wpilibsuite · jasondaming · Oct 26, 2025
diff --git a/source/docs/beta/tasks/beta-task-overview.rst b/source/docs/beta/tasks/beta-task-overview.rst
@@ -23,10 +23,10 @@ The purpose of Task 1 is to complete installation of the new Control System soft
 Task 2 - Basic Benchtop Test (Targeted Completion 11/4/2024)
 ------------------------------------------------------------
 
-The purpose of Task 2 is to get the base new Control System software set up and running. This helps minimize complexity to ease debugging of any issues that do occur. In this task you will set up the development environment for your programming language, configure the roboRIO, load and debug a simple program. This Task consists of 2 Objectives:
+The purpose of Task 2 is to get the base new Control System software set up and running. This helps minimize complexity to ease debugging of any issues that do occur. In this task you will set up the development environment for your programming language, configure the roboRIO, load, and debug a simple program. This Task consists of 2 Objectives:
 
 1. Configure the roboRIO
-2. Create, Build and Load Default Program
+2. Create, Build, and Load Default Program
 
 Task 3 - Port Previous Robot Code (Targeted Completion 11/18/2024)
 ------------------------------------------------------------------

diff --git a/source/docs/beta/tasks/task-2-configure-and-benchtop.rst b/source/docs/beta/tasks/task-2-configure-and-benchtop.rst
@@ -6,7 +6,7 @@ Task 2: Configure roboRIO & Benchtop Test
 Task:
 
 1. Image and configure your roboRIO controller.
-2. Create, build, load and run a basic robot program (template of your choosing) on the roboRIO benchtop setup.
+2. Create, build, load, and run a basic robot program (template of your choosing) on the roboRIO benchtop setup.
 
 Overview
 --------
@@ -15,7 +15,7 @@ Before using the roboRIO controller with the Beta software, it must be imaged wi
 
 .. note:: The image version in the documentation may not be updated yet. You should use the latest image available after installing the latest Beta Update.
 
-Next verify the ability to create and download a basic robot program from the chosen template in the assigned programming language. This will verify that the development environment is set up correctly and working properly before moving on to a more complex system. For this task you should create, build and download a basic program to the roboRIO to run at startup, then verify that you are able to communicate with and enable the program using the Driver Station. Instructions can be found on the :ref:`docs/zero-to-robot/step-4/index:Step 4: Programming your Robot` page.
+Next verify the ability to create and download a basic robot program from the chosen template in the assigned programming language. This will verify that the development environment is set up correctly and working properly before moving on to a more complex system. For this task you should create, build, and download a basic program to the roboRIO to run at startup, then verify that you are able to communicate with and enable the program using the Driver Station. Instructions can be found on the :ref:`docs/zero-to-robot/step-4/index:Step 4: Programming your Robot` page.
 
 Desired Feedback
 ----------------

diff --git a/source/docs/controls-overviews/control-system-hardware.rst b/source/docs/controls-overviews/control-system-hardware.rst
@@ -106,7 +106,7 @@ The Snap Action circuit breakers, [MX5 series](https://www.snapaction.net/assets
   :alt: Rev ATO Circuit Breakers
   :width: 500
 
-The [Rev ATO Circuit Breakers](https://www.revrobotics.com/content/docs/REV-11-1860-1863-DS.pdf) are used with the Power Distribution Panel, Power Distribution Hub and Power Distribution Panel 2.0 to limit current to branch circuits. They come in [40A](https://www.revrobotics.com/rev-11-1863/), [30A](https://www.revrobotics.com/rev-11-1862/), [20A](https://www.revrobotics.com/rev-11-1861/) and [10A](https://www.revrobotics.com/rev-11-1860/) variants. The ratings on these circuit breakers are for continuous current, temporary peak values can be considerably higher.
+The [Rev ATO Circuit Breakers](https://www.revrobotics.com/content/docs/REV-11-1860-1863-DS.pdf) are used with the Power Distribution Panel, Power Distribution Hub, and Power Distribution Panel 2.0 to limit current to branch circuits. They come in [40A](https://www.revrobotics.com/rev-11-1863/), [30A](https://www.revrobotics.com/rev-11-1862/), [20A](https://www.revrobotics.com/rev-11-1861/), and [10A](https://www.revrobotics.com/rev-11-1860/) variants. The ratings on these circuit breakers are for continuous current, temporary peak values can be considerably higher.
 
 ## Robot Battery
 

diff --git a/source/docs/romi-robot/getting-to-know-romi.rst b/source/docs/romi-robot/getting-to-know-romi.rst
@@ -88,7 +88,7 @@ The Romi 32U4 control board has 3 push buttons and 3 LEDs onboard that are expos
 | DIO 3       | Yellow LED (output only)             |
 +-------------+--------------------------------------+
 
-Writes to DIO 0, 4, 5, 6 and 7 will result in a :term:`no-op`.
+Writes to DIO 0, 4, 5, 6, and 7 will result in a :term:`no-op`.
 
 ### Configurable GPIO Pins
 

diff --git a/source/docs/romi-robot/index.rst b/source/docs/romi-robot/index.rst
@@ -4,7 +4,7 @@
 
 The Romi is a small and inexpensive robot designed for learning about programming FRC\ |reg| robots. All the same tools used for programming full-sized FRC robots can be used to program the Romi. The Romi comes with two drive motors with integrated wheel encoders. It also includes an :term:`IMU` sensor that can be used for measuring headings and accelerations. Using it is as simple as writing a robot program, and running it on your computer. It will command the Romi to follow the steps in the program.
 
-.. tip:: A course that teaches programming using the Romi Robot is available via [FIRST Training](https://training.firstinspires.org/catalog?labels=%5B%22Topics%22%5D&values=%5B%22Programming%22%5D). [Part 1](https://training.firstinspires.org/courses/java-programming-part-1) takes users through setup of the hardware and software, methods, objects, conditionals, variables, and equations. [Part 2](https://training.firstinspires.org/courses/java-programming-part-2) covers command based programming, driving and inputs, advanced conditionals and logical operators, command groups, arrays and loops, and errors and troubleshooting.
+.. tip:: A course that teaches programming using the Romi Robot is available via [FIRST Training](https://training.firstinspires.org/catalog?labels=%5B%22Topics%22%5D&values=%5B%22Programming%22%5D). [Part 1](https://training.firstinspires.org/courses/java-programming-part-1) takes users through setup of the hardware and software, methods, objects, conditionals, variables, and equations. [Part 2](https://training.firstinspires.org/courses/java-programming-part-2) covers command based programming, driving and inputs, advanced conditionals and logical operators, command groups, arrays, and loops, and errors and troubleshooting.
 
 .. image:: images/romi.png
    :alt: Romi Robot

diff --git a/source/docs/zero-to-robot/step-1/basic-robot-wiring.rst b/source/docs/zero-to-robot/step-1/basic-robot-wiring.rst
@@ -524,7 +524,7 @@ Requires: an Ethernet cable
       .. image:: images/how-to-wire-a-simple-robot/pwm.jpg
         :alt: PWM Cables going from the roboRIO to the Spark Motor Controller.
 
-      This section details how to wire the SPARK MAX controllers using PWM signaling. This is a recommended starting point as it is less complex and easier to troubleshoot than CAN operation. The SPARK MAXs (and many other FRC motor controllers) can also be wired using :ref:`CAN<docs/hardware/hardware-basics/can-wiring-basics:CAN Wiring Basics>` which unlocks easier configuration, advanced functionality, better diagnostic data and reduces the amount of wire needed.
+      This section details how to wire the SPARK MAX controllers using PWM signaling. This is a recommended starting point as it is less complex and easier to troubleshoot than CAN operation. The SPARK MAXs (and many other FRC motor controllers) can also be wired using :ref:`CAN<docs/hardware/hardware-basics/can-wiring-basics:CAN Wiring Basics>` which unlocks easier configuration, advanced functionality, better diagnostic data, and reduces the amount of wire needed.
 
       Requires: 4x SPARK MAX PWM adapters (if using SPARK MAX), 4x PWM cables (if controllers without integrated wires or adapters, otherwise optional), 2x PWM Y-cable (Optional)
 

diff --git a/.../docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst b/.../docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst
@@ -5,7 +5,7 @@ Once everything is installed, we're ready to create a robot program.  WPILib com
 * :ref:`create_java_cpp_project`
 * :ref:`create_python_project`
 
-.. important:: This guide includes code examples that involve vendor hardware for the convenience of the user. In this document, :term:`PWM` refers to the motor controller included in the KOP. The CTRE tab references the Talon FX motor controller (Falcon 500 motor), but usage is similar for TalonSRX and VictorSPX. The REV tab references the CAN SPARK MAX controlling a brushless motor, but it's similar for brushed motor. There is an assumption that the user has already installed the required :doc:`vendordeps </docs/software/vscode-overview/3rd-party-libraries>` and configured the device(s) (update firmware, assign CAN IDs, etc) according to the manufacturer documentation ([CTRE](https://docs.ctr-electronics.com/) / [REV](https://docs.revrobotics.com/brushless/spark-max/gs)).
+.. important:: This guide includes code examples that involve vendor hardware for the convenience of the user. In this document, :term:`PWM` refers to the motor controller included in the KOP. The CTRE tab references the Talon FX motor controller (Falcon 500 motor), but usage is similar for TalonSRX and VictorSPX. The REV tab references the CAN SPARK MAX controlling a brushless motor, but it's similar for brushed motor. There is an assumption that the user has already installed the required :doc:`vendordeps </docs/software/vscode-overview/3rd-party-libraries>` and configured the device(s) (update firmware, assign CAN IDs, etc.) according to the manufacturer documentation ([CTRE](https://docs.ctr-electronics.com/) / [REV](https://docs.revrobotics.com/brushless/spark-max/gs)).
 
 .. _create_java_cpp_project:
 

diff --git a/source/index.rst b/source/index.rst
@@ -253,7 +253,7 @@ Community translations can be found in a variety of languages in the menu toward
 
       ^^^
 
-      Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool and more.
+      Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool, and more.
 
       +++
 

diff --git a/source/stubs/software-tools-stub.rst b/source/stubs/software-tools-stub.rst
@@ -2,7 +2,7 @@
 
 # Software Tools
 
-Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool and more.
+Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool, and more.
 
 .. mimictoc::
    :maxdepth: 2
-Original file line number
+Diff line change
@@ Expand Up @@
           ^^^
-          Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool and more.
+          Essential tooling such as FRC Driver Station, Dashboards, roboRIO Imaging Tool, and more.
           +++
@@ Expand Down @@