Update API docs to release (#2894)

Author: sciencewhiz

source/docs/networking/networking-utilities/portforwarding.rst

@@ -4,7 +4,7 @@ This class provides an easy way to forward local ports to another host/port. Thi
 
 ## Forwarding a Remote Port
 
-Often teams may wish to connect directly to the roboRIO for controlling their robot. The PortForwarding class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/net/PortForwarder.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classwpi_1_1_port_forwarder.html)) can be used to forward the Raspberry Pi connection for usage during these times. The PortForwarding class establishes a bridge between the remote and the client. To forward a port in Java, simply do ``PortForwarder.add(int port, String remoteName, int remotePort)``.
+Often teams may wish to connect directly to the roboRIO for controlling their robot. The PortForwarding class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/net/PortForwarder.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1_port_forwarder.html)) can be used to forward the Raspberry Pi connection for usage during these times. The PortForwarding class establishes a bridge between the remote and the client. To forward a port in Java, simply do ``PortForwarder.add(int port, String remoteName, int remotePort)``.
 
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source/docs/software/advanced-controls/controllers/bang-bang.rst

@@ -6,7 +6,7 @@ This may initially seem like a poor control strategy, as PID loops are known to
 
 However, when controlling the velocity of high-inertia mechanisms under varying loads (like a shooter flywheel), a bang-bang controller can yield faster recovery time and thus better/more consistent performance than a proportional controller.  Unlike an ordinary P loop, a bang-bang controller is *asymmetric* - that is, the controller turns on when the process variable is below the setpoint, and does nothing otherwise.  This allows the control effort in the forward direction to be made as large as possible without risking destructive oscillations as the control loop tries to correct a resulting overshoot.
 
-Asymmetric bang-bang control is provided in WPILib by the BangBangController class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/BangBangController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_bang_bang_controller.html), :external:py:class:`Python <wpimath.controller.BangBangController>`).
+Asymmetric bang-bang control is provided in WPILib by the BangBangController class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/BangBangController.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_bang_bang_controller.html), :external:py:class:`Python <wpimath.controller.BangBangController>`).
 
 ## Constructing a BangBangController
 

source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst

@@ -33,7 +33,7 @@ Moreover, feedforward is a separate feature entirely from feedback, and thus has
 
 ## Using Feedforward Components with PID
 
-.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e), :external:py:meth:`Python <wpilib.interfaces.MotorController.setVoltage>`) method when applying them to motors to compensate for "voltage sag" from the battery.
+.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e), :external:py:meth:`Python <wpilib.interfaces.MotorController.setVoltage>`) method when applying them to motors to compensate for "voltage sag" from the battery.
 
 What might a more complete example of combined feedforward/PID control look like?  Consider the :ref:`drive example <docs/software/advanced-controls/controllers/feedforward:Using Feedforward to Control Mechanisms>` from the feedforward page.  We can easily modify this to include feedback control (with a ``SimpleMotorFeedforward`` component):
 

source/docs/software/advanced-controls/controllers/feedforward.rst

@@ -16,9 +16,9 @@ The WPILib feedforward classes closely match the available mechanism characteriz
 
 WPILib currently provides the following three helper classes for feedforward control:
 
-* `SimpleMotorFeedforward`_ (Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_simple_motor_feedforward.html), :external:py:class:`Python <wpimath.controller.SimpleMotorFeedforwardMeters>`)
-* `ArmFeedforward`_ (Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/ArmFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_arm_feedforward.html), :external:py:class:`Python <wpimath.controller.ArmFeedforward>`)
-* `ElevatorFeedforward`_ (Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/ElevatorFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_elevator_feedforward.html), :external:py:class:`Python <wpimath.controller.ElevatorFeedforward>`)
+* `SimpleMotorFeedforward`_ (Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_simple_motor_feedforward.html), :external:py:class:`Python <wpimath.controller.SimpleMotorFeedforwardMeters>`)
+* `ArmFeedforward`_ (Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/ArmFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_arm_feedforward.html), :external:py:class:`Python <wpimath.controller.ArmFeedforward>`)
+* `ElevatorFeedforward`_ (Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/ElevatorFeedforward.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_elevator_feedforward.html), :external:py:class:`Python <wpimath.controller.ElevatorFeedforward>`)
 
 ## SimpleMotorFeedforward
 
@@ -200,7 +200,7 @@ To calculate the feedforward, simply call the ``calculate()`` method with the de
 
 ## Using Feedforward to Control Mechanisms
 
-.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e), :external:py:meth:`Python <wpilib.interfaces.MotorController.setVoltage>`) method when applying them to motors to compensate for "voltage sag" from the battery.
+.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e), :external:py:meth:`Python <wpilib.interfaces.MotorController.setVoltage>`) method when applying them to motors to compensate for "voltage sag" from the battery.
 
 Feedforward control can be used entirely on its own, without a feedback controller.  This is known as "open-loop" control, and for many mechanisms (especially robot drives) can be perfectly satisfactory.  A ``SimpleMotorFeedforward`` might be employed to control a robot drive as follows:
 

source/docs/software/advanced-controls/controllers/pidcontroller.rst

@@ -4,7 +4,7 @@
 
 .. note:: For a guide on implementing PID control through the :ref:`command-based framework <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>`, see :ref:`docs/software/commandbased/pid-subsystems-commands:PID Control in Command-based`.
 
-WPILib supports PID control of mechanisms through the ``PIDController`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/PIDController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_p_i_d_controller.html), :external:py:class:`Python <wpimath.controller.PIDController>`).  This class handles the feedback loop calculation for the user, as well as offering methods for returning the error, setting tolerances, and checking if the control loop has reached its setpoint within the specified tolerances.
+WPILib supports PID control of mechanisms through the ``PIDController`` class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/PIDController.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_p_i_d_controller.html), :external:py:class:`Python <wpimath.controller.PIDController>`).  This class handles the feedback loop calculation for the user, as well as offering methods for returning the error, setting tolerances, and checking if the control loop has reached its setpoint within the specified tolerances.
 
 ## Using the PIDController Class
 

source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst

@@ -4,7 +4,7 @@
 
 In the previous article, we saw how to use the ``TrapezoidProfile`` class to create and use a trapezoidal motion profile.  The example code from that article demonstrates manually composing the ``TrapezoidProfile`` class with the external PID control feature of a "smart" motor controller.
 
-This combination of functionality (a motion profile for generating setpoints combined with a PID controller for following them) is extremely common.  To facilitate this, WPILib comes with a ``ProfiledPIDController`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/controller/ProfiledPIDController.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_profiled_p_i_d_controller.html), :external:py:class:`Python <wpimath.controller.ProfiledPIDController>`) that does most of the work of combining these two functionalities.  The API of the ``ProfiledPIDController`` is very similar to that of the ``PIDController``, allowing users to add motion profiling to a PID-controlled mechanism with very few changes to their code.
+This combination of functionality (a motion profile for generating setpoints combined with a PID controller for following them) is extremely common.  To facilitate this, WPILib comes with a ``ProfiledPIDController`` class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/ProfiledPIDController.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_profiled_p_i_d_controller.html), :external:py:class:`Python <wpimath.controller.ProfiledPIDController>`) that does most of the work of combining these two functionalities.  The API of the ``ProfiledPIDController`` is very similar to that of the ``PIDController``, allowing users to add motion profiling to a PID-controlled mechanism with very few changes to their code.
 
 ## Using the ProfiledPIDController class
 

source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst

@@ -10,7 +10,7 @@
 
 While feedforward and feedback control offer convenient ways to achieve a given setpoint, we are often still faced with the problem of generating setpoints for our mechanisms.  While the naive approach of immediately commanding a mechanism to its desired state may work, it is often suboptimal.  To improve the handling of our mechanisms, we often wish to command mechanisms to a *sequence* of setpoints that smoothly interpolate between its current state, and its desired goal state.
 
-To help users do this, WPILib provides a ``TrapezoidProfile`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile.html), :external:py:class:`Python <wpimath.trajectory.TrapezoidProfile>`).
+To help users do this, WPILib provides a ``TrapezoidProfile`` class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/trajectory/TrapezoidProfile.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_trapezoid_profile.html), :external:py:class:`Python <wpimath.trajectory.TrapezoidProfile>`).
 
 ## Creating a TrapezoidProfile
 
@@ -20,7 +20,7 @@ To help users do this, WPILib provides a ``TrapezoidProfile`` class ([Java](http
 
 .. note:: The various :ref:`feedforward helper classes <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>` provide methods for calculating the maximum simultaneously-achievable velocity and acceleration of a mechanism.  These can be very useful for calculating appropriate motion constraints for your ``TrapezoidProfile``.
 
-In order to create a trapezoidal motion profile, we must first impose some constraints on the desired motion.  Namely, we must specify a maximum velocity and acceleration that the mechanism will be expected to achieve during the motion.  To do this, we create an instance of the ``TrapezoidProfile.Constraints`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.Constraints.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile_1_1_constraints.html), :external:py:class:`Python <wpimath.trajectory.TrapezoidProfile.Constraints>`):
+In order to create a trapezoidal motion profile, we must first impose some constraints on the desired motion.  Namely, we must specify a maximum velocity and acceleration that the mechanism will be expected to achieve during the motion.  To do this, we create an instance of the ``TrapezoidProfile.Constraints`` class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/trajectory/TrapezoidProfile.Constraints.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_trapezoid_profile_1_1_constraints.html), :external:py:class:`Python <wpimath.trajectory.TrapezoidProfile.Constraints>`):
 
 .. tab-set-code::
 
@@ -48,7 +48,7 @@ In order to create a trapezoidal motion profile, we must first impose some const
 
 ### Start and End States
 
-Next, we must specify the desired starting and ending states for our mechanisms using the ``TrapezoidProfile.State`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.State.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile_1_1_state.html), :external:py:class:`Python <wpimath.trajectory.TrapezoidProfile.State>`).  Each state has a position and a velocity:
+Next, we must specify the desired starting and ending states for our mechanisms using the ``TrapezoidProfile.State`` class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/trajectory/TrapezoidProfile.State.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_trapezoid_profile_1_1_state.html), :external:py:class:`Python <wpimath.trajectory.TrapezoidProfile.State>`).  Each state has a position and a velocity:
 
 .. tab-set-code::
 

source/docs/software/advanced-controls/filters/debouncer.rst

@@ -2,7 +2,7 @@
 
 A debouncer is a filter used to eliminate unwanted quick on/off cycles (termed "bounces," originally from the physical vibrations of a switch as it is thrown). These cycles are usually due to a sensor error like noise or reflections and not the actual event the sensor is trying to record.
 
-Debouncing is implemented in WPILib by the ``Debouncer`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/filter/Debouncer.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_debouncer.html), :external:py:class:`Python <wpimath.filter.Debouncer>`), which filters a boolean stream so that the output only changes if the input sustains a change for some nominal time period.
+Debouncing is implemented in WPILib by the ``Debouncer`` class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/filter/Debouncer.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_debouncer.html), :external:py:class:`Python <wpimath.filter.Debouncer>`), which filters a boolean stream so that the output only changes if the input sustains a change for some nominal time period.
 
 ## Modes
 

source/docs/software/advanced-controls/filters/linear-filter.rst

@@ -10,7 +10,7 @@ Infinite impulse responses have infinite "support" - that is, they are nonzero o
 
 Finite impulse responses have finite "support" - that is, they are nonzero on a bounded region.  The "archetypical" FIR filter is a flat moving average - that is, simply setting the output equal to the average of the past n inputs.  FIR filters tend to have more-desirable properties than IIR filters, but are more costly to compute.
 
-Linear filters are supported in WPILib through the ``LinearFilter`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/filter/LinearFilter.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_linear_filter.html), , :external:py:class:`Python <wpimath.filter.LinearFilter>`).
+Linear filters are supported in WPILib through the ``LinearFilter`` class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/filter/LinearFilter.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_linear_filter.html), , :external:py:class:`Python <wpimath.filter.LinearFilter>`).
 
 ## Creating a LinearFilter
 

source/docs/software/advanced-controls/filters/median-filter.rst

@@ -7,7 +7,7 @@ A `statistically robust` alternative to the :ref:`moving-average filter <docs/so
 
 The median filter is most-useful for removing occasional outliers from an input stream.  This makes it particularly well-suited to filtering inputs from distance sensors, which are prone to occasional interference.  Unlike a moving average, the median filter will remain completely unaffected by small numbers of outliers, no matter how extreme.
 
-The median filter is supported in WPILib through the ``MedianFilter`` class ([Java](https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/math/filter/MedianFilter.html), [C++](https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc_1_1_median_filter.html), , :external:py:class:`Python <wpimath.filter.MedianFilter>`).
+The median filter is supported in WPILib through the ``MedianFilter`` class ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/filter/MedianFilter.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_median_filter.html), , :external:py:class:`Python <wpimath.filter.MedianFilter>`).
 
 ## Creating a MedianFilter