Update RLIs to 2023.2.1 (#2149)

* Update RLIs to 2023.2.1

* Autofix RLIs

* Manually fix RLIs and links

* Manually fix Ultrasonic

Co-authored-by: github-actions <[email protected]>

Author: sciencewhiz

.github/workflows/inspector.json

@@ -3,12 +3,12 @@
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       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion": "v2023.1.1"
+      "latestVersion": "v2023.2.1"
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       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion": "v2023.1.1"
+      "latestVersion": "v2023.2.1"
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@@ -18,7 +18,7 @@
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-      "latestVersion":"v2023.1.1"
+      "latestVersion":"v2023.2.1"
     }
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   "ignoredFiles": []

source/docs/contributing/frc-docs/style-guide.rst

@@ -109,15 +109,15 @@ When possible, instead of using code blocks, an RLI should be used.  This pulls
 
    .. group-tab:: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
          :language: java
          :lines: 44-61
          :linenos:
          :lineno-start: 44
 
    .. group-tab:: C++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
          :language: cpp
          :lines: 18-30
          :linenos:

source/docs/romi-robot/programming-romi.rst

@@ -38,7 +38,7 @@ One aspect where a Romi project differs from a regular FRC robot project is that
 
 To run a Romi program, first, ensure that your Romi is powered on. Next, connect to the ``WPILibPi-<number>`` WiFi network broadcast by the Romi. If you changed the Romi network settings (for example, to connect it to your own WiFi network) you may change the IP address that your program uses to connect to the Romi. To do this, open the ``build.gradle`` file and update the ``wpi.sim.envVar`` line to the appropriate IP address.
 
-.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2023.1.1/vscode-wpilib/resources/gradle/javaromi/build.gradle
+.. rli:: https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/v2023.2.1/vscode-wpilib/resources/gradle/javaromi/build.gradle
    :language: groovy
    :lines: 42-45
    :linenos:

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

@@ -114,15 +114,15 @@ A more complete example of ``ProfiledPIDController`` usage is provided in the El
 
   .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
       :language: java
       :lines: 5-
       :linenos:
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   .. group-tab:: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
       :language: c++
       :lines: 5-
       :linenos:

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

@@ -140,15 +140,15 @@ A more complete example of ``TrapezoidProfile`` usage is provided in the Elevato
 
   .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
       :language: java
       :lines: 5-
       :linenos:
       :lineno-start: 5
 
   .. group-tab:: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
       :language: c++
       :lines: 5-
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source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst

@@ -69,21 +69,21 @@ The ``LinearSystem`` class contains methods for easily creating state-space syst
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
          :language: java
          :lines: 33-47
          :linenos:
          :lineno-start: 33
 
    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
          :lines: 17-17
          :linenos:
          :lineno-start: 17
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
          :lines: 30-46
          :linenos:
@@ -94,7 +94,7 @@ Modeling Using Flywheel Moment of Inertia and Gearing
 
 A flywheel can also be modeled without access to a physical robot, using information about the motors, gearing and flywheel's :term:`moment of inertia`. A full derivation of this model is presented in Section 8.2.1 of  `Controls Engineering in FRC <https://file.tavsys.net/control/controls-engineering-in-frc.pdf>`__.
 
-The ``LinearSystem`` class contains methods to easily create a model of a flywheel from the flywheel's motors, gearing and :term:`moment of inertia`. The moment of inertia can be calculated using CAD software or using physics. The examples used here are detailed in the flywheel example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/v2023.1.1-beta-2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel>`__/`C++ <https://github.com/wpilibsuite/allwpilib/blob/v2023.1.1-beta-2/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp>`__).
+The ``LinearSystem`` class contains methods to easily create a model of a flywheel from the flywheel's motors, gearing and :term:`moment of inertia`. The moment of inertia can be calculated using CAD software or using physics. The examples used here are detailed in the flywheel example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel>`__/`C++ <https://github.com/wpilibsuite/allwpilib/blob/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp>`__).
 
 .. note:: For WPILib's state-space classes, gearing is written as output over input -- that is, if the flywheel spins slower than the motors, this number should be greater than one.
 
@@ -104,21 +104,21 @@ The ``LinearSystem`` class contains methods to easily create a model of a flywhe
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 34-47
          :linenos:
          :lineno-start: 34
 
    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
          :lines: 17-17
          :linenos:
          :lineno-start: 17
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
          :lines: 31-46
          :linenos:
@@ -142,21 +142,21 @@ Because the feedback controller computes error using the :term:`x-hat` estimated
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 49-59
          :linenos:
          :lineno-start: 59
 
    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
          :lines: 13-13
          :linenos:
          :lineno-start: 13
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
          :lines: 48-53
          :linenos:
@@ -177,21 +177,21 @@ Much like ``SimpleMotorFeedforward`` can be used to generate feedforward voltage
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 60-71
          :linenos:
          :lineno-start: 60
 
    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1-beta-1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
          :lines: 11
          :linenos:
          :lineno-start: 11
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
          :lines: 55-75
          :linenos:
@@ -206,21 +206,21 @@ LinearSystemLoop combines our system, controller, and observer that we created e
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 73-75
          :linenos:
          :lineno-start: 73
 
    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
          :lines: 15-15
          :linenos:
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-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
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@@ -232,21 +232,21 @@ Once we have our ``LinearSystemLoop``, the only thing left to do is actually run
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 96-121
          :linenos:
          :lineno-start: 96
 
    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
          :lines: 5-17
          :linenos:
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-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
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source/docs/software/advanced-controls/state-space/state-space-observers.rst

@@ -100,21 +100,21 @@ WPILib's Kalman Filter classes' constructors take a linear system, a vector of p
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
          :lines: 49-58
          :linenos:
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    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
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          :linenos:
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-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
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source/docs/software/advanced-controls/trajectories/troubleshooting.rst

@@ -111,15 +111,15 @@ If your feedforwards are bad then the P controllers for each side of the robot w
 
   .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
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   .. group-tab:: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.1.1/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
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