees, and are using Smart
     cs::UsbCamera camera1;
     cs::UsbCamera camera2;
     frc::Joystick joy1{0};
-        nt::NetworkTableEntry cameraSelection;
-        void RobotInit() override {
+    nt::NetworkTableEntry cameraSelection;
+    void RobotInit() override {
       camera1 = frc::CameraServer::StartAutomaticCapture(0);
       camera2 = frc::CameraServer::StartAutomaticCapture(1);
-          cameraSelection = nt::NetworkTableInstance::GetDefault().GetTable("")->GetEntry("CameraSelection");
+      cameraSelection = nt::NetworkTableInstance::GetDefault().GetTable("")->GetEntry("CameraSelection");
     }
-        void TeleopPeriodic() override {
+    void TeleopPeriodic() override {
       if (joy1.GetTriggerPressed()) {
         std::cout << "Setting Camera 2" << std::endl;
         cameraSelection.SetString(camera2.GetName());
@@ -66,12 +66,12 @@ If you're interested in just switching what the driver sees, and are using Smart
     ```python
     import wpilib
     from ntcore import NetworkTableInstance
-        class MyRobot(wpilib.TimedRobot):
+    class MyRobot(wpilib.TimedRobot):
         def robotInit(self):
             self.joy1 = wpilib.Joystick(0)
             self.cameraSelection = NetworkTableInstance.getDefault().getTable("").getEntry("CameraSelection")
             wpilib.CameraServer.launch("vision.py:main")
-            def teleopPeriodic(self):
+        def teleopPeriodic(self):
             if self.joy1.getTriggerPressed():
                 print("Setting camera 2")
                 self.cameraSelection.setString("USB Camera 1")
@@ -84,19 +84,19 @@ If you're interested in just switching what the driver sees, and are using Smart
 
     ```python
     from cscore import CameraServer
-        def main():
+    def main():
         CameraServer.enableLogging()
-            camera1 = CameraServer.startAutomaticCapture(0)
+        camera1 = CameraServer.startAutomaticCapture(0)
         camera2 = CameraServer.startAutomaticCapture(1)
-            CameraServer.waitForever()
+        CameraServer.waitForever()
     ```
 
     ``pyproject.toml`` contents (this only shows the portions you need to update):
 
     ```toml
     [tool.robotpy]
-        ...
-        # Add cscore to the robotpy-extras list
+    ...
+    # Add cscore to the robotpy-extras list
     robotpy_extras = ["cscore"]
     ```
 
@@ -109,13 +109,13 @@ If you're using some other dashboard, you can change the camera used by the came
     UsbCamera camera2;
     VideoSink server;
     Joystick joy1 = new Joystick(0);
-        @Override
+    @Override
     public void robotInit() {
         camera1 = CameraServer.startAutomaticCapture(0);
         camera2 = CameraServer.startAutomaticCapture(1);
         server = CameraServer.getServer();
     }
-        @Override
+    @Override
     public void teleopPeriodic() {
         if (joy1.getTriggerPressed()) {
             System.out.println("Setting camera 2");
@@ -133,12 +133,12 @@ If you're using some other dashboard, you can change the camera used by the came
     cs::VideoSink server;
     frc::Joystick joy1{0};
     bool prevTrigger = false;
-        void RobotInit() override {
+    void RobotInit() override {
       camera1 = frc::CameraServer::StartAutomaticCapture(0);
       camera2 = frc::CameraServer::StartAutomaticCapture(1);
       server = frc::CameraServer::GetServer();
     }
-        void TeleopPeriodic() override {
+    void TeleopPeriodic() override {
       if (joy1.GetTrigger() && !prevTrigger) {
         std::cout << "Setting Camera 2" << std::endl;
         server.SetSource(camera2);
@@ -169,15 +169,15 @@ By default, the cscore library is pretty aggressive in turning off cameras not i
     UsbCamera camera2;
     VideoSink server;
     Joystick joy1 = new Joystick(0);
-        @Override
+    @Override
     public void robotInit() {
         camera1 = CameraServer.startAutomaticCapture(0);
         camera2 = CameraServer.startAutomaticCapture(1);
         server = CameraServer.getServer();
-            camera1.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
+        camera1.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
         camera2.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
     }
-        @Override
+    @Override
     public void teleopPeriodic() {
         if (joy1.getTriggerPressed()) {
             System.out.println("Setting camera 2");
@@ -205,7 +205,7 @@ By default, the cscore library is pretty aggressive in turning off cameras not i
       camera1.SetConnectionStrategy(cs::VideoSource::ConnectionStrategy::kConnectionKeepOpen);
       camera2.SetConnectionStrategy(cs::VideoSource::ConnectionStrategy::kConnectionKeepOpen);
     }
-        void TeleopPeriodic() override {
+    void TeleopPeriodic() override {
       if (joy1.GetTrigger() && !prevTrigger) {
         std::cout << "Setting Camera 2" << std::endl;
         server.SetSource(camera2);
@@ -227,12 +227,12 @@ By default, the cscore library is pretty aggressive in turning off cameras not i
     ```python
     import wpilib
     from ntcore import NetworkTableInstance
-        class MyRobot(wpilib.TimedRobot):
+    class MyRobot(wpilib.TimedRobot):
         def robotInit(self):
             self.joy1 = wpilib.Joystick(0)
             self.cameraSelection = NetworkTableInstance.getDefault().getTable("").getEntry("CameraSelection")
             wpilib.CameraServer.launch("vision.py:main")
-            def teleopPeriodic(self):
+        def teleopPeriodic(self):
             if self.joy1.getTriggerPressed():
                 print("Setting camera 2")
                 self.cameraSelection.setString("USB Camera 1")
@@ -247,9 +247,9 @@ By default, the cscore library is pretty aggressive in turning off cameras not i
     from cscore import CameraServer, VideoSource
         def main():
         CameraServer.enableLogging()
-            camera1 = CameraServer.startAutomaticCapture(0)
+        camera1 = CameraServer.startAutomaticCapture(0)
         camera2 = CameraServer.startAutomaticCapture(1)
-            camera1.setConnectionStrategy(VideoSource.ConnectionStrategy.kConnectionKeepOpen)
+        camera1.setConnectionStrategy(VideoSource.ConnectionStrategy.kConnectionKeepOpen)
         camera2.setConnectionStrategy(VideoSource.ConnectionStrategy.kConnectionKeepOpen)
             CameraServer.waitForever()
     ```
@@ -258,8 +258,8 @@ By default, the cscore library is pretty aggressive in turning off cameras not i
 
     ```toml
     [tool.robotpy]
-        ...
-        # Add cscore to the robotpy-extras list
+    ...
+    # Add cscore to the robotpy-extras list
     robotpy_extras = ["cscore"]
     ```
 
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 18fa4dd4d9..bc114a2e65 100644
--- a/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst
+++ b/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst
@@ -87,8 +87,8 @@ In the following example a thread created in robotInit() gets the Camera Server
 
       ```toml
       [tool.robotpy]
-            ...
-            # Add cscore to the robotpy-extras list
+      ...
+      # Add cscore to the robotpy-extras list
       robotpy_extras = ["cscore"]
       ```
 
diff --git a/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst b/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst
index a984396891..ed38bbb957 100644
--- a/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst
+++ b/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst
@@ -7,59 +7,59 @@ This is an example of a basic vision setup that posts the target's location in t
    ```py
    from cscore import CameraServer
    import ntcore
-      import cv2
+   import cv2
    import json
    import numpy as np
    import time
-         def main():
+   def main():
       with open('/boot/frc.json') as f:
          config = json.load(f)
       camera = config['cameras'][0]
          width = camera['width']
       height = camera['height']
-         nt = ntcore.NetworkTableInstance.getDefault()
-         CameraServer.startAutomaticCapture()
-         input_stream = CameraServer.getVideo()
+      nt = ntcore.NetworkTableInstance.getDefault()
+      CameraServer.startAutomaticCapture()
+      input_stream = CameraServer.getVideo()
       output_stream = CameraServer.putVideo('Processed', width, height)
-         # Table for vision output information
+      # Table for vision output information
       vision_nt = nt.getTable('Vision')
-         # Allocating new images is very expensive, always try to preallocate
+      # Allocating new images is very expensive, always try to preallocate
       img = np.zeros(shape=(240, 320, 3), dtype=np.uint8)
-         # Wait for NetworkTables to start
+      # Wait for NetworkTables to start
       time.sleep(0.5)
-         while True:
+      while True:
          start_time = time.time()
-            frame_time, input_img = input_stream.grabFrame(img)
+         frame_time, input_img = input_stream.grabFrame(img)
          output_img = np.copy(input_img)
-            # Notify output of error and skip iteration
+         # Notify output of error and skip iteration
          if frame_time == 0:
-               output_stream.notifyError(input_stream.getError())
-               continue
-            # Convert to HSV and threshold image
+            output_stream.notifyError(input_stream.getError())
+            continue
+         # Convert to HSV and threshold image
          hsv_img = cv2.cvtColor(input_img, cv2.COLOR_BGR2HSV)
          binary_img = cv2.inRange(hsv_img, (0, 0, 100), (85, 255, 255))
-            _, contour_list = cv2.findContours(binary_img, mode=cv2.RETR_EXTERNAL, method=cv2.CHAIN_APPROX_SIMPLE)
-            x_list = []
+         _, contour_list = cv2.findContours(binary_img, mode=cv2.RETR_EXTERNAL, method=cv2.CHAIN_APPROX_SIMPLE)
+         x_list = []
          y_list = []
             for contour in contour_list:
-                  # Ignore small contours that could be because of noise/bad thresholding
+               # Ignore small contours that could be because of noise/bad thresholding
                if cv2.contourArea(contour) < 15:
                   continue
-                  cv2.drawContours(output_img, contour, -1, color=(255, 255, 255), thickness=-1)
-                  rect = cv2.minAreaRect(contour)
+               cv2.drawContours(output_img, contour, -1, color=(255, 255, 255), thickness=-1)
+               rect = cv2.minAreaRect(contour)
                center, size, angle = rect
                center = tuple([int(dim) for dim in center])  # Convert to int so we can draw
-                  # Draw rectangle and circle
+               # Draw rectangle and circle
                cv2.drawContours(output_img, [cv2.boxPoints(rect).astype(int)], -1, color=(0, 0, 255), thickness=2)
                cv2.circle(output_img, center=center, radius=3, color=(0, 0, 255), thickness=-1)
-                  x_list.append((center[0] - width / 2) / (width / 2))
+               x_list.append((center[0] - width / 2) / (width / 2))
                x_list.append((center[1] - width / 2) / (width / 2))
-            vision_nt.putNumberArray('target_x', x_list)
+         vision_nt.putNumberArray('target_x', x_list)
          vision_nt.putNumberArray('target_y', y_list)
-            processing_time = time.time() - start_time
+         processing_time = time.time() - start_time
          fps = 1 / processing_time
          cv2.putText(output_img, str(round(fps, 1)), (0, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255))
          output_stream.putFrame(output_img)
-         main()
+   main()
    ```
 
diff --git a/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst b/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
index 674d9e0969..a63070fa3b 100644
--- a/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
+++ b/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
@@ -10,13 +10,13 @@ The WPILibPi image comes with all the necessary libraries to make your own visio
    from cscore import CameraServer
    import cv2
    import numpy as np
-      CameraServer.enableLogging()
-      camera = CameraServer.startAutomaticCapture()
+   CameraServer.enableLogging()
+   camera = CameraServer.startAutomaticCapture()
    camera.setResolution(width, height)
-      sink = cs.getVideo()
-      while True:
+   sink = cs.getVideo()
+   while True:
       time, input_img = cvSink.grabFrame(input_img)
-         if time == 0: # There is an error
+      if time == 0: # There is an error
          continue
    ```
 
@@ -37,16 +37,16 @@ Sometimes, you may want to send processed video frames back to the CameraServer
    #
    # CameraServer initialization code here
    #
-      output = cs.putVideo("Name", width, height)
-      while True:
+   output = cs.putVideo("Name", width, height)
+   while True:
       time, input_img = cvSink.grabFrame(input_img)
          if time == 0: # There is an error
-         output.notifyError(sink.getError())
-         continue
-         #
+            output.notifyError(sink.getError())
+            continue
+      #
       # Insert processing code here
       #
-         output.putFrame(processed_img)
+      output.putFrame(processed_img)
    ```
 
 As an example, the processing code could outline the target in red, and show the corners in yellow for debugging purposes.
diff --git a/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst b/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst
index 01d7d47227..57fee6fc4d 100644
--- a/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst
+++ b/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst
@@ -20,7 +20,7 @@ In cases where there is only one vision target, you can just take the largest co
       for contour in contours:
          if cv2.contourArea(contour) > cv2.contourArea(largest):
             largest = contour
-         #
+      #
       # Contour processing code
       #
    ```
@@ -71,15 +71,15 @@ You can use NetworkTables to send these properties to the Driver Station and the
 
    ```py
    import ntcore
-      nt = ntcore.NetworkTableInstance.getDefault().getTable('vision')
-      #
+   nt = ntcore.NetworkTableInstance.getDefault().getTable('vision')
+   #
    # Initialization code here
    #
-      while True:
-         #
+   while True:
+      #
       # Image processing code here
       #
-         nt.putNumber('center_x', center_x)
+      nt.putNumber('center_x', center_x)
       nt.putNumber('center_y', center_y)
    ```
 
diff --git a/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst b/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst
index d0d36b1008..300c609d61 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst
@@ -65,7 +65,7 @@ In C++, save the ``CallbackStore`` object in the right scope - the callback will
      }
    }
    CallbackStore store = simEncoder.registerCountCallback(callback);
-      store.close(); // cancel the callback
+   store.close(); // cancel the callback
    ```
 
    ```c++
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 8c601fee9e..6e38199b5c 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/drivetrain-model.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/drivetrain-model.rst
@@ -30,7 +30,7 @@ You can calculate the measurement noise of your sensors by taking multiple data
      60.0,                    // The mass of the robot is 60 kg.
      Units.inchesToMeters(3), // The robot uses 3" radius wheels.
      0.7112,                  // The track width is 0.7112 meters.
-        // The standard deviations for measurement noise:
+     // The standard deviations for measurement noise:
      // x and y:          0.001 m
      // heading:          0.001 rad
      // l and r velocity: 0.1   m/s
@@ -40,8 +40,8 @@ You can calculate the measurement noise of your sensors by taking multiple data
 
    ```c++
    #include <frc/simulation/DifferentialDrivetrainSim.h>
-      ...
-      // Create the simulation model of our drivetrain.
+   ...
+   // Create the simulation model of our drivetrain.
    frc::sim::DifferentialDrivetrainSim m_driveSim{
      frc::DCMotor::GetNEO(2), // 2 NEO motors on each side of the drivetrain.
      7.29,               // 7.29:1 gearing reduction.
@@ -49,7 +49,7 @@ You can calculate the measurement noise of your sensors by taking multiple data
      60_kg,              // The mass of the robot is 60 kg.
      3_in,               // The robot uses 3" radius wheels.
      0.7112_m,           // The track width is 0.7112 meters.
-        // The standard deviations for measurement noise:
+     // The standard deviations for measurement noise:
      // x and y:          0.001 m
      // heading:          0.001 rad
      // l and r velocity: 0.1   m/s
@@ -86,15 +86,15 @@ You can calculate the measurement noise of your sensors by taking multiple data
    static final double KaLinear = 0.2;
    static final double KvAngular = 1.5;
    static final double KaAngular = 0.3;
-      // Create the simulation model of our drivetrain.
+   // Create the simulation model of our drivetrain.
    private DifferentialDrivetrainSim m_driveSim = new DifferentialDrivetrainSim(
-     // Create a linear system from our identification gains.
+   // Create a linear system from our identification gains.
      LinearSystemId.identifyDrivetrainSystem(KvLinear, KaLinear, KvAngular, KaAngular),
      DCMotor.getNEO(2),       // 2 NEO motors on each side of the drivetrain.
      7.29,                    // 7.29:1 gearing reduction.
      0.7112,                  // The track width is 0.7112 meters.
      Units.inchesToMeters(3), // The robot uses 3" radius wheels.
-        // The standard deviations for measurement noise:
+     // The standard deviations for measurement noise:
      // x and y:          0.001 m
      // heading:          0.001 rad
      // l and r velocity: 0.1   m/s
@@ -110,8 +110,8 @@ You can calculate the measurement noise of your sensors by taking multiple data
    #include <units/angular_velocity.h>
    #include <units/voltage.h>
    #include <units/velocity.h>
-      ...
-      // Create our feedforward gain constants (from the identification
+   ...
+   // Create our feedforward gain constants (from the identification
    // tool). Note that these need to have correct units.
    static constexpr auto KvLinear = 1.98_V / 1_mps;
    static constexpr auto KaLinear = 0.2_V / 1_mps_sq;
@@ -119,7 +119,7 @@ You can calculate the measurement noise of your sensors by taking multiple data
    static constexpr auto KaAngular = 0.3_V / 1_rad_per_s_sq;
    // The track width is 0.7112 meters.
    static constexpr auto kTrackwidth = 0.7112_m;
-      // Create the simulation model of our drivetrain.
+   // Create the simulation model of our drivetrain.
    frc::sim::DifferentialDrivetrainSim m_driveSim{
      // Create a linear system from our identification gains.
      frc::LinearSystemId::IdentifyDrivetrainSystem(
@@ -128,7 +128,7 @@ You can calculate the measurement noise of your sensors by taking multiple data
      frc::DCMotor::GetNEO(2), // 2 NEO motors on each side of the drivetrain.
      7.29,               // 7.29:1 gearing reduction.
      3_in,               // The robot uses 3" radius wheels.
-        // The standard deviations for measurement noise:
+     // The standard deviations for measurement noise:
      // x and y:          0.001 m
      // heading:          0.001 rad
      // l and r velocity: 0.1   m/s
@@ -164,8 +164,8 @@ You can calculate the measurement noise of your sensors by taking multiple data
 
    ```c++
    #include <frc/simulation/DifferentialDrivetrainSim.h>
-      ...
-      frc::sim::DifferentialDrivetrainSim m_driveSim =
+   ...
+   frc::sim::DifferentialDrivetrainSim m_driveSim =
      frc::sim::DifferentialDrivetrainSim::CreateKitbotSim(
        frc::sim::DifferentialDrivetrainSim::KitbotMotor::DualCIMPerSide, // 2 CIMs per side.
        frc::sim::DifferentialDrivetrainSim::KitbotGearing::k10p71,       // 10.71:1
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/odometry-simgui.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/odometry-simgui.rst
index ccb564d0f0..35fe5ad15a 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/odometry-simgui.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/odometry-simgui.rst
@@ -13,8 +13,8 @@ The robot pose can be visualized on the Simulator GUI (during simulation) or on
 
    ```c++
    #include <frc/smartdashboard/Field2d.h>
-      ..
-      frc::Field2d m_field;
+   ...
+   frc::Field2d m_field;
    ```
 
 This ``Field2d`` instance must then be sent over NetworkTables. The best place to do this is in the constructor of your subsystem.
@@ -29,7 +29,7 @@ This ``Field2d`` instance must then be sent over NetworkTables. The best place t
 
    ```c++
    #include <frc/smartdashboard/SmartDashboard.h>
-      Drivetrain() {
+   Drivetrain() {
      ...
      frc::SmartDashboard::PutData("Field", &m_field);
    }
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/simulation-instance.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/simulation-instance.rst
index 3b571a92d7..d73f5e88b3 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/simulation-instance.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/simulation-instance.rst
@@ -14,7 +14,7 @@ The ``EncoderSim`` class allows users to set encoder positions and velocities on
    // create to use on a real robot.
    private Encoder m_leftEncoder = new Encoder(0, 1);
    private Encoder m_rightEncoder = new Encoder(2, 3);
-      // These are our EncoderSim objects, which we will only use in
+   // These are our EncoderSim objects, which we will only use in
    // simulation. However, you do not need to comment out these
    // declarations when you are deploying code to the roboRIO.
    private EncoderSim m_leftEncoderSim = new EncoderSim(m_leftEncoder);
@@ -24,12 +24,12 @@ The ``EncoderSim`` class allows users to set encoder positions and velocities on
    ```c++
    #include <frc/Encoder.h>
    #include <frc/simulation/EncoderSim.h>
-      ...
-      // These represent our regular encoder objects, which we would
+   ...
+   // These represent our regular encoder objects, which we would
    // create to use on a real robot.
    frc::Encoder m_leftEncoder{0, 1};
    frc::Encoder m_rightEncoder{2, 3};
-      // These are our EncoderSim objects, which we will only use in
+   // These are our EncoderSim objects, which we will only use in
    // simulation. However, you do not need to comment out these
    // declarations when you are deploying code to the roboRIO.
    frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
@@ -45,7 +45,7 @@ Similar to the ``EncoderSim`` class, simulated gyroscope classes also exist for
    ```java
    // Create our gyro object like we would on a real robot.
    private AnalogGyro m_gyro = new AnalogGyro(1);
-      // Create the simulated gyro object, used for setting the gyro
+   // Create the simulated gyro object, used for setting the gyro
    // angle. Like EncoderSim, this does not need to be commented out
    // when deploying code to the roboRIO.
    private AnalogGyroSim m_gyroSim = new AnalogGyroSim(m_gyro);
@@ -54,10 +54,10 @@ Similar to the ``EncoderSim`` class, simulated gyroscope classes also exist for
    ```c++
    #include <frc/AnalogGyro.h>
    #include <frc/simulation/AnalogGyroSim.h>
-      ...
-      // Create our gyro objectl ike we would on a real robot.
+   ...
+   // Create our gyro objectl ike we would on a real robot.
    frc::AnalogGyro m_gyro{1};
-      // Create the simulated gyro object, used for setting the gyro
+   // Create the simulated gyro object, used for setting the gyro
    // angle. Like EncoderSim, this does not need to be commented out
    // when deploying code to the roboRIO.
    frc::sim::AnalogGyroSim m_gyroSim{m_gyro};
diff --git a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst
index c1a72f9160..0a3cda94b2 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst
@@ -13,22 +13,22 @@ There are three main steps to updating the model:
    ```java
    private PWMSparkMax m_leftMotor = new PWMSparkMax(0);
    private PWMSparkMax m_rightMotor = new PWMSparkMax(1);
-      public Drivetrain() {
+   public Drivetrain() {
      ...
      m_leftEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
      m_rightEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
    }
-      public void simulationPeriodic() {
+   public void simulationPeriodic() {
      // Set the inputs to the system. Note that we need to convert
      // the [-1, 1] PWM signal to voltage by multiplying it by the
      // robot controller voltage.
      m_driveSim.setInputs(m_leftMotor.get() * RobotController.getInputVoltage(),
                           m_rightMotor.get() * RobotController.getInputVoltage());
-        // Advance the model by 20 ms. Note that if you are running this
+     // Advance the model by 20 ms. Note that if you are running this
      // subsystem in a separate thread or have changed the nominal timestep
      // of TimedRobot, this value needs to match it.
      m_driveSim.update(0.02);
-        // Update all of our sensors.
+     // Update all of our sensors.
      m_leftEncoderSim.setDistance(m_driveSim.getLeftPositionMeters());
      m_leftEncoderSim.setRate(m_driveSim.getLeftVelocityMetersPerSecond());
      m_rightEncoderSim.setDistance(m_driveSim.getRightPositionMeters());
@@ -40,23 +40,23 @@ There are three main steps to updating the model:
    ```c++
    frc::PWMSparkMax m_leftMotor{0};
    frc::PWMSparkMax m_rightMotor{1};
-      Drivetrain() {
+   Drivetrain() {
      ...
      m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius / kEncoderResolution);
      m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius / kEncoderResolution);
    }
-      void SimulationPeriodic() {
+   void SimulationPeriodic() {
      // Set the inputs to the system. Note that we need to convert
      // the [-1, 1] PWM signal to voltage by multiplying it by the
      // robot controller voltage.
      m_driveSim.SetInputs(
        m_leftMotor.get() * units::volt_t(frc::RobotController::GetInputVoltage()),
        m_rightMotor.get() * units::volt_t(frc::RobotController::GetInputVoltage()));
-        // Advance the model by 20 ms. Note that if you are running this
+     // Advance the model by 20 ms. Note that if you are running this
      // subsystem in a separate thread or have changed the nominal timestep
      // of TimedRobot, this value needs to match it.
      m_driveSim.Update(20_ms);
-        // Update all of our sensors.
+     // Update all of our sensors.
      m_leftEncoderSim.SetDistance(m_driveSim.GetLeftPosition().value());
      m_leftEncoderSim.SetRate(m_driveSim.GetLeftVelocity().value());
      m_rightEncoderSim.SetDistance(m_driveSim.GetRightPosition().value());
diff --git a/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst b/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
index 66362574fc..f364fa26f1 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
@@ -80,7 +80,7 @@ In cases where vendor libraries do not compile when running the robot simulation
    ```java
    TalonSRX motorLeft;
    TalonSRX motorRight;
-      public Robot() {
+   public Robot() {
     if (RobotBase.isReal()) {
       motorLeft = new TalonSRX(0);
       motorRight = new TalonSRX(1);
diff --git a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-writing-pidsubsystem-code.rst b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-writing-pidsubsystem-code.rst
index 3885b7874b..04a8cfa8a0 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-writing-pidsubsystem-code.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/advanced/robotbuilder-writing-pidsubsystem-code.rst
@@ -15,12 +15,14 @@ The height constants and PID constants are automatically generated.
 
    ```java
    public class Elevator extends PIDSubsystem {
-          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+
+       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
    public static final double Bottom = 4.6;
    public static final double Stow = 1.65;
    public static final double Table_Height = 1.58;
-          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+
+       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
    private AnalogPotentiometer pot;private PWMVictorSPX motor;
        //P I D Variables
        private static final double kP = 6.0;
@@ -31,15 +33,15 @@ The height constants and PID constants are automatically generated.
    ```
 
    ```c++
-       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-   static constexpr const double Bottom = 4.6;
-   static constexpr const double Stow = 1.65;
-   static constexpr const double Table_Height = 1.58;
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+      static constexpr const double Bottom = 4.6;
+      static constexpr const double Stow = 1.65;
+      static constexpr const double Table_Height = 1.58;
           static constexpr const double kP = 6.0;
-       static constexpr const double kI = 0.0;
-       static constexpr const double kD = 0.0;
-       static constexpr const double kF = 0.0;
-       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+          static constexpr const double kI = 0.0;
+          static constexpr const double kD = 0.0;
+          static constexpr const double kF = 0.0;
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
    ```
 
 ## Get Potentiometer Measurement
@@ -51,7 +53,8 @@ The height constants and PID constants are automatically generated.
    public double getMeasurement() {
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
        return pot.get();
-          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
+
+       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
    }
    ```
 
@@ -59,7 +62,8 @@ The height constants and PID constants are automatically generated.
    double Elevator::GetMeasurement() {
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
        return m_pot.Get();
-          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
+
+       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
    }
    ```
 
@@ -70,13 +74,14 @@ The ``getMeasurement()`` method is used to set the value of the sensor that is p
 .. tab-set-code::
 
    ```java
-       @Override
-       public void useOutput(double output, double setpoint) {
-           output += setpoint*kF;
-           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
-   motor.set(output);
-              // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
-       }
+        @Override
+        public void useOutput(double output, double setpoint) {
+            output += setpoint*kF;
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
+    motor.set(output);
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
+        }
    ```
 
    ```c++
@@ -84,7 +89,8 @@ The ``getMeasurement()`` method is used to set the value of the sensor that is p
        output += setpoint*kF;
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
    m_motor.Set(output);
-          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
+
+       // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
    }
    ```
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-created-code.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-created-code.rst
index 036bbea653..faabc50272 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-created-code.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-created-code.rst
@@ -19,14 +19,16 @@ For more information on the organization of a Command Based robot, see :doc:`/do
     // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
     m_chooser.setDefaultOption("Autonomous", new Autonomous());
     // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-        SmartDashboard.putData("Auto Mode", m_chooser);
+
+    SmartDashboard.putData("Auto Mode", m_chooser);
     ```
 
     ```c++
     // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
     m_chooser.SetDefaultOption("Autonomous", new Autonomous());
     // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-        frc::SmartDashboard::PutData("Auto Mode", &m_chooser);
+
+    frc::SmartDashboard::PutData("Auto Mode", &m_chooser);
     ```
 
 When the robot description is modified and code is re-exported RobotBuilder is designed to not modify any changes you made to the file, thus preserving your code. This makes RobotBuilder a full-lifecycle tool. To know what code is OK to be modified by RobotBuilder, it generates sections that will potentially have to be rewritten delimited with some special comments. These comments are shown in the example above. Don't add any code within these comment blocks, it will be rewritten next time the project is exported from RobotBuilder.
@@ -54,15 +56,19 @@ Additionally, each file has a comment defining the type of file. If this is modi
         :linenos:
         :lineno-start: 11
         :emphasize-lines: 19,50,70-75
-                // ROBOTBUILDER TYPE: Robot.
-                package frc.robot;
-                import edu.wpi.first.hal.FRCNetComm.tInstances;
+        
+        // ROBOTBUILDER TYPE: Robot.
+
+        package frc.robot;
+
+        import edu.wpi.first.hal.FRCNetComm.tInstances;
         import edu.wpi.first.hal.FRCNetComm.tResourceType;
         import edu.wpi.first.hal.HAL;
         import edu.wpi.first.wpilibj.TimedRobot;
         import edu.wpi.first.wpilibj2.command.Command;
         import edu.wpi.first.wpilibj2.command.CommandScheduler;
-                /**
+
+        /**
          * The VM is configured to automatically run this class, and to call the
          * functions corresponding to each mode, as described in the TimedRobot
          * documentation. If you change the name of this class or the package after
@@ -70,9 +76,12 @@ Additionally, each file has a comment defining the type of file. If this is modi
          * the project.
          */
         public class Robot extends TimedRobot { // (1)
-                    private Command m_autonomousCommand;
-                    private RobotContainer m_robotContainer;
-                    /**
+
+            private Command m_autonomousCommand;
+
+            private RobotContainer m_robotContainer;
+
+            /**
              * This function is run when the robot is first started up and should be
              * used for any initialization code.
              */
@@ -83,7 +92,8 @@ Additionally, each file has a comment defining the type of file. If this is modi
                 m_robotContainer = RobotContainer.getInstance();
                 HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_RobotBuilder);
             }
-                    /**
+
+            /**
             * This function is called every robot packet, no matter the mode. Use this for items like
             * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
             *
@@ -98,33 +108,40 @@ Additionally, each file has a comment defining the type of file. If this is modi
                 // block in order for anything in the Command-based framework to work.
                 CommandScheduler.getInstance().run();  // (2)
             }
-                            /**
+
+
+            /**
             * This function is called once each time the robot enters Disabled mode.
             */
             @Override
             public void disabledInit() {
             }
-                    @Override
+
+            @Override
             public void disabledPeriodic() {
             }
-                    /**
+
+            /**
             * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
             */
             @Override
             public void autonomousInit() {
                 m_autonomousCommand = m_robotContainer.getAutonomousCommand();  // (3)
-                        // schedule the autonomous command (example)
+
+                // schedule the autonomous command (example)
                 if (m_autonomousCommand != null) {
                     m_autonomousCommand.schedule();
                 }
             }
-                    /**
+
+            /**
             * This function is called periodically during autonomous.
             */
             @Override
             public void autonomousPeriodic() {
             }
-                    @Override
+
+            @Override
             public void teleopInit() {
                 // This makes sure that the autonomous stops running when
                 // teleop starts running. If you want the autonomous to
@@ -134,25 +151,29 @@ Additionally, each file has a comment defining the type of file. If this is modi
                     m_autonomousCommand.cancel();
                 }
             }
-                    /**
+
+            /**
              * This function is called periodically during operator control.
              */
             @Override
             public void teleopPeriodic() {
             }
-                    @Override
+
+            @Override
             public void testInit() {
                 // Cancels all running commands at the start of test mode.
                 CommandScheduler.getInstance().cancelAll();
             }
-                    /**
+
+            /**
             * This function is called periodically during test mode.
             */
             @Override
             public void testPeriodic() {
             }
-                }
-                ```
+
+        }
+        ```
 
     .. tab-item:: C++ (Header)
 
@@ -160,12 +181,16 @@ Additionally, each file has a comment defining the type of file. If this is modi
         :linenos:
         :lineno-start: 11
         :emphasize-lines: 9
-                // ROBOTBUILDER TYPE: Robot.
+
+        // ROBOTBUILDER TYPE: Robot.
         #pragma once
-                #include <frc/TimedRobot.h>
+
+        #include <frc/TimedRobot.h>
         #include <frc2/command/Command.h>
-                #include "RobotContainer.h"
-                class Robot : public frc::TimedRobot { // {1}
+
+        #include "RobotContainer.h"
+
+        class Robot : public frc::TimedRobot { // {1}
          public:
           void RobotInit() override;
           void RobotPeriodic() override;
@@ -176,13 +201,15 @@ Additionally, each file has a comment defining the type of file. If this is modi
           void TeleopInit() override;
           void TeleopPeriodic() override;
           void TestPeriodic() override;
-                 private:
+
+         private:
           // Have it null by default so that if testing teleop it
           // doesn't have undefined behavior and potentially crash.
           frc2::Command* m_autonomousCommand = nullptr;
-                  RobotContainer* m_container = RobotContainer::GetInstance();
+
+          RobotContainer* m_container = RobotContainer::GetInstance();
         };
-                ```
+        ```
 
     .. tab-item:: C++ (Source)
 
@@ -190,12 +217,17 @@ Additionally, each file has a comment defining the type of file. If this is modi
         :linenos:
         :lineno-start: 11
         :emphasize-lines: 18,34-38
-                // ROBOTBUILDER TYPE: Robot.
-                #include "Robot.h"
-                #include <frc/smartdashboard/SmartDashboard.h>
+        
+        // ROBOTBUILDER TYPE: Robot.
+
+        #include "Robot.h"
+
+        #include <frc/smartdashboard/SmartDashboard.h>
         #include <frc2/command/CommandScheduler.h>
-                void Robot::RobotInit() {}
-                /**
+
+        void Robot::RobotInit() {}
+
+        /**
          * This function is called every robot packet, no matter the mode. Use
          * this for items like diagnostics that you want to run during disabled,
          * autonomous, teleoperated and test.
@@ -204,25 +236,31 @@ Additionally, each file has a comment defining the type of file. If this is modi
          * LiveWindow and SmartDashboard integrated updating.
          */
         void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); } // (2)
-                /**
+
+        /**
          * This function is called once each time the robot enters Disabled mode. You
          * can use it to reset any subsystem information you want to clear when the
          * robot is disabled.
          */
         void Robot::DisabledInit() {}
-                void Robot::DisabledPeriodic() {}
-                /**
+
+        void Robot::DisabledPeriodic() {}
+
+        /**
          * This autonomous runs the autonomous command selected by your {@link
          * RobotContainer} class.
          */
         void Robot::AutonomousInit() {
           m_autonomousCommand = m_container->GetAutonomousCommand(); // {3}
-                  if (m_autonomousCommand != nullptr) {
+
+          if (m_autonomousCommand != nullptr) {
             m_autonomousCommand->Schedule();
           }
         }
-                void Robot::AutonomousPeriodic() {}
-                void Robot::TeleopInit() {
+
+        void Robot::AutonomousPeriodic() {}
+
+        void Robot::TeleopInit() {
           // This makes sure that the autonomous stops running when
           // teleop starts running. If you want the autonomous to
           // continue until interrupted by another command, remove
@@ -232,18 +270,21 @@ Additionally, each file has a comment defining the type of file. If this is modi
             m_autonomousCommand = nullptr;
           }
         }
-                /**
+
+        /**
          * This function is called periodically during operator control.
          */
         void Robot::TeleopPeriodic() {}
-                /**
+
+        /**
          * This function is called periodically during test mode.
          */
         void Robot::TestPeriodic() {}
-                #ifndef RUNNING_FRC_TESTS
+
+        #ifndef RUNNING_FRC_TESTS
         int main() { return frc::StartRobot<Robot>(); }
         #endif
-                ```
+        ```
 
 This is the main program generated by RobotBuilder. There are a number of parts to this program (highlighted sections):
 
@@ -261,42 +302,56 @@ This is the main program generated by RobotBuilder. There are a number of parts
         :linenos:
         :lineno-start: 11
         :emphasize-lines: 33-36, 39, 62, 81, 92, 112
-                // ROBOTBUILDER TYPE: RobotContainer.
-                package frc.robot;
-                import frc.robot.commands.*;
+
+        // ROBOTBUILDER TYPE: RobotContainer.
+
+        package frc.robot;
+
+        import frc.robot.commands.*;
         import frc.robot.subsystems.*;
         import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
         import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
         import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
         import edu.wpi.first.wpilibj2.command.Command;
         import edu.wpi.first.wpilibj2.command.InstantCommand;
         import edu.wpi.first.wpilibj.Joystick;
         import edu.wpi.first.wpilibj2.command.button.JoystickButton;
         import frc.robot.subsystems.*;
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-                        /**
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+
+
+        /**
          * This class is where the bulk of the robot should be declared.  Since Command-based is a
          * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
          * periodic methods (other than the scheduler calls).  Instead, the structure of the robot
          * (including subsystems, commands, and button mappings) should be declared here.
          */
         public class RobotContainer {
-                  private static RobotContainer m_robotContainer = new RobotContainer();
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+          private static RobotContainer m_robotContainer = new RobotContainer();
+
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
         // The robot's subsystems
             public final Wrist m_wrist = new Wrist(); // (1)
             public final Elevator m_elevator = new Elevator();
             public final Claw m_claw = new Claw();
             public final Drivetrain m_drivetrain = new Drivetrain();
-                // Joysticks
+
+        // Joysticks
         private final Joystick joystick2 = new Joystick(2); // (3)
         private final Joystick joystick1 = new Joystick(1);
         private final Joystick logitechController = new Joystick(0);
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-                          // A chooser for autonomous commands
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+
+          // A chooser for autonomous commands
           SendableChooser<Command> m_chooser = new SendableChooser<>();
-                  /**
+
+          /**
           * The container for the robot.  Contains subsystems, OI devices, and commands.
           */
           private RobotContainer() {
@@ -306,7 +361,9 @@ This is the main program generated by RobotBuilder. There are a number of parts
             SmartDashboard.putData(m_elevator);
             SmartDashboard.putData(m_claw);
             SmartDashboard.putData(m_drivetrain);
-                            // SmartDashboard Buttons
+
+
+            // SmartDashboard Buttons
             SmartDashboard.putData("Close Claw", new CloseClaw( m_claw )); // (6)
             SmartDashboard.putData("Open Claw: OpenTime", new OpenClaw(1.0, m_claw));
             SmartDashboard.putData("Pickup", new Pickup());
@@ -319,26 +376,36 @@ This is the main program generated by RobotBuilder. There are a number of parts
             SmartDashboard.putData("Set Wrist Setpoint: Raise Wrist", new SetWristSetpoint(-45, m_wrist));
             SmartDashboard.putData("Drive: Straight3Meters", new Drive(3, 0, m_drivetrain));
             SmartDashboard.putData("Drive: Place", new Drive(Drivetrain.PlaceDistance, Drivetrain.BackAwayDistance, m_drivetrain));
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
             // Configure the button bindings
             configureButtonBindings();
-                    // Configure default commands
+
+            // Configure default commands
                 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
             m_drivetrain.setDefaultCommand(new TankDrive(() -> getJoystick1().getY(), () -> getJoystick2().getY(), m_drivetrain)); // (5)
-                            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
-                    // Configure autonomous sendable chooser
+
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SUBSYSTEM_DEFAULT_COMMAND
+
+            // Configure autonomous sendable chooser
                 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-                    m_chooser.addOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
+
+            m_chooser.addOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, m_elevator));
             m_chooser.addOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, m_elevator));
             m_chooser.addOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, m_elevator));
             m_chooser.setDefaultOption("Autonomous", new Autonomous()); // (2)
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-                    SmartDashboard.putData("Auto Mode", m_chooser);
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+
+            SmartDashboard.putData("Auto Mode", m_chooser);
           }
-                  public static RobotContainer getInstance() {
+
+          public static RobotContainer getInstance() {
             return m_robotContainer;
           }
-                  /**
+
+          /**
            * Use this method to define your button->command mappings.  Buttons can be created by
            * instantiating a {@link GenericHID} or one of its subclasses ({@link
            * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
@@ -349,34 +416,50 @@ This is the main program generated by RobotBuilder. There are a number of parts
         // Create some buttons
         final JoystickButton r1 = new JoystickButton(logitechController, 12);        // (4)
         r1.onTrue(new Autonomous().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
-                final JoystickButton l1 = new JoystickButton(logitechController, 11);
+
+        final JoystickButton l1 = new JoystickButton(logitechController, 11);
         l1.onTrue(new Place().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
-                final JoystickButton r2 = new JoystickButton(logitechController, 10);
+
+        final JoystickButton r2 = new JoystickButton(logitechController, 10);
         r2.onTrue(new Pickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
-                final JoystickButton l2 = new JoystickButton(logitechController, 9);
+
+        final JoystickButton l2 = new JoystickButton(logitechController, 9);
         l2.onTrue(new PrepareToPickup().withInterruptBehavior(InterruptionBehavior.kCancelSelf));
-                final JoystickButton dpadLeft = new JoystickButton(logitechController, 8);
+
+        final JoystickButton dpadLeft = new JoystickButton(logitechController, 8);
         dpadLeft.onTrue(new OpenClaw(1.0, m_claw).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
-                final JoystickButton dpadRight = new JoystickButton(logitechController, 6);
+
+        final JoystickButton dpadRight = new JoystickButton(logitechController, 6);
         dpadRight.onTrue(new CloseClaw( m_claw ).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
-                final JoystickButton dpadDown = new JoystickButton(logitechController, 7);
+
+        final JoystickButton dpadDown = new JoystickButton(logitechController, 7);
         dpadDown.onTrue(new SetElevatorSetpoint(0, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
-                final JoystickButton dpadUp = new JoystickButton(logitechController, 5);
+
+        final JoystickButton dpadUp = new JoystickButton(logitechController, 5);
         dpadUp.onTrue(new SetElevatorSetpoint(0.3, m_elevator).withInterruptBehavior(InterruptionBehavior.kCancelSelf));
-                                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
+
+
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
           }
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
+
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
         public Joystick getLogitechController() {
                 return logitechController;
             }
-                public Joystick getJoystick1() {
+
+        public Joystick getJoystick1() {
                 return joystick1;
             }
-                public Joystick getJoystick2() {
+
+        public Joystick getJoystick2() {
                 return joystick2;
             }
-                            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
-                  /**
+
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
+
+          /**
            * Use this to pass the autonomous command to the main {@link Robot} class.
            *
            * @return the command to run in autonomous
@@ -385,8 +468,10 @@ This is the main program generated by RobotBuilder. There are a number of parts
             // The selected command will be run in autonomous
             return m_chooser.getSelected();
           }
-                        }
-                ```
+
+
+        }
+        ```
 
     .. tab-item:: C++ (Header)
 
@@ -394,16 +479,21 @@ This is the main program generated by RobotBuilder. There are a number of parts
         :linenos:
         :lineno-start: 11
         :emphasize-lines: 38, 56
-                // ROBOTBUILDER TYPE: RobotContainer.
-                #pragma once
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+        // ROBOTBUILDER TYPE: RobotContainer.
+
+        #pragma once
+
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
         #include <frc/smartdashboard/SendableChooser.h>
         #include <frc2/command/Command.h>
-                #include "subsystems/Claw.h"
+
+        #include "subsystems/Claw.h"
         #include "subsystems/Drivetrain.h"
         #include "subsystems/Elevator.h"
         #include "subsystems/Wrist.h"
-                #include "commands/Autonomous.h"
+
+        #include "commands/Autonomous.h"
         #include "commands/CloseClaw.h"
         #include "commands/Drive.h"
         #include "commands/OpenClaw.h"
@@ -415,33 +505,48 @@ This is the main program generated by RobotBuilder. There are a number of parts
         #include "commands/TankDrive.h"
         #include <frc/Joystick.h>
         #include <frc2/command/button/JoystickButton.h>
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-                class RobotContainer {
-                public:
-                    frc2::Command* GetAutonomousCommand();
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+        class RobotContainer {
+
+        public:
+
+            frc2::Command* GetAutonomousCommand();
             static RobotContainer* GetInstance();
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
+
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
         // The robot's subsystems
         Drivetrain m_drivetrain; // (1)
         Claw m_claw;
         Elevator m_elevator;
         Wrist m_wrist;
-                        frc::Joystick* getJoystick2();
+
+
+        frc::Joystick* getJoystick2();
         frc::Joystick* getJoystick1();
         frc::Joystick* getLogitechController();
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
-                private:
-                    RobotContainer();
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=PROTOTYPES
+
+        private:
+
+            RobotContainer();
+
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
         // Joysticks
         frc::Joystick m_logitechController{0}; // (3)
         frc::Joystick m_joystick1{1};
         frc::Joystick m_joystick2{2};
-                frc::SendableChooser<frc2::Command*> m_chooser;
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-                Autonomous m_autonomousCommand;
+
+        frc::SendableChooser<frc2::Command*> m_chooser;
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+        Autonomous m_autonomousCommand;
             static RobotContainer* m_robotContainer;
-                    void ConfigureButtonBindings();
+
+            void ConfigureButtonBindings();
         };
         ```
 
@@ -451,22 +556,34 @@ This is the main program generated by RobotBuilder. There are a number of parts
         :linenos:
         :lineno-start: 11
         :emphasize-lines: 28, 46, 56, 74
-                // ROBOTBUILDER TYPE: RobotContainer.
-                #include "RobotContainer.h"
+        
+        // ROBOTBUILDER TYPE: RobotContainer.
+
+        #include "RobotContainer.h"
         #include <frc2/command/ParallelRaceGroup.h>
         #include <frc/smartdashboard/SmartDashboard.h>
-                                RobotContainer* RobotContainer::m_robotContainer = NULL;
-                RobotContainer::RobotContainer() : m_autonomousCommand(
+
+
+
+        RobotContainer* RobotContainer::m_robotContainer = NULL;
+
+        RobotContainer::RobotContainer() : m_autonomousCommand(
             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
         ){
-                                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
+
+
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
             // Smartdashboard Subsystems
             frc::SmartDashboard::PutData(&m_drivetrain);
             frc::SmartDashboard::PutData(&m_claw);
             frc::SmartDashboard::PutData(&m_elevator);
             frc::SmartDashboard::PutData(&m_wrist);
-                            // SmartDashboard Buttons
+
+
+            // SmartDashboard Buttons
             frc::SmartDashboard::PutData("Drive: Straight3Meters", new Drive(3, 0, &m_drivetrain)); // (6)
             frc::SmartDashboard::PutData("Drive: Place", new Drive(Drivetrain::PlaceDistance, Drivetrain::BackAwayDistance, &m_drivetrain));
             frc::SmartDashboard::PutData("Set Wrist Setpoint: Horizontal", new SetWristSetpoint(0, &m_wrist));
@@ -479,28 +596,41 @@ This is the main program generated by RobotBuilder. There are a number of parts
             frc::SmartDashboard::PutData("Pickup", new Pickup());
             frc::SmartDashboard::PutData("Open Claw: OpenTime", new OpenClaw(1.0_s, &m_claw));
             frc::SmartDashboard::PutData("Close Claw", new CloseClaw( &m_claw ));
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
-                    ConfigureButtonBindings();
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SMARTDASHBOARD
+
+            ConfigureButtonBindings();
+
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
         m_drivetrain.SetDefaultCommand(TankDrive([this] {return getJoystick1()->GetY();}, [this] {return getJoystick2()->GetY();}, &m_drivetrain)); // (5)
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
-                    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-                    m_chooser.AddOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, &m_elevator));
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT-COMMANDS
+
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+
+            m_chooser.AddOption("Set Elevator Setpoint: Bottom", new SetElevatorSetpoint(0, &m_elevator));
             m_chooser.AddOption("Set Elevator Setpoint: Platform", new SetElevatorSetpoint(0.2, &m_elevator));
             m_chooser.AddOption("Set Elevator Setpoint: Top", new SetElevatorSetpoint(0.3, &m_elevator));
-                    m_chooser.SetDefaultOption("Autonomous", new Autonomous()); // (2)
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
-                    frc::SmartDashboard::PutData("Auto Mode", &m_chooser);
-                }
-                RobotContainer* RobotContainer::GetInstance() {
+
+            m_chooser.SetDefaultOption("Autonomous", new Autonomous()); // (2)
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
+
+            frc::SmartDashboard::PutData("Auto Mode", &m_chooser);
+
+        }
+
+        RobotContainer* RobotContainer::GetInstance() {
             if (m_robotContainer == NULL) {
                 m_robotContainer = new RobotContainer();
             }
             return(m_robotContainer);
         }
-                void RobotContainer::ConfigureButtonBindings() {
+
+        void RobotContainer::ConfigureButtonBindings() {
             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
-                frc2::JoystickButton m_dpadUp{&m_logitechController, 5}; // (4)
+
+        frc2::JoystickButton m_dpadUp{&m_logitechController, 5}; // (4)
         frc2::JoystickButton m_dpadDown{&m_logitechController, 7};
         frc2::JoystickButton m_dpadRight{&m_logitechController, 6};
         frc2::JoystickButton m_dpadLeft{&m_logitechController, 8};
@@ -508,18 +638,30 @@ This is the main program generated by RobotBuilder. There are a number of parts
         frc2::JoystickButton m_r2{&m_logitechController, 10};
         frc2::JoystickButton m_l1{&m_logitechController, 11};
         frc2::JoystickButton m_r1{&m_logitechController, 12};
-                m_dpadUp.OnTrue(SetElevatorSetpoint(0.3, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
-                m_dpadDown.OnTrue(SetElevatorSetpoint(0, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
-                m_dpadRight.OnTrue(CloseClaw( &m_claw ).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
-                m_dpadLeft.OnTrue(OpenClaw(1.0_s, &m_claw).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
-                m_l2.OnTrue(PrepareToPickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
-                m_r2.OnTrue(Pickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
-                m_l1.OnTrue(Place().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
-                m_r1.OnTrue(Autonomous().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
-                            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
+
+        m_dpadUp.OnTrue(SetElevatorSetpoint(0.3, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+
+        m_dpadDown.OnTrue(SetElevatorSetpoint(0, &m_elevator).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+
+        m_dpadRight.OnTrue(CloseClaw( &m_claw ).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+
+        m_dpadLeft.OnTrue(OpenClaw(1.0_s, &m_claw).WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+
+        m_l2.OnTrue(PrepareToPickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+
+        m_r2.OnTrue(Pickup().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+
+        m_l1.OnTrue(Place().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+
+        m_r1.OnTrue(Autonomous().WithInterruptBehavior(frc2::Command::InterruptionBehavior::kCancelSelf));
+
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=BUTTONS
         }
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
-                frc::Joystick* RobotContainer::getLogitechController() {
+
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
+
+        frc::Joystick* RobotContainer::getLogitechController() {
            return &m_logitechController;
         }
         frc::Joystick* RobotContainer::getJoystick1() {
@@ -528,12 +670,15 @@ This is the main program generated by RobotBuilder. There are a number of parts
         frc::Joystick* RobotContainer::getJoystick2() {
            return &m_joystick2;
         }
-                    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
-                        frc2::Command* RobotContainer::GetAutonomousCommand() {
+
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=FUNCTIONS
+
+
+        frc2::Command* RobotContainer::GetAutonomousCommand() {
           // The selected command will be run in autonomous
           return m_chooser.GetSelected();
         }
-                ```
+        ```
 
 This is the RobotContainer generated by RobotBuilder which is where the subsystems and operator interface are defined. There are a number of parts to this program (highlighted sections):
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-drive-tank.rst b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-drive-tank.rst
index 92d13110d4..1e79012e00 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-drive-tank.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-drive-tank.rst
@@ -46,12 +46,17 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
       :linenos:
       :lineno-start: 11
       :emphasize-lines: 119-121
-            // ROBOTBUILDER TYPE: Subsystem.
-            package frc.robot.subsystems;
-                  import frc.robot.commands.*;
+
+      // ROBOTBUILDER TYPE: Subsystem.
+
+      package frc.robot.subsystems;
+
+
+      import frc.robot.commands.*;
       import edu.wpi.first.wpilibj.livewindow.LiveWindow;
       import edu.wpi.first.wpilibj2.command.SubsystemBase;
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
       import edu.wpi.first.wpilibj.AnalogGyro;
       import edu.wpi.first.wpilibj.AnalogInput;
       import edu.wpi.first.wpilibj.CounterBase.EncodingType;
@@ -60,16 +65,21 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
       import edu.wpi.first.wpilibj.motorcontrol.MotorController;
       import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
       import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-                  /**
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+
+
+      /**
        *
        */
       public class Drivetrain extends SubsystemBase {
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
       public static final double PlaceDistance = 0.1;
       public static final double BackAwayDistance = 0.6;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
       private PWMVictorSPX left1;
       private PWMVictorSPX left2;
       private MotorControllerGroup leftMotor;
@@ -81,8 +91,10 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
       private Encoder rightencoder;
       private AnalogGyro gyro;
       private AnalogInput rangefinder;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-                /**
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+          /**
           *
           */
           public Drivetrain() {
@@ -90,48 +102,70 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
       left1 = new PWMVictorSPX(0);
        addChild("left1",left1);
        left1.setInverted(false);
-            left2 = new PWMVictorSPX(1);
+
+      left2 = new PWMVictorSPX(1);
        addChild("left2",left2);
        left2.setInverted(false);
-            leftMotor = new MotorControllerGroup(left1, left2  );
+
+      leftMotor = new MotorControllerGroup(left1, left2  );
        addChild("Left Motor",leftMotor);
-                  right1 = new PWMVictorSPX(5);
+
+
+      right1 = new PWMVictorSPX(5);
        addChild("right1",right1);
        right1.setInverted(false);
-            right2 = new PWMVictorSPX(6);
+
+      right2 = new PWMVictorSPX(6);
        addChild("right2",right2);
        right2.setInverted(false);
-            rightMotor = new MotorControllerGroup(right1, right2  );
+
+      rightMotor = new MotorControllerGroup(right1, right2  );
        addChild("Right Motor",rightMotor);
-                  drive = new DifferentialDrive(leftMotor, rightMotor);
+
+
+      drive = new DifferentialDrive(leftMotor, rightMotor);
        addChild("Drive",drive);
        drive.setSafetyEnabled(true);
       drive.setExpiration(0.1);
       drive.setMaxOutput(1.0);
-                  leftencoder = new Encoder(0, 1, false, EncodingType.k4X);
+
+
+      leftencoder = new Encoder(0, 1, false, EncodingType.k4X);
        addChild("left encoder",leftencoder);
        leftencoder.setDistancePerPulse(1.0);
-            rightencoder = new Encoder(2, 3, false, EncodingType.k4X);
+
+      rightencoder = new Encoder(2, 3, false, EncodingType.k4X);
        addChild("right encoder",rightencoder);
        rightencoder.setDistancePerPulse(1.0);
-            gyro = new AnalogGyro(0);
+
+      gyro = new AnalogGyro(0);
        addChild("gyro",gyro);
        gyro.setSensitivity(0.007);
-            rangefinder = new AnalogInput(1);
+
+      rangefinder = new AnalogInput(1);
        addChild("range finder", rangefinder);
-                            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+
+
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
           }
-                @Override
+
+          @Override
           public void periodic() {
               // This method will be called once per scheduler run
-                }
-                @Override
+
+          }
+
+          @Override
           public void simulationPeriodic() {
               // This method will be called once per scheduler run when in simulation
-                }
-                // Put methods for controlling this subsystem
+
+          }
+
+          // Put methods for controlling this subsystem
           // here. Call these from Commands.
-                public void drive(double left, double right) {
+
+          public void drive(double left, double right) {
               drive.tankDrive(left, right);
           }
       }
@@ -144,9 +178,11 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
       :linenos:
       :lineno-start: 11
       :emphasize-lines: 43
-            // ROBOTBUILDER TYPE: Subsystem.
+
+      // ROBOTBUILDER TYPE: Subsystem.
       #pragma once
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
       #include <frc2/command/SubsystemBase.h>
       #include <frc/AnalogGyro.h>
       #include <frc/AnalogInput.h>
@@ -154,8 +190,10 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
       #include <frc/drive/DifferentialDrive.h>
       #include <frc/motorcontrol/MotorControllerGroup.h>
       #include <frc/motorcontrol/PWMVictorSPX.h>
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-            /**
+
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      /**
        *
        *
        * @author ExampleAuthor
@@ -176,19 +214,25 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
       frc::MotorControllerGroup m_leftMotor{m_left1, m_left2  };
       frc::PWMVictorSPX m_left2{1};
       frc::PWMVictorSPX m_left1{0};
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
       public:
       Drivetrain();
-                void Periodic() override;
+
+          void Periodic() override;
           void SimulationPeriodic() override;
           void Drive(double left, double right);
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
       static constexpr const double PlaceDistance = 0.1;
       static constexpr const double BackAwayDistance = 0.6;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-                  };
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+
+
+      };
       ```
 
    .. tab-item:: C++ (Source)
@@ -199,49 +243,78 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
       :linenos:
       :lineno-start: 11
       :emphasize-lines: 71-73
-            // ROBOTBUILDER TYPE: Subsystem.
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      // ROBOTBUILDER TYPE: Subsystem.
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
       #include "subsystems/Drivetrain.h"
       #include <frc/smartdashboard/SmartDashboard.h>
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-            Drivetrain::Drivetrain(){
+
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      Drivetrain::Drivetrain(){
           SetName("Drivetrain");
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
           SetSubsystem("Drivetrain");
-             AddChild("range finder", &m_rangefinder);
-                   AddChild("gyro", &m_gyro);
+
+       AddChild("range finder", &m_rangefinder);
+
+
+       AddChild("gyro", &m_gyro);
        m_gyro.SetSensitivity(0.007);
-             AddChild("right encoder", &m_rightencoder);
+
+       AddChild("right encoder", &m_rightencoder);
        m_rightencoder.SetDistancePerPulse(1.0);
-             AddChild("left encoder", &m_leftencoder);
+
+       AddChild("left encoder", &m_leftencoder);
        m_leftencoder.SetDistancePerPulse(1.0);
-             AddChild("Drive", &m_drive);
+
+       AddChild("Drive", &m_drive);
        m_drive.SetSafetyEnabled(true);
       m_drive.SetExpiration(0.1_s);
       m_drive.SetMaxOutput(1.0);
-                   AddChild("Right Motor", &m_rightMotor);
-                   AddChild("right2", &m_right2);
+
+
+       AddChild("Right Motor", &m_rightMotor);
+
+
+       AddChild("right2", &m_right2);
        m_right2.SetInverted(false);
-             AddChild("right1", &m_right1);
+
+       AddChild("right1", &m_right1);
        m_right1.SetInverted(false);
-             AddChild("Left Motor", &m_leftMotor);
-                   AddChild("left2", &m_left2);
+
+       AddChild("Left Motor", &m_leftMotor);
+
+
+       AddChild("left2", &m_left2);
        m_left2.SetInverted(false);
-             AddChild("left1", &m_left1);
+
+       AddChild("left1", &m_left1);
        m_left1.SetInverted(false);
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
       }
-            void Drivetrain::Periodic() {
+
+      void Drivetrain::Periodic() {
           // Put code here to be run every loop
-            }
-            void Drivetrain::SimulationPeriodic() {
+
+      }
+
+      void Drivetrain::SimulationPeriodic() {
           // This method will be called once per scheduler run when in simulation
-            }
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-                  // Put methods for controlling this subsystem
+
+      }
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+
+
+      // Put methods for controlling this subsystem
       // here. Call these from Commands.
-                void Drivetrain::Drive(double left, double right) {
+
+          void Drivetrain::Drive(double left, double right) {
               m_drive.TankDrive(left, right);
           }
       ```
@@ -280,55 +353,75 @@ Create a parameter preset to retrieve joystick values. Java: For the left parame
       :linenos:
       :lineno-start: 11
       :emphasize-lines: 48, 54
-            // ROBOTBUILDER TYPE: Command.
-            package frc.robot.commands;
+
+      // ROBOTBUILDER TYPE: Command.
+
+      package frc.robot.commands;
       import edu.wpi.first.wpilibj.Joystick;
       import edu.wpi.first.wpilibj2.command.CommandBase;
       import frc.robot.RobotContainer;
       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
       import frc.robot.subsystems.Drivetrain;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-            /**
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+
+      /**
        *
        */
       public class TankDrive extends CommandBase {
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
               private final Drivetrain m_drivetrain;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
-                      public TankDrive(Drivetrain subsystem) {
-                      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+
+
+          public TankDrive(Drivetrain subsystem) {
+
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
               // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
               // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
-                    m_drivetrain = subsystem;
+
+              m_drivetrain = subsystem;
               addRequirements(m_drivetrain);
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
           }
-                // Called when the command is initially scheduled.
+
+          // Called when the command is initially scheduled.
           @Override
           public void initialize() {
           }
-                // Called every time the scheduler runs while the command is scheduled.
+
+          // Called every time the scheduler runs while the command is scheduled.
           @Override
           public void execute() {
               m_drivetrain.drive(m_left.getAsDouble(), m_right.getAsDouble());
           }
-                // Called once the command ends or is interrupted.
+
+          // Called once the command ends or is interrupted.
           @Override
           public void end(boolean interrupted) {
               m_drivetrain.drive(0.0, 0.0);
           }
-                // Returns true when the command should end.
+
+          // Returns true when the command should end.
           @Override
           public boolean isFinished() {
               return false;
           }
-                @Override
+
+          @Override
           public boolean runsWhenDisabled() {
               // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
               return false;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
           }
       }
       ```
@@ -340,16 +433,23 @@ Create a parameter preset to retrieve joystick values. Java: For the left parame
       :linenos:
       :lineno-start: 11
       :emphasize-lines: 40-41
-            // ROBOTBUILDER TYPE: Command.
-            #pragma once
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-            #include <frc2/command/CommandHelper.h>
+
+      // ROBOTBUILDER TYPE: Command.
+
+      #pragma once
+
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      #include <frc2/command/CommandHelper.h>
       #include <frc2/command/CommandBase.h>
-            #include "subsystems/Drivetrain.h"
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      #include "subsystems/Drivetrain.h"
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
       #include "RobotContainer.h"
       #include <frc/Joystick.h>
-            /**
+
+      /**
        *
        *
        * @author ExampleAuthor
@@ -358,18 +458,25 @@ Create a parameter preset to retrieve joystick values. Java: For the left parame
       public:
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
           explicit TankDrive(Drivetrain* m_drivetrain);
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
-            void Initialize() override;
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+
+      void Initialize() override;
       void Execute() override;
       bool IsFinished() override;
       void End(bool interrupted) override;
       bool RunsWhenDisabled() const override;
-                  private:
+
+
+      private:
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
-                  Drivetrain* m_drivetrain;
+
+
+      Drivetrain* m_drivetrain;
       frc::Joystick* m_leftJoystick;
       frc::Joystick* m_rightJoystick;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
       };
       ```
 
@@ -380,38 +487,51 @@ Create a parameter preset to retrieve joystick values. Java: For the left parame
       :linenos:
       :lineno-start: 11
       :emphasize-lines: 25, 35
-            // ROBOTBUILDER TYPE: Command.
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
-            #include "commands/TankDrive.h"
-            TankDrive::TankDrive(Drivetrain* m_drivetrain)
+
+      // ROBOTBUILDER TYPE: Command.
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+
+      #include "commands/TankDrive.h"
+
+      TankDrive::TankDrive(Drivetrain* m_drivetrain)
       :m_drivetrain(m_drivetrain){
-                // Use AddRequirements() here to declare subsystem dependencies
+
+          // Use AddRequirements() here to declare subsystem dependencies
           // eg. AddRequirements(m_Subsystem);
           SetName("TankDrive");
           AddRequirements({m_drivetrain});
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
       }
-            // Called just before this Command runs the first time
+
+      // Called just before this Command runs the first time
       void TankDrive::Initialize() {
-            }
-            // Called repeatedly when this Command is scheduled to run
+
+      }
+
+      // Called repeatedly when this Command is scheduled to run
       void TankDrive::Execute() {
           m_drivetrain->Drive(m_left(),m_right());
       }
-            // Make this return true when this Command no longer needs to run execute()
+
+      // Make this return true when this Command no longer needs to run execute()
       bool TankDrive::IsFinished() {
           return false;
       }
-            // Called once after isFinished returns true
+
+      // Called once after isFinished returns true
       void TankDrive::End(bool interrupted) {
           m_drivetrain->Drive(0,0);
       }
-            bool TankDrive::RunsWhenDisabled() const {
+
+      bool TankDrive::RunsWhenDisabled() const {
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
           return false;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
       }
-            ```
+      ```
 
 Add code to the execute method to do the actual driving. All that is needed is pass the for the left and right parameters to the Drive Train subsystem. The subsystem just uses them for the tank steering method on its DifferentialDrive object. And we get tank steering.
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-command-code.rst b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-command-code.rst
index bbee2b8951..ea050bcbc4 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-command-code.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-command-code.rst
@@ -17,93 +17,128 @@ This is the definition of the `CloseClaw` command in RobotBuilder. Notice that i
     :linenos:
     :lineno-start: 11
     :emphasize-lines: 42, 53, 59
-         // ROBOTBUILDER TYPE: Command.
-         package frc.robot.commands;
-     import edu.wpi.first.wpilibj2.command.CommandBase;
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-     import frc.robot.subsystems.Claw;
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-         /**
-     *
-     */
-     public class CloseClaw extends CommandBase {
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
-             private final Claw m_claw;
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
-                 public CloseClaw(Claw subsystem) {
-                 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
-                 m_claw = subsystem;
-             addRequirements(m_claw);
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
-         }
-             // Called when the command is initially scheduled.
-         @Override
-         public void initialize() {
-             m_claw.close(); // (1)
-         }
-             // Called every time the scheduler runs while the command is scheduled.
-         @Override
-         public void execute() {
-         }
-             // Called once the command ends or is interrupted.
-         @Override
-         public void end(boolean interrupted) {
-             m_claw.stop(); // (3)
-         }
-             // Returns true when the command should end.
-         @Override
-         public boolean isFinished() {
-             return m_claw.isGripping(); // (2)
-         }
-             @Override
-         public boolean runsWhenDisabled() {
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-             return false;
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-         }
-     }
-            ```
+
+    // ROBOTBUILDER TYPE: Command.
+
+    package frc.robot.commands;
+    import edu.wpi.first.wpilibj2.command.CommandBase;
+
+    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+    import frc.robot.subsystems.Claw;
+
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+
+    /**
+    *
+    */
+    public class CloseClaw extends CommandBase {
+
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+            private final Claw m_claw;
+
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+
+
+        public CloseClaw(Claw subsystem) {
+
+
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
+
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
+
+            m_claw = subsystem;
+            addRequirements(m_claw);
+
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
+        }
+
+        // Called when the command is initially scheduled.
+        @Override
+        public void initialize() {
+            m_claw.close(); // (1)
+        }
+
+        // Called every time the scheduler runs while the command is scheduled.
+        @Override
+        public void execute() {
+        }
+
+        // Called once the command ends or is interrupted.
+        @Override
+        public void end(boolean interrupted) {
+            m_claw.stop(); // (3)
+        }
+
+        // Returns true when the command should end.
+        @Override
+        public boolean isFinished() {
+            return m_claw.isGripping(); // (2)
+        }
+
+        @Override
+        public boolean runsWhenDisabled() {
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+            return false;
+
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+        }
+    }
+    ```
 
     ```c++
     :linenos:
     :lineno-start: 11
     :emphasize-lines: 21, 31, 36
-        // ROBOTBUILDER TYPE: Command.
-        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
-        #include "commands/CloseClaw.h"
-        CloseClaw::CloseClaw(Claw* m_claw)
+
+    // ROBOTBUILDER TYPE: Command.
+
+    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+
+    #include "commands/CloseClaw.h"
+
+    CloseClaw::CloseClaw(Claw* m_claw)
     :m_claw(m_claw){
-            // Use AddRequirements() here to declare subsystem dependencies
+
+        // Use AddRequirements() here to declare subsystem dependencies
         // eg. AddRequirements(m_Subsystem);
         SetName("CloseClaw");
         AddRequirements({m_claw});
-        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
-        }
-        // Called just before this Command runs the first time
+
+    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+
+    }
+
+    // Called just before this Command runs the first time
     void CloseClaw::Initialize() {
         m_claw->Close(); // (1)
     }
-        // Called repeatedly when this Command is scheduled to run
+
+    // Called repeatedly when this Command is scheduled to run
     void CloseClaw::Execute() {
-        }
-        // Make this return true when this Command no longer needs to run execute()
+
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
     bool CloseClaw::IsFinished() {
         return m_claw->IsGripping(); // (2)
     }
-        // Called once after isFinished returns true
+
+    // Called once after isFinished returns true
     void CloseClaw::End(bool interrupted) {
         m_claw->Stop(); // (3)
     }
-        bool CloseClaw::RunsWhenDisabled() const {
+
+    bool CloseClaw::RunsWhenDisabled() const {
         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
         return false;
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
+
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
     }
-        ```
+    ```
 
 RobotBuilder will generate the class files for the `CloseClaw` command. The command represents the behavior of the claw, that is the operation over time. To operate this very simple claw mechanism the motor needs to operate in the close direction,. The `Claw` subsystem has methods to start the motor running in the right direction and to stop it. The commands responsibility is to run the motor for the correct time. The lines of code that are shown in the boxes are added to add this behavior.
 
diff --git a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-subsystem-code.rst b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-subsystem-code.rst
index 62e65a8077..75bb31e323 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-subsystem-code.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/writing-code/robotbuilder-writing-subsystem-code.rst
@@ -19,29 +19,41 @@ The claw at the end of a robot arm is a subsystem operated by a single VictorSPX
       :linenos:
       :lineno-start: 11
       :emphasize-lines: 63-77
-            // ROBOTBUILDER TYPE: Subsystem.
-            package frc.robot.subsystems;
-                  import frc.robot.commands.*;
+
+      // ROBOTBUILDER TYPE: Subsystem.
+
+      package frc.robot.subsystems;
+
+
+      import frc.robot.commands.*;
       import edu.wpi.first.wpilibj.livewindow.LiveWindow;
       import edu.wpi.first.wpilibj2.command.SubsystemBase;
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
       import edu.wpi.first.wpilibj.DigitalInput;
       import edu.wpi.first.wpilibj.motorcontrol.MotorController;
       import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-                  /**
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+
+
+      /**
        *
        */
       public class Claw extends SubsystemBase {
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
       public static final double PlaceDistance = 0.1;
       public static final double BackAwayDistance = 0.6;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+
+          // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
       private PWMVictorSPX motor;
       private DigitalInput limitswitch;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
-                /**
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+          /**
           *
           */
           public Claw() {
@@ -49,31 +61,44 @@ The claw at the end of a robot arm is a subsystem operated by a single VictorSPX
       motor = new PWMVictorSPX(4);
        addChild("motor",motor);
        motor.setInverted(false);
-            limitswitch = new DigitalInput(4);
+
+      limitswitch = new DigitalInput(4);
        addChild("limit switch", limitswitch);
-                            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+
+
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
           }
-                @Override
+
+          @Override
           public void periodic() {
               // This method will be called once per scheduler run
-                }
-                @Override
+
+          }
+
+          @Override
           public void simulationPeriodic() {
               // This method will be called once per scheduler run when in simulation
-                }
-                public void open() {
+
+          }
+
+          public void open() {
               motor.set(1.0);
           }
-                public void close() {
+
+          public void close() {
               motor.set(-1.0);
           }
-                public void stop() {
+
+          public void stop() {
               motor.set(0.0);
           }
-                public boolean isGripping() {
+
+          public boolean isGripping() {
               return limitswitch.get();
           }
-            }
+
+      }
       ```
 
    .. tab-item:: C++
@@ -83,38 +108,57 @@ The claw at the end of a robot arm is a subsystem operated by a single VictorSPX
       :linenos:
       :lineno-start: 11
       :emphasize-lines: 38-52
-            // ROBOTBUILDER TYPE: Subsystem.
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      // ROBOTBUILDER TYPE: Subsystem.
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
       #include "subsystems/Claw.h"
       #include <frc/smartdashboard/SmartDashboard.h>
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-            Claw::Claw(){
+
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      Claw::Claw(){
           SetName("Claw");
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
           SetSubsystem("Claw");
-             AddChild("limit switch", &m_limitswitch);
-                   AddChild("motor", &m_motor);
+
+       AddChild("limit switch", &m_limitswitch);
+
+
+       AddChild("motor", &m_motor);
        m_motor.SetInverted(false);
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
       }
-            void Claw::Periodic() {
+
+      void Claw::Periodic() {
           // Put code here to be run every loop
-            }
-            void Claw::SimulationPeriodic() {
+
+      }
+
+      void Claw::SimulationPeriodic() {
           // This method will be called once per scheduler run when in simulation
-            }
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-                  void Claw::Open() {
+
+      }
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+
+
+      void Claw::Open() {
           m_motor.Set(1.0);
       }
-            void Claw::Close() {
+
+      void Claw::Close() {
           m_motor.Set(-1.0);
       }
-            void Claw::Stop() {
+
+      void Claw::Stop() {
           m_motor.Set(0.0);
       }
-            bool Claw::IsGripping() {
+
+      bool Claw::IsGripping() {
           return m_limitswitch.Get();
       }
       ```
@@ -136,14 +180,18 @@ Notice that member variable called ``motor`` and ``limitswitch`` are created by
       :linenos:
       :lineno-start: 11
       :emphasize-lines: 30-33
-            // ROBOTBUILDER TYPE: Subsystem.
+
+      // ROBOTBUILDER TYPE: Subsystem.
       #pragma once
-            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
       #include <frc2/command/SubsystemBase.h>
       #include <frc/DigitalInput.h>
       #include <frc/motorcontrol/PWMVictorSPX.h>
-            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
-            /**
+
+      // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
+
+      /**
        *
        *
        * @author ExampleAuthor
@@ -155,22 +203,28 @@ Notice that member variable called ``motor`` and ``limitswitch`` are created by
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
       frc::DigitalInput m_limitswitch{4};
       frc::PWMVictorSPX m_motor{4};
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
       public:
       Claw();
-                void Periodic() override;
+
+          void Periodic() override;
           void SimulationPeriodic() override;
           void Open();
           void Close();
           void Stop();
           bool IsGripping();
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
       static constexpr const double PlaceDistance = 0.1;
       static constexpr const double BackAwayDistance = 0.6;
-                // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
-                  };
+
+          // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
+
+
+      };
       ```
 
 In addition to adding the methods to the class implementation file, ``Claw.cpp``, the declarations for the methods need to be added to the header file, ``Claw.h``. Those declarations that must be added are shown here.
diff --git a/source/docs/yearly-overview/2020-Game-Data.rst b/source/docs/yearly-overview/2020-Game-Data.rst
index c1cf682a78..3154cbd2af 100644
--- a/source/docs/yearly-overview/2020-Game-Data.rst
+++ b/source/docs/yearly-overview/2020-Game-Data.rst
@@ -26,7 +26,7 @@ In C++ and Java the Game Data is accessed by using the GetGameSpecificMessage me
 
   ```java
   import edu.wpi.first.wpilibj.DriverStation;
-    String gameData;
+  String gameData;
   gameData = DriverStation.getInstance().getGameSpecificMessage();
   if(gameData.length() > 0)
   {
@@ -55,7 +55,7 @@ In C++ and Java the Game Data is accessed by using the GetGameSpecificMessage me
 
   ```c++
   #include <frc/DriverStation.h>
-    std::string gameData;
+  std::string gameData;
   gameData = frc::DriverStation::GetInstance().GetGameSpecificMessage();
   if(gameData.length() > 0)
   {
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 5375254d36..1d1364c769 100644
--- a/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst
+++ b/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst
@@ -168,7 +168,7 @@ Now let's look at various parts of the code.
          import edu.wpi.first.wpilibj.XboxController;
          import edu.wpi.first.wpilibj.drive.DifferentialDrive;
          import com.ctre.phoenix6.hardware.TalonFX;
-                  ```
+         ```
 
          ```c++
          #include <frc/TimedRobot.h>
@@ -176,7 +176,7 @@ Now let's look at various parts of the code.
          #include <frc/XboxController.h>
          #include <frc/drive/DifferentialDrive.h>
          #include <ctre/phoenix6/TalonFX.hpp>
-                  ```
+         ```
 
          ```python
          import wpilib               # Used to get the joysticks
@@ -191,11 +191,11 @@ Now let's look at various parts of the code.
             ```java
             import com.revrobotics.CANSparkMax;
             import com.revrobotics.CANSparkLowLevel.MotorType;
-                        import edu.wpi.first.wpilibj.TimedRobot;
+            import edu.wpi.first.wpilibj.TimedRobot;
             import edu.wpi.first.wpilibj.Timer;
             import edu.wpi.first.wpilibj.XboxController;
             import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-                        ```
+            ```
 
             ```c++
             #include <frc/TimedRobot.h>
@@ -203,8 +203,8 @@ Now let's look at various parts of the code.
             #include <frc/XboxController.h>
             #include <frc/drive/DifferentialDrive.h>
             #include <frc/motorcontrol/PWMSparkMax.h>
-                        #include <rev/CANSparkMax.h>
-                        ```
+            #include <rev/CANSparkMax.h>
+            ```
 
             ```python
             import wpilib           # Used to get the joysticks
@@ -225,7 +225,7 @@ Now let's look at various parts of the code.
          import edu.wpi.first.wpilibj.XboxController;
          import edu.wpi.first.wpilibj.drive.DifferentialDrive;
          import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-                  ```
+         ```
 
          ```c++
          #include <frc/TimedRobot.h>
@@ -233,7 +233,7 @@ Now let's look at various parts of the code.
          #include <frc/XboxController.h>
          #include <frc/drive/DifferentialDrive.h>
          #include <ctre/phoenix/motorcontrol/can/WPI_TalonSRX.h>
-                  ```
+         ```
 
          ```python
          import wpilib           # Used to get the joysticks
@@ -332,7 +332,7 @@ Our code needs to reference the components of WPILib that are used. In C++ this
              frc::DifferentialDrive m_robotDrive{
                [&](double output) { m_left.Set(output); },
                [&](double output) { m_right.Set(output); }};
-                         frc::XboxController m_controller{0};
+             frc::XboxController m_controller{0};
              frc::Timer m_timer;
             ```
 
@@ -353,7 +353,7 @@ Our code needs to reference the components of WPILib that are used. In C++ this
                  )
                  self.controller = wpilib.XboxController(0)
                  self.timer = wpilib.Timer()
-                             # We need to invert one side of the drivetrain so that positive voltages
+                 # We need to invert one side of the drivetrain so that positive voltages
                  # result in both sides moving forward. Depending on how your robot's
                  # gearbox is constructed, you might have to invert the left side instead.
                  self.rightDrive.setInverted(True)
@@ -400,7 +400,7 @@ Our code needs to reference the components of WPILib that are used. In C++ this
              frc::DifferentialDrive m_robotDrive{
                [&](double output) { m_left.Set(output); },
                [&](double output) { m_right.Set(output); }};
-                         frc::XboxController m_controller{0};
+             frc::XboxController m_controller{0};
              frc::Timer m_timer;
             ```
 
@@ -453,7 +453,7 @@ Our code needs to reference the components of WPILib that are used. In C++ this
              frc::DifferentialDrive m_robotDrive{
                [&](double output) { m_left.Set(output); },
                [&](double output) { m_right.Set(output); }};
-                         frc::XboxController m_controller{0};
+             frc::XboxController m_controller{0};
              frc::Timer m_timer;
             ```