From ef08b7ca8405bce8d9a85c020c240bf480db3426 Mon Sep 17 00:00:00 2001
From: GrahamSH <grahamshllk@gmail.com>
Date: Mon, 23 Oct 2023 21:12:04 -0400
Subject: [PATCH 1/9] first portion done, heading to bed. still have 34 files
 to go

---
 .../contributing/frc-docs/style-guide.rst     |  26 +-
 .../control-system-hardware.rst               |  27 +-
 .../networking-utilities/portforwarding.rst   |  16 +-
 .../controllers/bang-bang.rst                 |  24 +-
 .../combining-feedforward-feedback.rst        |  16 +-
 .../controllers/feedforward.rst               |  42 +--
 .../controllers/pidcontroller.rst             |  42 +--
 .../controllers/profiled-pidcontroller.rst    |  42 ++-
 .../controllers/trapezoidal-profiles.rst      |  54 ++--
 .../advanced-controls/filters/debouncer.rst   |   6 +-
 .../filters/linear-filter.rst                 |  24 +-
 .../filters/median-filter.rst                 |  12 +-
 .../filters/slew-rate-limiter.rst             |  18 +-
 .../state-space/state-space-debugging.rst     |   6 +-
 .../state-space-flywheel-walkthrough.rst      |  83 ++---
 .../state-space/state-space-intro.rst         |  52 ++-
 .../state-space/state-space-observers.rst     |   7 +-
 .../state-space-pose-estimators.rst           |  72 ++---
 .../trajectories/constraints.rst              |   6 +-
 .../trajectories/holonomic.rst                |  18 +-
 .../manipulating-trajectories.rst             |  12 +-
 .../trajectories/ramsete.rst                  |  18 +-
 .../trajectories/trajectory-generation.rst    |  12 +-
 .../transforming-trajectories.rst             |  12 +-
 .../trajectories/troubleshooting.rst          |  44 ++-
 .../basic-programming/git-getting-started.rst |   6 +-
 .../software/basic-programming/joystick.rst   |  48 +--
 .../basic-programming/reading-stacktraces.rst | 302 +++++++++---------
 .../basic-programming/robot-preferences.rst   |  24 +-
 .../can-devices/power-distribution-module.rst |  88 +++--
 .../binding-commands-to-triggers.rst          |  70 ++--
 .../commandbased/command-compositions.rst     |  91 +++---
 .../commandbased/command-scheduler.rst        |  51 +--
 .../commandbased/organizing-command-based.rst |  72 ++---
 .../commandbased/what-is-command-based.rst    |  12 +-
 .../glass/command-based-widgets.rst           |   6 +-
 .../software/dashboards/glass/widgets.rst     |  12 +-
 ...e-labview-dashboard-with-c++-java-code.rst |  54 ++--
 .../shuffleboard-commands-subsystems.rst      |  12 +-
 .../shuffleboard-tuning-pid.rst               |   6 +-
 .../getting-started/shuffleboard-tour.rst     |   4 +-
 .../layouts-with-code/configuring-widgets.rst |  12 +-
 .../layouts-with-code/organizing-widgets.rst  |  12 +-
 .../layouts-with-code/retrieving-data.rst     |   4 +-
 .../layouts-with-code/sending-data.rst        |  22 +-
 .../layouts-with-code/using-tabs.rst          |  12 +-
 .../smartdashboard/displaying-expressions.rst |   6 +-
 ...ying-status-of-commands-and-subsystems.rst |  18 +-
 .../displaying-LiveWindow-values.rst          |  12 +-
 .../enabling-test-mode.rst                    |   6 +-
 .../verifying-smartdashboard-is-working.rst   |   6 +-
 .../software/hardware-apis/motors/servos.rst  |  16 +-
 .../motors/using-motor-controllers.rst        |   8 +-
 .../sensors/accelerometers-software.rst       |  48 +--
 .../sensors/analog-inputs-software.rst        |  54 ++--
 .../analog-potentiometers-software.rst        |  18 +-
 .../hardware-apis/sensors/counters.rst        |  78 ++---
 .../sensors/digital-inputs-software.rst       |  30 +-
 .../sensors/encoders-software.rst             | 120 +++----
 .../hardware-apis/sensors/gyros-software.rst  |  60 ++--
 .../hardware-apis/sensors/limit-switch.rst    |   6 +-
 .../differential-drive-kinematics.rst         |  12 +-
 .../differential-drive-odometry.rst           |  12 +-
 .../intro-and-chassis-speeds.rst              |  12 +-
 .../mecanum-drive-kinematics.rst              |  24 +-
 .../mecanum-drive-odometry.rst                |  12 +-
 .../swerve-drive-kinematics.rst               |  30 +-
 .../swerve-drive-odometry.rst                 |  12 +-
 ...rray-values-published-by-networktables.rst |  10 +-
 .../software/networktables/robot-program.rst  |   8 +-
 .../roborio-info/roborio-brownouts.rst        |   6 +-
 source/docs/software/telemetry/datalog.rst    |  18 +-
 .../robot-telemetry-with-sendable.rst         |   6 +-
 .../telemetry/writing-sendable-classes.rst    |  48 ++-
 ...sing-generated-code-in-a-robot-program.rst |  12 +-
 .../introduction/cameraserver-class.rst       |  12 +-
 .../roborio/using-multiple-cameras.rst        |  18 +-
 .../wpilibpi/basic-vision-example.rst         |   4 +-
 .../wpilibpi/image-thresholding.rst           |   8 +-
 .../wpilibpi/morphological-operations.rst     |  16 +-
 .../wpilibpi/using-cameraserver.rst           |   8 +-
 .../wpilibpi/working-with-contours.rst        |  24 +-
 .../creating-robot-program.rst                |  31 +-
 .../debugging-robot-program.rst               |   6 +-
 .../robot-simulation/device-sim.rst           |  30 +-
 .../drivesim-tutorial/drivetrain-model.rst    |  18 +-
 .../drivesim-tutorial/odometry-simgui.rst     |  18 +-
 .../drivesim-tutorial/simulation-instance.rst |  12 +-
 .../updating-drivetrain-model.rst             |   6 +-
 .../robot-simulation/simulation-gui.rst       |   4 +-
 ...robotbuilder-writing-pidsubsystem-code.rst |  18 +-
 .../robotbuilder-created-code.rst             |  28 +-
 ...robotbuilder-testing-with-shuffleboard.rst |   6 +-
 .../writing-code/robotbuilder-drive-tank.rst  |  25 +-
 .../robotbuilder-writing-command-code.rst     | 180 ++++++-----
 .../docs/yearly-overview/2020-Game-Data.rst   |   6 +-
 .../step-1/intro-to-frc-robot-wiring.rst      | 112 ++++---
 .../zero-to-robot/step-2/frc-game-tools.rst   |   6 +-
 .../zero-to-robot/step-2/labview-setup.rst    |   6 +-
 ...ating-test-drivetrain-program-cpp-java.rst | 194 +++++------
 100 files changed, 1571 insertions(+), 1544 deletions(-)

diff --git a/source/docs/contributing/frc-docs/style-guide.rst b/source/docs/contributing/frc-docs/style-guide.rst
index 1e851f70f9..ca71eb0252 100644
--- a/source/docs/contributing/frc-docs/style-guide.rst
+++ b/source/docs/contributing/frc-docs/style-guide.rst
@@ -105,25 +105,23 @@ RLI (Remote Literal Include)
 
 When possible, instead of using code blocks, an RLI should be used.  This pulls code lines directly from GitHub, most commonly using the example programs.  This automatically keeps the code up to date with any changes that are made.  The format of an RLI is:
 
-.. code-block:: ReST
+.. tab-set-code:: 
 
-   .. group-tab:: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
-         :language: java
-         :lines: 44-61
-         :linenos:
-         :lineno-start: 44
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/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/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
-         :language: cpp
-         :lines: 18-30
-         :linenos:
-         :lineno-start: 18
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
+      :language: cpp
+      :lines: 18-30
+      :linenos:
+      :lineno-start: 18
 
-Note that group-tab rather than code-tab needs to be used.  Also make sure to link to the raw version of the file on GitHub. There is a handy ``Raw`` button in the top right corner of the page.
+Make sure to link to the raw version of the file on GitHub. There is a handy ``Raw`` button in the top right corner of the page.
 
 Admonitions
 -----------
diff --git a/source/docs/controls-overviews/control-system-hardware.rst b/source/docs/controls-overviews/control-system-hardware.rst
index 0677bebc85..7dc16e0162 100644
--- a/source/docs/controls-overviews/control-system-hardware.rst
+++ b/source/docs/controls-overviews/control-system-hardware.rst
@@ -10,23 +10,24 @@ The goal of this document is to provide a brief overview of the hardware compone
 Overview of Control System
 --------------------------
 
-.. tabs::
+.. tab-set::
+    .. tab-item:: REV
+        :sync: rev
 
-   .. group-tab:: REV
-
-      .. figure:: images/frc-control-system-layout-rev.svg
+        .. figure:: images/frc-control-system-layout-rev.svg
          :alt: Layout of all popular components of the control system including REV Control System Components
          :width: 500
 
-      Diagram courtesy of FRC\ |reg| Team 3161 and Stefen Acepcion.
+        Diagram courtesy of FRC\ |reg| Team 3161 and Stefen Acepcion.
 
-   .. group-tab:: CTRE
+    .. tab-item:: CTRE
+        :sync: ctre
 
-      .. figure:: images/frc-control-system-layout.svg
-        :alt: Layout of all of the core components of the control system and how they are connected.
-        :width: 500
+        .. figure:: images/frc-control-system-layout.svg
+         :alt: Layout of all of the core components of the control system and how they are connected.
+         :width: 500
 
-      Diagram courtesy of FRC\ |reg| Team 3161 and Stefen Acepcion.
+        Diagram courtesy of FRC\ |reg| Team 3161 and Stefen Acepcion.
 
 NI roboRIO
 ----------
@@ -116,9 +117,9 @@ The power supply for an FRC robot is a single 12V 18Ah Sealed Lead Acid (SLA) ba
 Robot Signal Light
 ------------------
 
-.. tabs::
+.. tab-set::
 
-   .. tab:: Allen-Bradley
+   .. tab-item:: Allen-Bradley
 
       .. figure:: images/control-system-hardware/rsl-allenbradley.png
          :alt: Orange Robot Signal Light (Allen-Bradley)
@@ -126,7 +127,7 @@ Robot Signal Light
 
          Allen-Bradley 855PB-B12ME522
 
-   .. tab:: AndyMark
+   .. tab-item:: AndyMark
 
       .. figure:: images/control-system-hardware/rsl-andymark.png
          :alt: Orange Robot Signal Light (AndyMark)
diff --git a/source/docs/networking/networking-utilities/portforwarding.rst b/source/docs/networking/networking-utilities/portforwarding.rst
index db9be70f2c..e647d94bf8 100644
--- a/source/docs/networking/networking-utilities/portforwarding.rst
+++ b/source/docs/networking/networking-utilities/portforwarding.rst
@@ -8,22 +8,22 @@ 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/beta/java/edu/wpi/first/net/PortForwarder.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/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)``.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       @Override
       public void robotInit() {
          PortForwarder.add(8888, "wpilibpi.local", 80);
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       void Robot::RobotInit {
          wpi::PortForwarder::GetInstance().Add(8888, "wpilibpi.local", 80);
       }
 
-   .. code-tab:: python
+   .. code-block:: python
 
       wpiutil.PortForwarder.getInstance().add(8888, "wpilibpi.local", 80)
 
@@ -34,21 +34,21 @@ Removing a Forwarded Port
 
 To stop forwarding on a specified port, simply call ``remove(int port)`` with port being the port number. If you call ``remove()`` on a port that is not being forwarded, nothing will happen.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       @Override
       public void robotInit() {
          PortForwarder.remove(8888);
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       void Robot::RobotInit {
          wpi::PortForwarder::GetInstance().Remove(8888);
       }
 
-   .. code-tab:: python
+   .. code-block:: python
 
       wpiutil.PortForwarder.getInstance().remove(8888)
diff --git a/source/docs/software/advanced-controls/controllers/bang-bang.rst b/source/docs/software/advanced-controls/controllers/bang-bang.rst
index f9849f49fa..34acb75e2d 100644
--- a/source/docs/software/advanced-controls/controllers/bang-bang.rst
+++ b/source/docs/software/advanced-controls/controllers/bang-bang.rst
@@ -14,19 +14,19 @@ Constructing a BangBangController
 
 Since a bang-bang controller does not have any gains, it does not need any constructor arguments (one can optionally specify the controller tolerance used by ``atSetpoint``, but it is not required).
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Creates a BangBangController
     BangBangController controller = new BangBangController();
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a BangBangController
     frc::BangBangController controller;
 
-  .. code-tab:: python
+  .. code-block:: python
 
      # Creates a BangBangController
      controller = wpimath.BangBangController()
@@ -38,19 +38,19 @@ Using a BangBangController
 
 Using a bang-bang controller is easy:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Controls a motor with the output of the BangBang controller
     motor.set(controller.calculate(encoder.getRate(), setpoint));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Controls a motor with the output of the BangBang controller
     motor.Set(controller.Calculate(encoder.GetRate(), setpoint));
 
-  .. code-tab:: python
+  .. code-block:: python
 
     # Controls a motor with the output of the BangBang controller
     motor.set(controller.calculate(encoder.getRate(), setpoint))
@@ -60,21 +60,21 @@ Combining Bang Bang Control with Feedforward
 
 Like a PID controller, best results are obtained in conjunction with a :ref:`feedforward <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>` controller that provides the necessary voltage to sustain the system output at the desired speed, so that the bang-bang controller is only responsible for rejecting disturbances.  Since the bang-bang controller can *only* correct in the forward direction, however, it may be preferable to use a slightly conservative feedforward estimate to ensure that the shooter does not over-speed.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Controls a motor with the output of the BangBang controller and a feedforward
     // Shrinks the feedforward slightly to avoid overspeeding the shooter
     motor.setVoltage(controller.calculate(encoder.getRate(), setpoint) * 12.0 + 0.9 * feedforward.calculate(setpoint));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Controls a motor with the output of the BangBang controller and a feedforward
     // Shrinks the feedforward slightly to avoid overspeeding the shooter
     motor.SetVoltage(controller.Calculate(encoder.GetRate(), setpoint) * 12.0 + 0.9 * feedforward.Calculate(setpoint));
 
-  .. code-tab:: python
+  .. code-block:: python
 
     # Controls a motor with the output of the BangBang controller and a feedforward
     motor.setVoltage(controller.calculate(encoder.getRate(), setpoint) * 12.0 + 0.9 * feedforward.calculate(setpoint))
diff --git a/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst b/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst
index 20d4bb9888..490e6fdb11 100644
--- a/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst
+++ b/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst
@@ -14,19 +14,19 @@ Using Feedforward with a PIDController
 
 Users may add any feedforward they like to the output of the controller before sending it to their motors:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Adds a feedforward to the loop output before sending it to the motor
     motor.setVoltage(pid.calculate(encoder.getDistance(), setpoint) + feedforward);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Adds a feedforward to the loop output before sending it to the motor
     motor.SetVoltage(pid.Calculate(encoder.GetDistance(), setpoint) + feedforward);
 
-  .. code-tab:: python
+  .. code-block:: python
 
      // Adds a feedforward to the loop output before sending it to the motor
      motor.setVoltage(pid.calculate(encoder.getDistance(), setpoint) + feedforward)
@@ -40,9 +40,9 @@ Using Feedforward Components with PID
 
 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):
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     public void tankDriveWithFeedforwardPID(double leftVelocitySetpoint, double rightVelocitySetpoint) {
       leftMotor.setVoltage(feedforward.calculate(leftVelocitySetpoint)
@@ -51,7 +51,7 @@ What might a more complete example of combined feedforward/PID control look like
           + rightPID.calculate(rightEncoder.getRate(), rightVelocitySetpoint));
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     void TankDriveWithFeedforwardPID(units::meters_per_second_t leftVelocitySetpoint,
                                      units::meters_per_second_t rightVelocitySetpoint) {
@@ -61,7 +61,7 @@ What might a more complete example of combined feedforward/PID control look like
           + rightPID.Calculate(rightEncoder.getRate(), rightVelocitySetpoint.value()));
     }
 
-  .. code-tab:: python
+  .. code-block:: python
 
     def tank_drive_with_feedforward_PID(
         left_velocity_setpoint: float,
diff --git a/source/docs/software/advanced-controls/controllers/feedforward.rst b/source/docs/software/advanced-controls/controllers/feedforward.rst
index 956d929a44..d583590108 100644
--- a/source/docs/software/advanced-controls/controllers/feedforward.rst
+++ b/source/docs/software/advanced-controls/controllers/feedforward.rst
@@ -35,14 +35,14 @@ To create a ``SimpleMotorFeedforward``, simply construct it with the required ga
 
 .. note:: The ``kA`` gain can be omitted, and if it is, will default to a value of zero.  For many mechanisms, especially those with little inertia, it is not necessary.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Create a new SimpleMotorFeedforward with gains kS, kV, and kA
     SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(kS, kV, kA);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Create a new SimpleMotorFeedforward with gains kS, kV, and kA
     // Distance is measured in meters
@@ -52,15 +52,15 @@ To calculate the feedforward, simply call the ``calculate()`` method with the de
 
 .. note:: The acceleration argument may be omitted from the ``calculate()`` call, and if it is, will default to a value of zero.  This should be done whenever there is not a clearly-defined acceleration setpoint.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Calculates the feedforward for a velocity of 10 units/second and an acceleration of 20 units/second^2
     // Units are determined by the units of the gains passed in at construction.
     feedforward.calculate(10, 20);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Calculates the feedforward for a velocity of 10 meters/second and an acceleration of 20 meters/second^2
     // Output is in volts
@@ -79,14 +79,14 @@ To create an ``ArmFeedforward``, simply construct it with the required gains:
 
 .. note:: The ``kA`` gain can be omitted, and if it is, will default to a value of zero.  For many mechanisms, especially those with little inertia, it is not necessary.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Create a new ArmFeedforward with gains kS, kG, kV, and kA
     ArmFeedforward feedforward = new ArmFeedforward(kS, kG, kV, kA);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Create a new ArmFeedforward with gains kS, kG, kV, and kA
     frc::ArmFeedforward feedforward(kS, kG, kV, kA);
@@ -95,16 +95,16 @@ To calculate the feedforward, simply call the ``calculate()`` method with the de
 
 .. note:: The acceleration argument may be omitted from the ``calculate()`` call, and if it is, will default to a value of zero.  This should be done whenever there is not a clearly-defined acceleration setpoint.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Calculates the feedforward for a position of 1 units, a velocity of 2 units/second, and
     // an acceleration of 3 units/second^2
     // Units are determined by the units of the gains passed in at construction.
     feedforward.calculate(1, 2, 3);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Calculates the feedforward for a position of 1 radians, a velocity of 2 radians/second, and
     // an acceleration of 3 radians/second^2
@@ -124,14 +124,14 @@ To create a ``ElevatorFeedforward``, simply construct it with the required gains
 
 .. note:: The ``kA`` gain can be omitted, and if it is, will default to a value of zero.  For many mechanisms, especially those with little inertia, it is not necessary.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Create a new ElevatorFeedforward with gains kS, kG, kV, and kA
     ElevatorFeedforward feedforward = new ElevatorFeedforward(kS, kG, kV, kA);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Create a new ElevatorFeedforward with gains kS, kV, and kA
     // Distance is measured in meters
@@ -141,16 +141,16 @@ To calculate the feedforward, simply call the ``calculate()`` method with the de
 
 .. note:: The acceleration argument may be omitted from the ``calculate()`` call, and if it is, will default to a value of zero.  This should be done whenever there is not a clearly-defined acceleration setpoint.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Calculates the feedforward for a velocity of 20 units/second
     // and an acceleration of 30 units/second^2
     // Units are determined by the units of the gains passed in at construction.
     feedforward.calculate(20, 30);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Calculates the feedforward for a velocity of 20 meters/second
     // and an acceleration of 30 meters/second^2
@@ -164,16 +164,16 @@ Using Feedforward to Control Mechanisms
 
 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:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     public void tankDriveWithFeedforward(double leftVelocity, double rightVelocity) {
       leftMotor.setVoltage(feedforward.calculate(leftVelocity));
       rightMotor.setVoltage(feedForward.calculate(rightVelocity));
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     void TankDriveWithFeedforward(units::meters_per_second_t leftVelocity,
                                   units::meters_per_second_t rightVelocity) {
diff --git a/source/docs/software/advanced-controls/controllers/pidcontroller.rst b/source/docs/software/advanced-controls/controllers/pidcontroller.rst
index 606da04750..ecdae1ff17 100644
--- a/source/docs/software/advanced-controls/controllers/pidcontroller.rst
+++ b/source/docs/software/advanced-controls/controllers/pidcontroller.rst
@@ -17,14 +17,14 @@ Constructing a PIDController
 
 In order to use WPILib's PID control functionality, users must first construct a ``PIDController`` object with the desired gains:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Creates a PIDController with gains kP, kI, and kD
     PIDController pid = new PIDController(kP, kI, kD);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a PIDController with gains kP, kI, and kD
     frc::PIDController pid{kP, kI, kD};
@@ -38,15 +38,15 @@ Using the Feedback Loop Output
 
 Using the constructed ``PIDController`` is simple: simply call the ``calculate()`` method from the robot's main loop (e.g. the robot's ``autonomousPeriodic()`` method):
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Calculates the output of the PID algorithm based on the sensor reading
     // and sends it to a motor
     motor.set(pid.calculate(encoder.getDistance(), setpoint));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Calculates the output of the PID algorithm based on the sensor reading
     // and sends it to a motor
@@ -72,9 +72,9 @@ Occasionally, it is useful to know if a controller has tracked the setpoint to w
 
 To do this, we first must specify the tolerances with the ``setTolerance()`` method; then, we can check it with the ``atSetpoint()`` method.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Sets the error tolerance to 5, and the error derivative tolerance to 10 per second
     pid.setTolerance(5, 10);
@@ -83,7 +83,7 @@ To do this, we first must specify the tolerances with the ``setTolerance()`` met
     // error derivative is less than 10 units
     pid.atSetpoint();
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Sets the error tolerance to 5, and the error derivative tolerance to 10 per second
     pid.SetTolerance(5, 10);
@@ -108,15 +108,15 @@ By default, the total output contribution from the integral gain is limited to b
 
 The range limits may be increased or decreased using the ``setIntegratorRange()`` method.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // The integral gain term will never add or subtract more than 0.5 from
     // the total loop output
     pid.setIntegratorRange(-0.5, 0.5);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // The integral gain term will never add or subtract more than 0.5 from
     // the total loop output
@@ -131,9 +131,9 @@ By default, ``IZone`` is disabled.
 
 ``IZone`` may be set using the ``setIZone()`` method. To disable it, set it to infinity.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Disable IZone
     pid.setIZone(Double.POSITIVE_INFINITY);
@@ -142,7 +142,7 @@ By default, ``IZone`` is disabled.
     // more than 2
     pid.setIZone(2);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Disable IZone
     pid.SetIZone(std::numeric_limits<double>::infinity());
@@ -162,14 +162,14 @@ Some process variables (such as the angle of a turret) are measured on a circula
 
 To configure a ``PIDController`` to automatically do this, use the ``enableContinuousInput()`` method:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Enables continuous input on a range from -180 to 180
     pid.enableContinuousInput(-180, 180);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Enables continuous input on a range from -180 to 180
     pid.EnableContinuousInput(-180, 180);
@@ -177,14 +177,14 @@ To configure a ``PIDController`` to automatically do this, use the ``enableConti
 Clamping Controller Output
 --------------------------
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Clamps the controller output to between -0.5 and 0.5
     MathUtil.clamp(pid.calculate(encoder.getDistance(), setpoint), -0.5, 0.5);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Clamps the controller output to between -0.5 and 0.5
     std::clamp(pid.Calculate(encoder.GetDistance(), setpoint), -0.5, 0.5);
diff --git a/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst b/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
index 0502a2a0f1..3a3b237471 100644
--- a/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
+++ b/source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
@@ -22,9 +22,9 @@ Constructing a ProfiledPIDController
 
 Creating a ``ProfiledPIDController`` is nearly identical to :ref:`creating a PIDController <docs/software/advanced-controls/controllers/pidcontroller:Constructing a PIDController>`.  The only difference is the need to supply a set of :ref:`trapezoidal profile constraints <docs/software/advanced-controls/controllers/trapezoidal-profiles:Constraints>`, which will be automatically forwarded to the internally-generated ``TrapezoidProfile`` instances:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Creates a ProfiledPIDController
     // Max velocity is 5 meters per second
@@ -33,7 +33,7 @@ Creating a ``ProfiledPIDController`` is nearly identical to :ref:`creating a PID
       kP, kI, kD,
       new TrapezoidProfile.Constraints(5, 10));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a ProfiledPIDController
     // Max velocity is 5 meters per second
@@ -47,15 +47,15 @@ Goal vs Setpoint
 
 A major difference between a standard ``PIDController`` and a ``ProfiledPIDController`` is that the actual *setpoint* of the control loop is not directly specified by the user.  Rather, the user specifies a *goal* position or state, and the setpoint for the controller is computed automatically from the generated motion profile between the current state and the goal.  So, while the user-side call looks mostly identical:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Calculates the output of the PID algorithm based on the sensor reading
     // and sends it to a motor
     motor.set(controller.calculate(encoder.getDistance(), goal));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Calculates the output of the PID algorithm based on the sensor reading
     // and sends it to a motor
@@ -70,9 +70,9 @@ Since the ``ProfiledPIDController`` goal differs from the setpoint, is if often
 
 The returned setpoint might then be used as in the following example:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     double lastSpeed = 0;
     double lastTime = Timer.getFPGATimestamp();
@@ -89,7 +89,7 @@ The returned setpoint might then be used as in the following example:
       lastTime = Timer.getFPGATimestamp();
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     units::meters_per_second_t lastSpeed = 0_mps;
     units::second_t lastTime = frc2::Timer::GetFPGATimestamp();
@@ -112,20 +112,18 @@ Complete Usage Example
 
 A more complete example of ``ProfiledPIDController`` usage is provided in the ElevatorProfilePID example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp>`__):
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
+    :language: java
+    :lines: 5-
+    :linenos:
+    :lineno-start: 5
 
-  .. group-tab:: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
+    :language: c++
+    :lines: 5-
+    :linenos:
+    :lineno-start: 5
diff --git a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
index 0df1d24f31..0abeac8972 100644
--- a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
+++ b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
@@ -25,16 +25,16 @@ 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/beta/java/edu/wpi/first/math/trajectory/TrapezoidProfile.Constraints.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_trapezoid_profile_1_1_constraints.html>`__):
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Creates a new set of trapezoidal motion profile constraints
     // Max velocity of 10 meters per second
     // Max acceleration of 20 meters per second squared
     new TrapezoidProfile.Constraints(10, 20);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a new set of trapezoidal motion profile constraints
     // Max velocity of 10 meters per second
@@ -46,15 +46,15 @@ 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/beta/java/edu/wpi/first/math/trajectory/TrapezoidProfile.State.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_trapezoid_profile_1_1_state.html>`__).  Each state has a position and a velocity:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Creates a new state with a position of 5 meters
     // and a velocity of 0 meters per second
     new TrapezoidProfile.State(5, 0);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a new state with a position of 5 meters
     // and a velocity of 0 meters per second
@@ -67,16 +67,16 @@ Putting It All Together
 
 Now that we know how to create a set of constraints and the desired start/end states, we are ready to create our motion profile.  The ``TrapezoidProfile`` constructor takes 1 parameter: the constraints.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // 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
     TrapezoidProfile profile = new TrapezoidProfile(new TrapezoidProfile.Constraints(5, 10));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a new TrapezoidProfile
     // Profile will have a max vel of 5 meters per second
@@ -92,16 +92,16 @@ Sampling the Profile
 
 Once we've created a ``TrapezoidProfile``, using it is very simple: to get the profile state at the given time after the profile has started, call the ``calculate()`` method with the goal state and initial state:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Profile will end stationary at 5 meters
     // Profile will start stationary at zero position
     // Returns the motion profile state after 5 seconds of motion
     profile.calculate(5, new TrapezoidProfile.State(5, 0), new TrapezoidProfile.State(0, 0));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Profile will end stationary at 5 meters
     // Profile will start stationary at zero position
@@ -115,14 +115,14 @@ Using the State
 
 The ``calculate`` method returns a ``TrapezoidProfile.State`` class (the same one that was used to specify the initial/end states when calculating the profile state).  To use this for actual control, simply pass the contained position and velocity values to whatever controller you wish (for example, a PIDController):
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     var setpoint = profile.calculate(elapsedTime, goalState, initialState);
     controller.calculate(encoder.getDistance(), setpoint.position);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     auto setpoint = profile.Calculate(elapsedTime, goalState, initialState);
     controller.Calculate(encoder.GetDistance(), setpoint.position.value());
@@ -134,20 +134,18 @@ Complete Usage Example
 
 A more complete example of ``TrapezoidProfile`` usage is provided in the ElevatorTrapezoidProfile example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp>`__):
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/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/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+    :language: c++
+    :lines: 5-
+    :linenos:
+    :lineno-start: 5
diff --git a/source/docs/software/advanced-controls/filters/debouncer.rst b/source/docs/software/advanced-controls/filters/debouncer.rst
index e747fe9f31..97066a3a59 100644
--- a/source/docs/software/advanced-controls/filters/debouncer.rst
+++ b/source/docs/software/advanced-controls/filters/debouncer.rst
@@ -17,9 +17,9 @@ The WPILib ``Debouncer`` can be configured in three different modes:
 Usage
 -----
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Initializes a DigitalInput on DIO 0
     DigitalInput input = new DigitalInput(0);
@@ -32,7 +32,7 @@ Usage
         // Do something now that the DI is True.
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Initializes a DigitalInput on DIO 0
     frc::DigitalInput input{0};
diff --git a/source/docs/software/advanced-controls/filters/linear-filter.rst b/source/docs/software/advanced-controls/filters/linear-filter.rst
index 363a8abad9..c506d52fdd 100644
--- a/source/docs/software/advanced-controls/filters/linear-filter.rst
+++ b/source/docs/software/advanced-controls/filters/linear-filter.rst
@@ -30,16 +30,16 @@ singlePoleIIR
 
 The ``singlePoleIIR()`` factory method creates a single-pole infinite impulse response filter which performs :term:`exponential smoothing`. This is the "go-to," "first-try" low-pass filter in most applications; it is computationally trivial and works in most cases.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // 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
     LinearFilter filter = LinearFilter.singlePoleIIR(0.1, 0.02);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a new Single-Pole IIR filter
     // Time constant is 0.1 seconds
@@ -58,15 +58,15 @@ movingAverage
 
 The ``movingAverage`` factory method creates a simple flat moving average filter.  This is the simplest possible low-pass FIR filter, and is useful in many of the same contexts as the single-pole IIR filter.  It is somewhat more costly to compute, but generally behaves in a somewhat nicer manner.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Creates a new flat moving average filter
     // Average will be taken over the last 5 samples
     LinearFilter filter = LinearFilter.movingAverage(5);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a new flat moving average filter
     // Average will be taken over the last 5 samples
@@ -82,16 +82,16 @@ highPass
 
 The ``highPass`` factory method creates a simple first-order infinite impulse response high-pass filter.  This is the "counterpart" to the `singlePoleIIR`_.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // 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
     LinearFilter filter = LinearFilter.highPass(0.1, 0.02);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a new high-pass IIR filter
     // Time constant is 0.1 seconds
@@ -109,14 +109,14 @@ Using a LinearFilter
 
 Once your filter has been created, using it is easy - simply call the ``calculate()`` method with the most recent input to obtain the filtered output:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Calculates the next value of the output
     filter.calculate(input);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Calculates the next value of the output
     filter.Calculate(input);
diff --git a/source/docs/software/advanced-controls/filters/median-filter.rst b/source/docs/software/advanced-controls/filters/median-filter.rst
index 342ac1addf..8392fbf656 100644
--- a/source/docs/software/advanced-controls/filters/median-filter.rst
+++ b/source/docs/software/advanced-controls/filters/median-filter.rst
@@ -19,14 +19,14 @@ Creating a MedianFilter
 
 Creating a ``MedianFilter`` is simple:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Creates a MedianFilter with a window size of 5 samples
     MedianFilter filter = new MedianFilter(5);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a MedianFilter with a window size of 5 samples
     frc::MedianFilter<double> filter(5);
@@ -36,14 +36,14 @@ Using a MedianFilter
 
 Once your filter has been created, using it is easy - simply call the ``calculate()`` method with the most recent input to obtain the filtered output:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Calculates the next value of the output
     filter.calculate(input);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Calculates the next value of the output
     filter.Calculate(input);
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 6bfe58b4f0..f6876f9918 100644
--- a/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst
+++ b/source/docs/software/advanced-controls/filters/slew-rate-limiter.rst
@@ -18,14 +18,14 @@ Creating a SlewRateLimiter
 
 Creating a SlewRateLimiter is simple:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 units per second
     SlewRateLimiter filter = new SlewRateLimiter(0.5);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Creates a SlewRateLimiter that limits the rate of change of the signal to 0.5 volts per second
     frc::SlewRateLimiter<units::volts> filter{0.5_V / 1_s};
@@ -35,14 +35,14 @@ Using a SlewRateLimiter
 
 Once your filter has been created, using it is easy - simply call the ``calculate()`` method with the most recent input to obtain the filtered output:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Calculates the next value of the output
     filter.calculate(input);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Calculates the next value of the output
     filter.Calculate(input);
@@ -54,9 +54,9 @@ Using a SlewRateLimiter with DifferentialDrive
 
 A typical use of a SlewRateLimiter is to limit the acceleration of a robot's drive.  This can be especially handy for robots that are very top-heavy, or that have very powerful drives.  To do this, apply a SlewRateLimiter to a value passed into your robot drive function:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Ordinary call with no ramping applied
     drivetrain.arcadeDrive(forward, turn);
@@ -64,7 +64,7 @@ A typical use of a SlewRateLimiter is to limit the acceleration of a robot's dri
     // Slew-rate limits the forward/backward input, limiting forward/backward acceleration
     drivetrain.arcadeDrive(filter.calculate(forward), turn);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Ordinary call with no ramping applied
     drivetrain.ArcadeDrive(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 34a16bdf41..ffd0f2a26d 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
@@ -18,16 +18,16 @@ Reliable data of the :term:`system's <system>` :term:`state`\s, :term:`input`\s
 
 .. danger:: This will send extra data (at up to 100hz) over NetworkTables, which can cause lag with both user code and robot dashboards. This will also increase network utilization. It is often a good idea to disable this during competitions.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       @Override
       public void robotPeriodic() {
          NetworkTableInstance.getDefault().flush();
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       void RobotPeriodic() {
          NetworkTableInstance::GetDefault().Flush();
diff --git a/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst b/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
index 68dde023aa..6ad88d9a5f 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
@@ -65,9 +65,9 @@ The second part of state-space notation relates the system's current :term:`stat
 
 The ``LinearSystem`` class contains methods for easily creating state-space systems identified using :term:`system identification`. This example shows a flywheel model with a kV of 0.023 and a kA of 0.001:
 
-.. tabs::
-
-   .. group-tab:: Java
+.. tab-set::
+   .. tab-item:: JAVA
+      :sync: java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
          :language: java
@@ -75,19 +75,22 @@ The ``LinearSystem`` class contains methods for easily creating state-space syst
          :linenos:
          :lineno-start: 33
 
-   .. group-tab:: C++
+
+   .. tab-item:: C++
+      :sync: cpp
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
-         :lines: 17-17
-         :linenos:
+         :lines: 17
+         :linenos: 
          :lineno-start: 17
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
          :lines: 30-46
-         :linenos:
-         :lineno-start: 32
+         :linenos: 
+         :lineno-start: 30
+
 
 Modeling Using Flywheel Moment of Inertia and Gearing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -100,9 +103,10 @@ The ``LinearSystem`` class contains methods to easily create a model of a flywhe
 
 .. note:: The C++ LinearSystem class uses :ref:`the C++ Units Library <docs/software/basic-programming/cpp-units:The C++ Units Library>` to prevent unit mixups and assert dimensionality.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: JAVA
+      :sync: java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
@@ -110,7 +114,8 @@ The ``LinearSystem`` class contains methods to easily create a model of a flywhe
          :linenos:
          :lineno-start: 34
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
@@ -120,7 +125,7 @@ The ``LinearSystem`` class contains methods to easily create a model of a flywhe
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
-         :lines: 31-46
+         :lines: 17,31-46
          :linenos:
          :lineno-start: 31
 
@@ -138,9 +143,10 @@ The above graph shows two differently tuned Kalman filters, as well as a :ref:`s
 
 Because the feedback controller computes error using the :term:`x-hat` estimated by the Kalman filter, the controller will react to disturbances only as quickly the filter's state estimate changes. In the above chart, the upper left plot (with a state standard deviation of 3.0 and measurement standard deviation of 0.2) produced a filter that reacted quickly to disturbances while rejecting noise, while the upper right plot shows a filter that was barely affected by the velocity dips.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: JAVA
+      :sync: java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
@@ -148,7 +154,8 @@ Because the feedback controller computes error using the :term:`x-hat` estimated
          :linenos:
          :lineno-start: 59
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
@@ -173,9 +180,10 @@ Linear-Quadratic Regulators and Plant Inversion Feedforward
 
 Much like ``SimpleMotorFeedforward`` can be used to generate feedforward voltage inputs given kS, kV, and kA constants, the Plant Inversion Feedforward class generate :ref:`feedforward <docs/software/advanced-controls/state-space/state-space-intro:Visualizing Feedforward>` voltage inputs given a state-space system. The voltage commands generated by the ``LinearSystemLoop`` class are the sum of the feedforward and feedback inputs.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: JAVA
+      :sync: java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
@@ -183,7 +191,8 @@ Much like ``SimpleMotorFeedforward`` can be used to generate feedforward voltage
          :linenos:
          :lineno-start: 60
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
@@ -202,9 +211,10 @@ Bringing it All Together: LinearSystemLoop
 
 LinearSystemLoop combines our system, controller, and observer that we created earlier. The constructor shown will also instantiate a ``PlantInversionFeedforward``.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: JAVA
+      :sync: java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
@@ -212,7 +222,8 @@ LinearSystemLoop combines our system, controller, and observer that we created e
          :linenos:
          :lineno-start: 73
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
@@ -228,9 +239,10 @@ LinearSystemLoop combines our system, controller, and observer that we created e
 
 Once we have our ``LinearSystemLoop``, the only thing left to do is actually run it. To do that, we'll periodically update our Kalman filter with our new encoder velocity measurements and apply new voltage commands to it. To do that, we first set the :term:`reference`, then ``correct`` with the current flywheel speed, ``predict`` the Kalman filter into the next timestep, and apply the inputs generated using ``getU``.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: JAVA
+      :sync: java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
@@ -238,7 +250,8 @@ Once we have our ``LinearSystemLoop``, the only thing left to do is actually run
          :linenos:
          :lineno-start: 96
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
@@ -257,20 +270,16 @@ Angle Wrap with LQR
 
 Mechanisms with a continuous angle can have that angle wrapped by calling the code below instead of ``lqr.Calculate(x, r)``.
 
-.. tabs::
-
-   .. group-tab:: Java
-
-      .. code-block:: Java
+.. tab-set-code::
 
-         var error = lqr.getR().minus(x);
-         error.set(0, 0, MathUtil.angleModulus(error.get(0, 0)));
-         var u = lqr.getK().times(error);
+   .. code-block:: java
 
-   .. group-tab:: C++
+      var error = lqr.getR().minus(x);
+      error.set(0, 0, MathUtil.angleModulus(error.get(0, 0)));
+      var u = lqr.getK().times(error);
 
-      .. code-block:: C++
+   .. code-block:: cpp
 
-         Eigen::Vector<double, 2> error = lqr.R() - x;
-         error(0) = frc::AngleModulus(units::radian_t{error(0)}).value();
-         Eigen::Vector<double, 2> u = lqr.K() * error;
+      Eigen::Vector<double, 2> error = lqr.R() - x;
+      error(0) = frc::AngleModulus(units::radian_t{error(0)}).value();
+      Eigen::Vector<double, 2> u = lqr.K() * error;
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 243fe07f06..a943e30dc0 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
@@ -170,36 +170,34 @@ Similarly, decreasing the :math:`\mathbf{q}` elements would make the LQR penaliz
 
 For example, we might use the following Q and R for an elevator system with position and velocity states.
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. code-block:: Java
+   .. code-block:: Java
 
-         // Example system -- must be changed to match your robot.
-         LinearSystem<N2, N1, N1> elevatorSystem = LinearSystemId.identifyPositionSystem(5, 0.5);
-         LinearQuadraticRegulator<N2, N1, N1> controller = new LinearQuadraticRegulator(elevatorSystem,
-             // q's elements
-             VecBuilder.fill(0.02, 0.4),
-             // r's elements
-             VecBuilder.fill(12.0),
-             // our dt
-             0.020);
+      // Example system -- must be changed to match your robot.
+      LinearSystem<N2, N1, N1> elevatorSystem = LinearSystemId.identifyPositionSystem(5, 0.5);
+      LinearQuadraticRegulator<N2, N1, N1> controller = new LinearQuadraticRegulator(elevatorSystem,
+            // q's elements
+            VecBuilder.fill(0.02, 0.4),
+            // r's elements
+            VecBuilder.fill(12.0),
+            // our dt
+            0.020);
 
-   .. group-tab:: C++
 
-      .. code-block:: C++
+   .. code-block:: 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};
+      // 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};
 
 LQR: example application
 ^^^^^^^^^^^^^^^^^^^^^^^^
@@ -241,15 +239,15 @@ Multiplying :math:`\mathbf{K}` by :math:`\mathbf{A} - \mathbf{BK}` essentially a
 
 The code below shows how to adjust the LQR controller's K gain for sensor input delays:
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       // Adjust our LQR's controller for 25 ms of sensor input delay. We
       // provide the linear system, discretization timestep, and the sensor
       // input delay as arguments.
       controller.latencyCompensate(elevatorSystem, 0.02, 0.025);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Adjust our LQR's controller for 25 ms of sensor input delay. We
       // provide the linear system, discretization timestep, and the sensor
diff --git a/source/docs/software/advanced-controls/state-space/state-space-observers.rst b/source/docs/software/advanced-controls/state-space/state-space-observers.rst
index b0f96a7168..8edeb056e5 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-observers.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-observers.rst
@@ -96,9 +96,8 @@ Tuning Kalman Filters
 
 WPILib's Kalman Filter classes' constructors take a linear system, a vector of process noise standard deviations and measurement noise standard deviations. These are converted to :math:`\mathbf{Q}` and :math:`\mathbf{R}` matrices by filling the diagonals with the square of the standard deviations, or variances, of each state or measurement. By decreasing a state's standard deviation (and therefore its corresponding entry in :math:`\mathbf{Q}`), the filter will distrust incoming measurements more. Similarly, increasing a state's standard deviation will trust incoming measurements more. The same holds for the measurement standard deviations -- decreasing an entry will make the filter more highly trust the incoming measurement for the corresponding state, while increasing it will decrease trust in the measurement.
 
-.. tabs::
-
-   .. group-tab:: Java
+.. tab-set::
+   .. tab-item:: Java 
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
@@ -106,7 +105,7 @@ WPILib's Kalman Filter classes' constructors take a linear system, a vector of p
          :linenos:
          :lineno-start: 49
 
-   .. group-tab:: C++
+   .. tab-item:: C++
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
          :language: cpp
diff --git a/source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst b/source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst
index c2a4329765..61c49b6146 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-pose-estimators.rst
@@ -7,63 +7,57 @@ Pose estimators estimate robot position using a state-space system with the stat
 
 Here's how to initialize a ``DifferentialDrivePoseEstimator``:
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
-      :language: java
-      :lines: 87-95
-      :linenos:
-      :lineno-start: 87
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+    :language: java
+    :lines: 87-95
+    :linenos:
+    :lineno-start: 87
 
-  .. group-tab:: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
-      :language: c++
-      :lines: 158-165
-      :linenos:
-      :lineno-start: 158
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
+    :language: c++
+    :lines: 158-165
+    :linenos:
+    :lineno-start: 158
 
 Add odometry measurements every loop by calling ``Update()``.
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
-      :language: java
-      :lines: 234-235
-      :linenos:
-      :lineno-start: 234
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+    :language: java
+    :lines: 234-235
+    :linenos:
+    :lineno-start: 234
 
-  .. group-tab:: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
-      :language: c++
-      :lines: 84-86
-      :linenos:
-      :lineno-start: 84
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+    :language: c++
+    :lines: 84-86
+    :linenos:
+    :lineno-start: 84
 
 Add vision pose measurements occasionally by calling ``AddVisionMeasurement()``.
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
-      :language: java
-      :lines: 243-252
-      :linenos:
-      :lineno-start: 243
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
+    :language: java
+    :lines: 243-252
+    :linenos:
+    :lineno-start: 243
 
-  .. group-tab:: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
-      :language: c++
-      :lines: 93-106
-      :linenos:
-      :lineno-start: 93
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+    :language: c++
+    :lines: 93-106
+    :linenos:
+    :lineno-start: 93
 
 Tuning Pose Estimators
 ----------------------
diff --git a/source/docs/software/advanced-controls/trajectories/constraints.rst b/source/docs/software/advanced-controls/trajectories/constraints.rst
index 7423d2b0d9..a638f7a8eb 100644
--- a/source/docs/software/advanced-controls/trajectories/constraints.rst
+++ b/source/docs/software/advanced-controls/trajectories/constraints.rst
@@ -23,9 +23,9 @@ Creating a Custom Constraint
 ----------------------------
 Users can create their own constraint by implementing the ``TrajectoryConstraint`` interface.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       @Override
       public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
@@ -40,7 +40,7 @@ Users can create their own constraint by implementing the ``TrajectoryConstraint
         // code here
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       units::meters_per_second_t MaxVelocity(
       const Pose2d& pose, units::curvature_t curvature,
diff --git a/source/docs/software/advanced-controls/trajectories/holonomic.rst b/source/docs/software/advanced-controls/trajectories/holonomic.rst
index 842729aed3..4ac38b8a0c 100644
--- a/source/docs/software/advanced-controls/trajectories/holonomic.rst
+++ b/source/docs/software/advanced-controls/trajectories/holonomic.rst
@@ -12,8 +12,8 @@ The 2 PID controllers are controllers that should correct for error in the field
 
 The final parameter is a ``ProfiledPIDController`` for the rotation of the robot. Because the rotation dynamics of a holonomic drivetrain are decoupled from movement in the x and y directions, users can set custom heading references while following a trajectory. These heading references are profiled according to the parameters set in the ``ProfiledPIDController``.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       var controller = new HolonomicDriveController(
         new PIDController(1, 0, 0), new PIDController(1, 0, 0),
@@ -23,7 +23,7 @@ The final parameter is a ``ProfiledPIDController`` for the rotation of the robot
       // of 1 rotation per second and a max acceleration of 180 degrees
       // per second squared.
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       frc::HolonomicDriveController controller{
         frc::PIDController{1, 0, 0}, frc::PIDController{1, 0, 0},
@@ -42,8 +42,8 @@ The holonomic drive controller returns "adjusted velocities" such that when the
 
 The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Java) method. There are two overloads for this method. Both of these overloads accept the current robot position as the first parameter and the desired heading as the last parameter. For the middle parameters, one overload accepts the desired pose and the linear velocity reference while the other accepts a ``Trajectory.State`` object, which contains information about the goal pose. The latter method is preferred for tracking trajectories.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       // Sample the trajectory at 3.4 seconds from the beginning.
       Trajectory.State goal = trajectory.sample(3.4);
@@ -53,7 +53,7 @@ The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Jav
       ChassisSpeeds adjustedSpeeds = controller.calculate(
         currentRobotPose, goal, Rotation2d.fromDegrees(70.0));
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Sample the trajectoty at 3.4 seconds from the beginning.
       const auto goal = trajectory.Sample(3.4_s);
@@ -69,8 +69,8 @@ The adjusted velocities are of type ``ChassisSpeeds``, which contains a ``vx`` (
 
 The returned adjusted speeds can be converted into usable speeds using the kinematics classes for your drivetrain type. In the example code below, we will assume a swerve drive robot; however, the kinematics code is exactly the same for a mecanum drive robot except using ``MecanumDriveKinematics``.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(adjustedSpeeds);
 
@@ -79,7 +79,7 @@ The returned adjusted speeds can be converted into usable speeds using the kinem
       SwerveModuleState backLeft = moduleStates[2];
       SwerveModuleState backRight = moduleStates[3];
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(adjustedSpeeds);
 
diff --git a/source/docs/software/advanced-controls/trajectories/manipulating-trajectories.rst b/source/docs/software/advanced-controls/trajectories/manipulating-trajectories.rst
index 83344eda4b..a673e19f6d 100644
--- a/source/docs/software/advanced-controls/trajectories/manipulating-trajectories.rst
+++ b/source/docs/software/advanced-controls/trajectories/manipulating-trajectories.rst
@@ -7,14 +7,14 @@ Getting the total duration of the trajectory
 Because all trajectories have timestamps at each point, the amount of time it should take for a robot to traverse the entire trajectory is pre-determined. The ``TotalTime()`` (C++) / ``getTotalTimeSeconds()`` (Java) method can be used to determine the time it takes to traverse the trajectory.
 
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Get the total time of the trajectory in seconds
       double duration = trajectory.getTotalTimeSeconds();
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Get the total time of the trajectory
       units::second_t duration = trajectory.TotalTime();
@@ -23,15 +23,15 @@ Sampling the trajectory
 -----------------------
 The trajectory can be sampled at various timesteps to get the pose, velocity, and acceleration at that point. The ``Sample(units::second_t time)`` (C++) / ``sample(double timeSeconds)`` (Java) method can be used to sample the trajectory at any timestep. The parameter refers to the amount of time passed since 0 seconds (the starting point of the trajectory). This method returns a ``Trajectory::Sample`` with information about that sample point.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Sample the trajectory at 1.2 seconds. This represents where the robot
       // should be after 1.2 seconds of traversal.
       Trajectory.Sample point = trajectory.sample(1.2);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Sample the trajectory at 1.2 seconds. This represents where the robot
       // should be after 1.2 seconds of traversal.
diff --git a/source/docs/software/advanced-controls/trajectories/ramsete.rst b/source/docs/software/advanced-controls/trajectories/ramsete.rst
index e623ab1727..a715e49a09 100644
--- a/source/docs/software/advanced-controls/trajectories/ramsete.rst
+++ b/source/docs/software/advanced-controls/trajectories/ramsete.rst
@@ -8,8 +8,8 @@ The Ramsete controller should be initialized with two gains, namely ``b`` and ``
 
 .. note:: Gains of ``2.0`` and ``0.7`` for ``b`` and ``zeta`` have been tested repeatedly to produce desirable results when all units were in meters. As such, a zero-argument constructor for ``RamseteController`` exists with gains defaulted to these values.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       // Using the default constructor of RamseteController. Here
       // the gains are initialized to 2.0 and 0.7.
@@ -19,7 +19,7 @@ The Ramsete controller should be initialized with two gains, namely ``b`` and ``
       // the user can choose any other gains.
       RamseteController controller2 = new RamseteController(2.1, 0.8);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Using the default constructor of RamseteController. Here
       // the gains are initialized to 2.0 and 0.7.
@@ -37,15 +37,15 @@ The Ramsete controller returns "adjusted velocities" so that the when the robot
 
 The controller can be updated using the ``Calculate`` (C++) / ``calculate`` (Java) method. There are two overloads for this method. Both of these overloads accept the current robot position as the first parameter. For the other parameters, one of these overloads takes in the goal as three separate parameters (pose, linear velocity, and angular velocity) whereas the other overload accepts a ``Trajectory.State`` object, which contains information about the goal pose. For its ease, users should use the latter method when tracking trajectories.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       Trajectory.State goal = trajectory.sample(3.4); // sample the trajectory at 3.4 seconds from the beginning
       ChassisSpeeds adjustedSpeeds = controller.calculate(currentRobotPose, goal);
 
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       const Trajectory::State goal = trajectory.Sample(3.4_s); // sample the trajectory at 3.4 seconds from the beginning
       ChassisSpeeds adjustedSpeeds = controller.Calculate(currentRobotPose, goal);
@@ -58,16 +58,16 @@ The adjusted velocities are of type ``ChassisSpeeds``, which contains a ``vx`` (
 
 The returned adjusted speeds can be converted to usable speeds using the kinematics classes for your drivetrain type. For example, the adjusted velocities can be converted to left and right velocities for a differential drive using a ``DifferentialDriveKinematics`` object.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       ChassisSpeeds adjustedSpeeds = controller.calculate(currentRobotPose, goal);
       DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(adjustedSpeeds);
       double left = wheelSpeeds.leftMetersPerSecond;
       double right = wheelSpeeds.rightMetersPerSecond;
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       ChassisSpeeds adjustedSpeeds = controller.Calculate(currentRobotPose, goal);
       DifferentialDriveWheelSpeeds wheelSpeeds = kinematics.ToWheelSpeeds(adjustedSpeeds);
diff --git a/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst b/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst
index fee038136f..ba2199d687 100644
--- a/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst
+++ b/source/docs/software/advanced-controls/trajectories/trajectory-generation.rst
@@ -45,15 +45,15 @@ When using clamped cubic splines, the length of the array must be 2 (0th and 1st
 
 Here is an example of generating a trajectory using clamped cubic splines for the 2018 game, FIRST Power Up:
 
-.. tabs::
+.. tab-set::
 
-   .. tab:: Java
+   .. tab-item:: Java
 
       .. literalinclude:: examples/trajectory-generation-1/java/ExampleTrajectory.java
          :language: java
          :lines: 10-32
 
-   .. tab:: C++
+   .. tab-item:: C++
 
       .. literalinclude:: examples/trajectory-generation-1/cpp/ExampleTrajectory.cpp
          :language: cpp
@@ -70,9 +70,9 @@ Trajectories in Java can be combined into a single trajectory using the ``concat
 
 .. warning:: It is up to the user to ensure that the end of the initial and start of the appended trajectory match. It is also the user's responsibility to ensure that the start and end velocities of their trajectories match.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       var trajectoryOne =
       TrajectoryGenerator.generateTrajectory(
@@ -90,7 +90,7 @@ Trajectories in Java can be combined into a single trajectory using the ``concat
 
       var concatTraj = trajectoryOne.concatenate(trajectoryTwo);
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       auto trajectoryOne = frc::TrajectoryGenerator::GenerateTrajectory(
          frc::Pose2d(0_m, 0_m, 0_rad),
diff --git a/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst b/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst
index 6cbcaf5960..38b8d46bed 100644
--- a/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst
+++ b/source/docs/software/advanced-controls/trajectories/transforming-trajectories.rst
@@ -12,14 +12,14 @@ The ``relativeTo`` method is used to redefine an already existing trajectory in
 
 For example, a trajectory defined in coordinate system A can be redefined in coordinate system B, whose origin is at (3, 3, 30 degrees) in coordinate system A, using the ``relativeTo`` method.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       Pose2d bOrigin = new Pose2d(3, 3, Rotation2d.fromDegrees(30));
       Trajectory bTrajectory = aTrajectory.relativeTo(bOrigin);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       frc::Pose2d bOrigin{3_m, 3_m, frc::Rotation2d(30_deg)};
       frc::Trajectory bTrajectory = aTrajectory.RelativeTo(bOrigin);
@@ -36,14 +36,14 @@ The ``transformBy`` method can be used to move (i.e. translate and rotate) a tra
 
 For example, one may want to transform a trajectory that begins at (2, 2, 30 degrees) to make it begin at (4, 4, 50 degrees) using the ``transformBy`` method.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       Transform2d transform = new Pose2d(4, 4, Rotation2d.fromDegrees(50)).minus(trajectory.getInitialPose());
       Trajectory newTrajectory = trajectory.transformBy(transform);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       frc::Transform2d transform = Pose2d(4_m, 4_m, Rotation2d(50_deg)) - trajectory.InitialPose();
       frc::Trajectory newTrajectory = trajectory.TransformBy(transform);
diff --git a/source/docs/software/advanced-controls/trajectories/troubleshooting.rst b/source/docs/software/advanced-controls/trajectories/troubleshooting.rst
index eeaa00fe9d..f69d45b97a 100644
--- a/source/docs/software/advanced-controls/trajectories/troubleshooting.rst
+++ b/source/docs/software/advanced-controls/trajectories/troubleshooting.rst
@@ -60,9 +60,9 @@ If your odometry is bad, then your Ramsete controller may misbehave, because it
 
 1. Set up your code to record your robot's position after each odometry update:
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
     NetworkTableEntry m_xEntry = NetworkTableInstance.getDefault().getTable("troubleshooting").getEntry("X");
     NetworkTableEntry m_yEntry = NetworkTableInstance.getDefault().getTable("troubleshooting").getEntry("Y");
@@ -78,7 +78,7 @@ If your odometry is bad, then your Ramsete controller may misbehave, because it
         m_yEntry.setNumber(translation.getY());
     }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
     NetworkTableEntry m_xEntry = nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting")->GetEntry("X");
     NetworkTableEntry m_yEntry = nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting")->GetEntry("Y");
@@ -107,29 +107,27 @@ If your feedforwards are bad then the P controllers for each side of the robot w
 
 1. First, we must set disable the P controller for each wheel. Set the ``P`` gain to 0 for every controller. In the ``RamseteCommand`` example, you would set ``kPDriveVel`` to 0:
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
-      :language: java
-      :lines: 123-124
-      :linenos:
-      :lineno-start: 123
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+    :language: java
+    :lines: 123-124
+    :linenos:
+    :lineno-start: 123
 
-  .. group-tab:: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 79-80
-      :linenos:
-      :lineno-start: 81
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+    :language: c++
+    :lines: 79-80
+    :linenos:
+    :lineno-start: 81
 
-2. Next, we want to disable the Ramsete controller to make it easier to isolate our problematic behavior. To do so, simply call ``setEnabled(false)`` on the ``RamseteController`` passed into your ``RamseteCommand``:
+1. Next, we want to disable the Ramsete controller to make it easier to isolate our problematic behavior. To do so, simply call ``setEnabled(false)`` on the ``RamseteController`` passed into your ``RamseteCommand``:
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
     RamseteController m_disabledRamsete = new RamseteController();
     m_disabledRamsete.setEnabled(false);
@@ -142,7 +140,7 @@ If your feedforwards are bad then the P controllers for each side of the robot w
         ...
     );
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
     frc::RamseteController m_disabledRamsete;
     m_disabledRamsete.SetEnabled(false);
@@ -157,9 +155,9 @@ If your feedforwards are bad then the P controllers for each side of the robot w
 
 3. Finally, we need to log desired wheel velocity and actual wheel velocity (you should put actual and desired velocities on the same graph if you're using Shuffleboard, or if your graphing software has that capability):
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
     var table = NetworkTableInstance.getDefault().getTable("troubleshooting");
     var leftReference = table.getEntry("left_reference");
@@ -191,7 +189,7 @@ If your feedforwards are bad then the P controllers for each side of the robot w
         m_robotDrive
     );
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
     auto table =
         nt::NetworkTableInstance::GetDefault().GetTable("troubleshooting");
diff --git a/source/docs/software/basic-programming/git-getting-started.rst b/source/docs/software/basic-programming/git-getting-started.rst
index 7d145e57a5..0caf0a6347 100644
--- a/source/docs/software/basic-programming/git-getting-started.rst
+++ b/source/docs/software/basic-programming/git-getting-started.rst
@@ -104,9 +104,9 @@ If a directory is empty, a file needs to be created in order for git to have som
 
 .. note:: Replace the filepath ``"C:\Users\ExampleUser9007\Documents\Example Folder"`` with the one you want to create the repo in, and replace the remote URL ``https://github.com/ExampleUser9007/ExampleRepo.git`` with the URL for the repo you created in the previous steps.
 
-.. tabs::
+.. tab-set::
 
-   .. tab:: Empty Directory
+   .. tab-item:: Empty Directory
 
       .. code-block:: console
 
@@ -122,7 +122,7 @@ If a directory is empty, a file needs to be created in order for git to have som
          > git remote add origin https://github.com/ExampleUser9007/ExampleRepo.git
          > git push -u origin main
 
-   .. tab:: Existing Project
+   .. tab-item:: Existing Project
 
       .. code-block:: console
 
diff --git a/source/docs/software/basic-programming/joystick.rst b/source/docs/software/basic-programming/joystick.rst
index 8b8ffff17b..18207444cf 100644
--- a/source/docs/software/basic-programming/joystick.rst
+++ b/source/docs/software/basic-programming/joystick.rst
@@ -33,17 +33,17 @@ When the robot is connected to the Field Management System at competition, the D
    :alt: A Logitech flight stick with an explanation of the axis values and buttons.
 
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       Joystick exampleJoystick = new Joystick(0); // 0 is the USB Port to be used as indicated on the Driver Station
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       Joystick exampleJoystick{0}; // 0 is the USB Port to be used as indicated on the Driver Station
 
-   .. code-tab:: python
+   .. code-block:: python
 
       exampleJoystick = wpilib.Joystick(0) # 0 is the USB Port to be used as indicated on the Driver Station
 
@@ -55,17 +55,17 @@ The ``Joystick`` class is designed to make using a flight joystick to operate th
 .. image:: images/joystick/xbox.jpg
    :alt: Original Xbox Controller.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       XboxController exampleXbox = new XboxController(0); // 0 is the USB Port to be used as indicated on the Driver Station
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       XboxController exampleXbox{0}; // 0 is the USB Port to be used as indicated on the Driver Station
 
-   .. code-tab:: python
+   .. code-block:: python
 
       exampleXbox = wpilib.XboxController(0) # 0 is the USB Port to be used as indicated on the Driver Station
 
@@ -78,17 +78,17 @@ The ``XboxController`` class provides named methods (e.g. ``getXButton``, ``getX
    :alt: PlayStation 4 controller.
 
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       PS4Controller examplePS4 = new PS4Controller(0); // 0 is the USB Port to be used as indicated on the Driver Station
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       PS4Controller examplePS4{0}; // 0 is the USB Port to be used as indicated on the Driver Station
 
-   .. code-tab:: python
+   .. code-block:: python
 
       examplePS4 = wpilib.PS4Controller(0) # 0 is the USB Port to be used as indicated on the Driver Station
 
@@ -108,9 +108,9 @@ On joysticks, the POV is a directional hat that can select one of 8 different an
 
 An axis can be used with ``.getRawAxis(int index)`` (if not using any of the classes above) that returns the current value.  Zero and one in this example are each the index of an axis as found in the Driver Station mentioned above.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       private final PWMSparkMax m_leftMotor = new PWMSparkMax(Constants.kLeftMotorPort);
       private final PWMSparkMax m_rightMotor = new PWMSparkMax(Constants.kRightMotorPort);
@@ -119,7 +119,7 @@ An axis can be used with ``.getRawAxis(int index)`` (if not using any of the cla
 
       m_robotDrive.arcadeDrive(-m_stick.getRawAxis(0), m_stick.getRawAxis(1));
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       frc::PWMVictorSPX m_leftMotor{Constants::kLeftMotorPort};
       frc::PWMVictorSPX m_rightMotor{Constants::kRightMotorPort};
@@ -128,7 +128,7 @@ An axis can be used with ``.getRawAxis(int index)`` (if not using any of the cla
 
       m_robotDrive.ArcadeDrive(-m_stick.GetRawAxis(0), m_stick.GetRawAxis(1));
 
-   .. code-tab:: python
+   .. code-block:: python
 
       leftMotor = wpilib.PWMVictorSPX(LEFT_MOTOR_PORT)
       rightMotor = wpilib.PWMVictorSPX(RIGHT_MOTOR_PORT)
@@ -145,9 +145,9 @@ Button Usage
 
 Unlike an axis, you will usually want to use the ``pressed`` and ``released`` methods to respond to button input.  These will return true if the button has been activated since the last check.  This is helpful for taking an action once when the event occurs but not having to continuously do it while the button is held down.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       if (joystick.getRawButtonPressed(0)) {
          turnIntakeOn(); // When pressed the intake turns on
@@ -164,7 +164,7 @@ Unlike an axis, you will usually want to use the ``pressed`` and ``released`` me
          turnIntakeOff();
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       if (joystick.GetRawButtonPressed(0)) {
          turnIntakeOn(); // When pressed the intake turns on
@@ -181,7 +181,7 @@ Unlike an axis, you will usually want to use the ``pressed`` and ``released`` me
          turnIntakeOff();
       }
 
-   .. code-tab:: python
+   .. code-block:: python
 
       if joystick.getRawButtonPressed(0):
          turnIntakeOn() # When pressed the intake turns on
@@ -198,9 +198,9 @@ Unlike an axis, you will usually want to use the ``pressed`` and ``released`` me
 
 A common request is to toggle something on and off with the press of a button.  Toggles should be used with caution, as they require the user to keep track of the robot state.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       boolean toggle = false;
 
@@ -216,7 +216,7 @@ A common request is to toggle something on and off with the press of a button.
          }
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       bool toggle{false};
 
@@ -232,7 +232,7 @@ A common request is to toggle something on and off with the press of a button.
          }
       }
 
-   .. code-tab:: python
+   .. code-block:: python
 
       toggle = False
 
diff --git a/source/docs/software/basic-programming/reading-stacktraces.rst b/source/docs/software/basic-programming/reading-stacktraces.rst
index 2c7f37f45c..21f820171c 100644
--- a/source/docs/software/basic-programming/reading-stacktraces.rst
+++ b/source/docs/software/basic-programming/reading-stacktraces.rst
@@ -33,9 +33,9 @@ Read the Stack Trace
 
 To start, search above the ``unexpected error has occurred`` for the stack trace.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
 
 
       In Java, it should look something like this:
@@ -83,7 +83,7 @@ To start, search above the ``unexpected error has occurred`` for the stack trace
 
       In this case: ``robotInit`` called ``fooInit``, which in turn called ``barInit``, which in turn called ``buggyMethod``. Then, during the execution of ``buggyMethod``, the ``NullPointerException`` occurred.
 
-   .. group-tab:: C++
+   .. tab-item:: C++
 
       Java will usually produce stack traces automatically when programs run into issues. C++ will require more digging to extract the same info. Usually, a single-step debugger will need to be hooked up to the executing robot program.
 
@@ -166,42 +166,41 @@ Manipulating a "null" reference will produce a runtime error.
 
 For example, consider the following code:
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. code-block:: Java
-          :lineno-start: 19
+   .. code-block:: Java
+         :lineno-start: 19
 
-            PWMSparkMax armMotorCtrl;
+         PWMSparkMax armMotorCtrl;
 
-            @Override
-            public void robotInit() {
-                armMotorCtrl.setInverted(true);
-            }
+         @Override
+         public void robotInit() {
+               armMotorCtrl.setInverted(true);
+         }
 
-   .. group-tab:: C++
 
-      .. code-block:: C++
-         :lineno-start: 17
+   .. code-block:: C++
+      :lineno-start: 17
 
-         class Robot : public frc::TimedRobot {
-            public:
-               void RobotInit() override {
-                  motorRef->SetInverted(false);
-               }
+      class Robot : public frc::TimedRobot {
+         public:
+            void RobotInit() override {
+               motorRef->SetInverted(false);
+            }
 
-            private:
-               frc::PWMVictorSPX m_armMotor{0};
-               frc::PWMVictorSPX* motorRef;
-         };
+         private:
+            frc::PWMVictorSPX m_armMotor{0};
+            frc::PWMVictorSPX* motorRef;
+      };
 
 
 When run, you'll see output that looks like this:
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: tabcode-java
 
       .. code-block:: text
 
@@ -225,7 +224,8 @@ When run, you'll see output that looks like this:
 
       Alternatively, you can step through lines of code with the single step debugger, and stop when you hit line 23. Inspecting the ``armMotorCtrl`` object at that point would show that it is null.
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: tabcode-c++
 
       .. code-block:: text
 
@@ -251,37 +251,35 @@ Generally, you will want to ensure each reference has been initialized before us
 
 A functional implementation could look like this:
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. code-block:: Java
-          :lineno-start: 19
+   .. code-block:: Java
+         :lineno-start: 19
 
-            PWMSparkMax armMotorCtrl;
+         PWMSparkMax armMotorCtrl;
 
-            @Override
-            public void robotInit() {
-                armMotorCtrl = new PWMSparkMax(0);
-                armMotorCtrl.setInverted(true);
-            }
+         @Override
+         public void robotInit() {
+               armMotorCtrl = new PWMSparkMax(0);
+               armMotorCtrl.setInverted(true);
+         }
 
-   .. group-tab:: C++
 
-      .. code-block:: C++
-         :lineno-start: 17
+   .. code-block:: C++
+      :lineno-start: 17
 
-         class Robot : public frc::TimedRobot {
-            public:
-               void RobotInit() override {
-                  motorRef = &m_armMotor;
-                  motorRef->SetInverted(false);
-               }
+      class Robot : public frc::TimedRobot {
+         public:
+            void RobotInit() override {
+               motorRef = &m_armMotor;
+               motorRef->SetInverted(false);
+            }
 
-            private:
-               frc::PWMVictorSPX m_armMotor{0};
-               frc::PWMVictorSPX* motorRef;
-         };
+         private:
+            frc::PWMVictorSPX m_armMotor{0};
+            frc::PWMVictorSPX* motorRef;
+      };
 
 
 
@@ -292,47 +290,47 @@ It is not generally possible to divide an integer by zero, and expect reasonable
 
 For example, consider the following code:
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. code-block:: Java
-          :lineno-start: 18
+   .. code-block:: Java
+         :lineno-start: 18
 
-            int armLengthRatio;
-            int elbowToWrist_in = 39;
-            int shoulderToElbow_in = 0; //TODO
+         int armLengthRatio;
+         int elbowToWrist_in = 39;
+         int shoulderToElbow_in = 0; //TODO
 
-            @Override
-            public void robotInit() {
-               armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-            }
+         @Override
+         public void robotInit() {
+            armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
+         }
 
-   .. group-tab:: C++
 
-      .. code-block:: C++
-          :lineno-start: 17
+   .. code-block:: C++
+         :lineno-start: 17
 
-            class Robot : public frc::TimedRobot {
-               public:
-               void RobotInit() override {
-                  armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-               }
+         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
+            private:
+               int armLengthRatio;
+               int elbowToWrist_in = 39;
+               int shoulderToElbow_in = 0; //TODO
 
-            };
+         };
 
 When run, you'll see output that looks like this:
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: tabcode-java
 
       .. code-block:: text
+      
 
          ********** Robot program starting **********
          Error at frc.robot.Robot.robotInit(Robot.java:24): Unhandled exception: java.lang.ArithmeticException: / by zero
@@ -351,8 +349,8 @@ When run, you'll see output that looks like this:
 
       Alternatively, by running the single-step debugger and stopping on line 24, you could inspect the value of all variables to discover ``shoulderToElbow_in`` has a value of ``0``.
 
-   .. group-tab:: C++
-
+   .. tab-item:: C++
+      :sync: tabcode-c++
 
       .. code-block:: text
 
@@ -381,42 +379,39 @@ Sometimes, you just need to use a different number other than 0.
 
 A functional implementation could look like this:
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
+   .. code-block:: Java
+         :lineno-start: 18
 
-      .. code-block:: Java
-          :lineno-start: 18
+         int armLengthRatio;
+         int elbowToWrist_in = 39;
+         int shoulderToElbow_in = 3;
 
-            int armLengthRatio;
-            int elbowToWrist_in = 39;
-            int shoulderToElbow_in = 3;
+         @Override
+         public void robotInit() {
 
-            @Override
-            public void robotInit() {
+            armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
 
-               armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-
-            }
+         }
 
 
-   .. group-tab:: C++
 
-      .. code-block:: C++
-          :lineno-start: 17
+   .. code-block:: C++
+         :lineno-start: 17
 
-            class Robot : public frc::TimedRobot {
-               public:
-               void RobotInit() override {
-                  armLengthRatio = elbowToWrist_in / shoulderToElbow_in;
-               }
+         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
+            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.
 
@@ -430,46 +425,45 @@ A very common FRC-specific error occurs when the code attempts to put two hardwa
 
 For example, consider the following code:
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. code-block:: Java
-          :lineno-start: 19
+   .. code-block:: Java
+         :lineno-start: 19
 
-            PWMSparkMax leftFrontMotor;
-            PWMSparkMax leftRearMotor;
+         PWMSparkMax leftFrontMotor;
+         PWMSparkMax leftRearMotor;
 
-            @Override
-            public void robotInit() {
-               leftFrontMotor = new PWMSparkMax(0);
-               leftRearMotor = new PWMSparkMax(0);
-            }
+         @Override
+         public void robotInit() {
+            leftFrontMotor = new PWMSparkMax(0);
+            leftRearMotor = new PWMSparkMax(0);
+         }
 
-   .. group-tab:: C++
 
-      .. code-block:: C++
-         :lineno-start: 17
+   .. code-block:: C++
+      :lineno-start: 17
 
-         class Robot : public frc::TimedRobot {
-            public:
-               void RobotInit() override {
-                  m_frontLeftMotor.Set(0.5);
-                  m_rearLeftMotor.Set(0.25);
-               }
+      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};
+         private:
+            frc::PWMVictorSPX m_frontLeftMotor{0};
+            frc::PWMVictorSPX m_rearLeftMotor{0};
 
-            };
+         };
 
 
 When run, you'll see output that looks like this:
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: tabcode-java
 
       .. code-block:: text
 
@@ -505,7 +499,8 @@ When run, you'll see output that looks like this:
 
       Taking a peek at the code, we see line 24 is where the first motor controller is declared and line 25 is where the second motor controller is declared. We can also note that *both* motor controllers are assigned to PWM output ``0``. This doesn't make logical sense, and isn't physically possible. Therefore, WPILib purposely generates a custom error message and exception to alert the software developers of a non-achievable hardware configuration.
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: tabcode-c++
 
       In C++, you won't specifically see a stacktrace from this issue. Instead, you'll get messages which look like the following:
 
@@ -562,42 +557,39 @@ Fixing HAL Resource Already Allocated Issues
 
 In the example, the left motor controllers are plugged into PWM ports ``0`` and ``1``. Therefore, corrected code would look like this:
 
-.. tabs::
-
-   .. group-tab:: Java
+.. tab-set-code::
 
-      .. code-block:: Java
-          :lineno-start: 19
+   .. code-block:: Java
+         :lineno-start: 19
 
-            PWMSparkMax leftFrontMotor;
-            PWMSparkMax leftRearMotor;
+         PWMSparkMax leftFrontMotor;
+         PWMSparkMax leftRearMotor;
 
-            @Override
-            public void robotInit() {
+         @Override
+         public void robotInit() {
 
-               leftFrontMotor = new PWMSparkMax(0);
-               leftRearMotor = new PWMSparkMax(1);
+            leftFrontMotor = new PWMSparkMax(0);
+            leftRearMotor = new PWMSparkMax(1);
 
-            }
+         }
 
-   .. group-tab:: C++
 
-      .. code-block:: C++
+   .. code-block:: C++
 
-         :lineno-start: 17
+      :lineno-start: 17
 
-         class Robot : public frc::TimedRobot {
-            public:
-               void RobotInit() override {
-                  m_frontLeftMotor.Set(0.5);
-                  m_rearLeftMotor.Set(0.25);
-               }
+      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};
+         private:
+            frc::PWMVictorSPX m_frontLeftMotor{0};
+            frc::PWMVictorSPX m_rearLeftMotor{1};
 
-            };
+         };
 
 gradlew is not recognized...
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
diff --git a/source/docs/software/basic-programming/robot-preferences.rst b/source/docs/software/basic-programming/robot-preferences.rst
index c84fda6cb7..050de83622 100644
--- a/source/docs/software/basic-programming/robot-preferences.rst
+++ b/source/docs/software/basic-programming/robot-preferences.rst
@@ -9,9 +9,10 @@ This example shows how to utilize Preferences to change the setpoint of a PID co
 Initializing Preferences
 ------------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: Java
 
       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Constants.java
          :language: java
@@ -21,7 +22,8 @@ Initializing Preferences
          :language: java
          :lines: 28-30, 71-72, 79-82
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: C++
 
       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.h
          :language: cpp
@@ -40,15 +42,17 @@ If using the Command Framework, this type of code could be placed in the constru
 Reading Preferences
 -------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: Java
 
       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
          :language: java
          :lines: 104-111
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: C++
 
       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
          :language: cpp
@@ -58,9 +62,10 @@ Reading a preference is easy. The ``getDouble`` method takes two parameters, the
 
 Depending on the data that is stored in preferences, you can use it when you read it, such as the proportional constant above. Or you can store it in a variable and use it later, such as the setpoint, which is used in ``telopPeriodic`` below.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: Java
 
       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
          :language: java
@@ -69,7 +74,8 @@ Depending on the data that is stored in preferences, you can use it when you rea
          :language: java
          :lines: 113-119
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: C++
 
       .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
          :language: cpp
diff --git a/source/docs/software/can-devices/power-distribution-module.rst b/source/docs/software/can-devices/power-distribution-module.rst
index f4139bc664..ca8bc0e625 100644
--- a/source/docs/software/can-devices/power-distribution-module.rst
+++ b/source/docs/software/can-devices/power-distribution-module.rst
@@ -8,15 +8,15 @@ Creating a Power Distribution Object
 
 To use the either Power Distribution module, create an instance of the :code:`PowerDistribution` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/PowerDistribution.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_power_distribution.html>`__). With no arguments, the Power Distribution object will be detected, and must use CAN ID of 0 for CTRE or 1 for REV. If the CAN ID is non-default, additional constructors are available to specify the CAN ID and type.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         PowerDistribution examplePD = new PowerDistribution();
         PowerDistribution examplePD = new PowerDistribution(0, ModuleType.kCTRE);
         PowerDistribution examplePD = new PowerDistribution(1, ModuleType.kRev);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         PowerDistribution examplePD{};
         PowerDistribution examplePD{0, frc::PowerDistribution::ModuleType::kCTRE};
@@ -29,9 +29,8 @@ Note: it is not necessary to create a PowerDistribution object unless you need t
 Reading the Bus Voltage
 -----------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
          :language: java
@@ -39,7 +38,6 @@ Reading the Bus Voltage
          :linenos:
          :lineno-start: 32
 
-   .. group-tab:: C++
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
          :language: cpp
@@ -52,46 +50,42 @@ Monitoring the bus voltage can be useful for (among other things) detecting when
 Reading the Temperature
 -----------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
-         :language: java
-         :lines: 37-39
-         :linenos:
-         :lineno-start: 37
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+      :language: java
+      :lines: 37-39
+      :linenos:
+      :lineno-start: 37
 
-   .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
-         :language: cpp
-         :lines: 33-35
-         :linenos:
-         :lineno-start: 33
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+      :language: cpp
+      :lines: 33-35
+      :linenos:
+      :lineno-start: 33
 
 Monitoring the temperature can be useful for detecting if the robot has been drawing too much power and needs to be shut down for a while, or if there is a short or other wiring problem.
 
 Reading the Total Current, Power, and Energy
 --------------------------------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
-         :language: java
-         :lines: 41-53
-         :linenos:
-         :lineno-start: 41
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+      :language: java
+      :lines: 41-53
+      :linenos:
+      :lineno-start: 41
 
-   .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
-         :language: cpp
-         :lines: 37-49
-         :linenos:
-         :lineno-start: 37
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+      :language: cpp
+      :lines: 37-49
+      :linenos:
+      :lineno-start: 37
 
 Monitoring the total current, power and energy can be useful for controlling how much power is being drawn from the battery, both for preventing brownouts and ensuring that mechanisms have sufficient power available to perform the actions required. Power is the bus voltage multiplied by the current with the units Watts. Energy is the power summed over time with units Joules.
 
@@ -100,23 +94,21 @@ Reading Individual Channel Currents
 
 The PDP/PDH also allows users to monitor the current drawn by the individual device power channels.  You can read the current on any of the 16 PDP channels (0-15) or 24 PDH channels (0-23).
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
-         :language: java
-         :lines: 26-30
-         :linenos:
-         :lineno-start: 26
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
+      :language: java
+      :lines: 26-30
+      :linenos:
+      :lineno-start: 26
 
-   .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
-         :language: cpp
-         :lines: 22-26
-         :linenos:
-         :lineno-start: 22
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
+      :language: cpp
+      :lines: 22-26
+      :linenos:
+      :lineno-start: 22
 
 Monitoring individual device current draws can be useful for detecting shorts or stalled motors.
 
@@ -125,14 +117,14 @@ Using the Switchable Channel (PDH)
 
 The REV PDH has one channel that can be switched on or off to control custom circuits.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         examplePD.setSwitchableChannel(true);
         examplePD.setSwitchableChannel(false);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         examplePD.SetSwitchableChannel(true);
         examplePD.SetSwitchableChannel(false);
diff --git a/source/docs/software/commandbased/binding-commands-to-triggers.rst b/source/docs/software/commandbased/binding-commands-to-triggers.rst
index ce65086dd7..427380f057 100644
--- a/source/docs/software/commandbased/binding-commands-to-triggers.rst
+++ b/source/docs/software/commandbased/binding-commands-to-triggers.rst
@@ -17,14 +17,14 @@ HID Factories
 
 The command-based HID classes contain factory methods returning a ``Trigger`` for a given button. ``CommandGenericHID`` has an index-based ``button(int)`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.html#button(int)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_generic_h_i_d.html#a661f49794a913615c94fba927e1072a8>`__), and its subclasses ``CommandXboxController`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_xbox_controller.html>`__), ``CommandPS4Controller`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_p_s4_controller.html>`__), and ``CommandJoystick`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_command_joystick.html>`__) have named factory methods for each button.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     CommandXboxController exampleCommandController = new CommandXboxController(1); // Creates a CommandXboxController on port 1.
     Trigger xButton = exampleCommandController.x(); // Creates a new Trigger object for the `X` button on exampleCommandController
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::CommandXboxController exampleCommandController{1} // Creates a CommandXboxController on port 1
     frc2::Trigger xButton = exampleCommandController.X() // Creates a new Trigger object for the `X` button on exampleCommandController
@@ -34,14 +34,14 @@ JoystickButton
 
 Alternatively, the :ref:`regular HID classes <docs/software/basic-programming/joystick:Joysticks>` can be used and passed to create an instance of ``JoystickButton`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_joystick_button.html>`__), a constructor-only subclass of ``Trigger``:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     XboxController exampleController = new XboxController(2); // Creates an XboxController on port 2.
     Trigger yButton = new JoystickButton(exampleController, XboxController.Button.kY.value); // Creates a new JoystickButton object for the `Y` button on exampleController
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc::XboxController exampleController{2} // Creates an XboxController on port 2
     frc2::JoystickButton yButton(&exampleStick, frc::XboxController::Button::kY); // Creates a new JoystickButton object for the `Y` button on exampleController
@@ -51,15 +51,15 @@ Arbitrary Triggers
 
 While binding to HID buttons is by far the most common use case, users may want to bind commands to arbitrary triggering events. This can be done inline by passing a lambda to the constructor of ``Trigger``:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     DigitalInput limitSwitch = new DigitalInput(3); // Limit switch on DIO 3
 
     Trigger exampleTrigger = new Trigger(limitSwitch::get);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc::DigitalInput limitSwitch{3}; // Limit switch on DIO 3
 
@@ -81,9 +81,8 @@ onTrue
 
 This binding schedules a command when a trigger changes from ``false`` to ``true`` (or, accordingly, when a button changes is initially pressed). The command will be scheduled on the iteration when the state changes, and will not be scheduled again unless the trigger becomes ``false`` and then ``true`` again (or the button is released and then re-pressed).
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
       :language: java
@@ -91,7 +90,6 @@ This binding schedules a command when a trigger changes from ``false`` to ``true
       :linenos:
       :lineno-start: 52
 
-  .. group-tab:: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
       :language: c++
@@ -106,23 +104,21 @@ whileTrue
 
 This binding schedules a command when a trigger changes from ``false`` to ``true`` (or, accordingly, when a button is initially pressed) and cancels it when the trigger becomes ``false`` again (or the button is released). The command will *not* be re-scheduled if it finishes while the trigger is still ``true``. For the command to restart if it finishes while the trigger is ``true``, wrap the command in a ``RepeatCommand``, or use a ``RunCommand`` instead of an ``InstantCommand``.
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
-      :language: java
-      :lines: 114-116
-      :linenos:
-      :lineno-start: 114
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+    :language: java
+    :lines: 114-116
+    :linenos:
+    :lineno-start: 114
 
-  .. group-tab:: C++
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 75-78
-      :linenos:
-      :lineno-start: 75
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+    :language: c++
+    :lines: 75-78
+    :linenos:
+    :lineno-start: 75
 
 The ``whileFalse`` binding is identical, only that it schedules on ``false`` and cancels on ``true``.
 
@@ -131,15 +127,15 @@ toggleOnTrue
 
 This binding toggles a command, scheduling it when a trigger changes from ``false`` to ``true`` (or a button is initially pressed), and canceling it under the same condition if the command is currently running. Note that while this functionality is supported, toggles are not a highly-recommended option for user control, as they require the driver to keep track of the robot state.  The preferred method is to use two buttons; one to turn on and another to turn off.  Using a `StartEndCommand <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/StartEndCommand.html>`__ or a `ConditionalCommand <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.html>`__ is a good way to specify the commands that you want to be want to be toggled between.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     myButton.toggleOnTrue(Commands.startEnd(mySubsystem::onMethod,
         mySubsystem::offMethod,
         mySubsystem));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     myButton.ToggleOnTrue(frc2::cmd::StartEnd([&] { mySubsystem.OnMethod(); },
         [&] { mySubsystem.OffMethod(); },
@@ -152,9 +148,9 @@ Chaining Calls
 
 It is useful to note that the command binding methods all return the trigger that they were called on, and thus can be chained to bind multiple commands to different states of the same trigger. For example:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     exampleButton
         // Binds a FooCommand to be scheduled when the button is pressed
@@ -162,7 +158,7 @@ It is useful to note that the command binding methods all return the trigger tha
         // Binds a BarCommand to be scheduled when that same button is released
         .onFalse(new BarCommand());
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     exampleButton
         // Binds a FooCommand to be scheduled when the button is pressed
@@ -175,16 +171,16 @@ Composing Triggers
 
 The ``Trigger`` class can be composed to create composite triggers through the ``and()``, ``or()``, and ``negate()`` methods (or, in C++, the ``&&``, ``||``, and ``!`` operators). For example:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Binds an ExampleCommand to be scheduled when both the 'X' and 'Y' buttons of the driver gamepad are pressed
     exampleCommandController.x()
         .and(exampleCommandController.y())
         .onTrue(new ExampleCommand());
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Binds an ExampleCommand to be scheduled when both the 'X' and 'Y' buttons of the driver gamepad are pressed
     (exampleCommandController.X()
@@ -196,9 +192,9 @@ Debouncing Triggers
 
 To avoid rapid repeated activation, triggers (especially those originating from digital inputs) can be debounced with the :ref:`WPILib Debouncer class <docs/software/advanced-controls/filters/debouncer:Debouncer>` using the `debounce` method:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // debounces exampleButton with a 0.1s debounce time, rising edges only
     exampleButton.debounce(0.1).onTrue(new ExampleCommand());
@@ -206,7 +202,7 @@ To avoid rapid repeated activation, triggers (especially those originating from
     // debounces exampleButton with a 0.1s debounce time, both rising and falling edges
     exampleButton.debounce(0.1, Debouncer.DebounceType.kBoth).onTrue(new ExampleCommand());
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // debounces exampleButton with a 100ms debounce time, rising edges only
     exampleButton.Debounce(100_ms).OnTrue(ExampleCommand().ToPtr());
diff --git a/source/docs/software/commandbased/command-compositions.rst b/source/docs/software/commandbased/command-compositions.rst
index 9781a608b4..6cb5b725bc 100644
--- a/source/docs/software/commandbased/command-compositions.rst
+++ b/source/docs/software/commandbased/command-compositions.rst
@@ -7,14 +7,14 @@ As the name suggests, a command composition is a :term:`composition` of one or m
 
 Most importantly, however, command compositions are themselves commands - they extend the ``Command`` class. This allows command compositions to be further composed as a :term:`recursive composition` - that is, a command composition may contain other command compositions as components. This allows very powerful and concise inline expressions:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
    // Will run fooCommand, and then a race between barCommand and bazCommand
    button.onTrue(fooCommand.andThen(barCommand.raceWith(bazCommand)));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
    // Will run fooCommand, and then a race between barCommand and bazCommand
    button.OnTrue(std::move(fooCommand).AndThen(std::move(barCommand).RaceWith(std::move(bazCommand))));
@@ -35,14 +35,14 @@ Repeating
 
 The ``repeatedly()`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#repeatedly()>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#acc156a5299699110729918c3aa2b2694>`__), backed by the ``RepeatCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/RepeatCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_repeat_command.html>`__) restarts the command each time it ends, so that it runs until interrupted.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Will run forever unless externally interrupted, restarting every time command.isFinished() returns true
     Command repeats = command.repeatedly();
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Will run forever unless externally interrupted, restarting every time command.IsFinished() returns true
     frc2::CommandPtr repeats = std::move(command).Repeatedly();
@@ -54,13 +54,13 @@ The ``Sequence`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/j
 
 The ``andThen()`` (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#andThen(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a4ea952f52baf9fb157bb42801be602c0>`__) and ``beforeStarting()`` (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#beforeStarting(edu.wpi.first.wpilibj2.command.Command)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a61e9a735d7b48dafd4b7499af8ff0c23>`__) decorators can be used to construct a sequence composition with infix syntax.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
     fooCommand.andThen(barCommand)
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
     std::move(fooCommand).AndThen(std::move(barCommand))
 
@@ -78,9 +78,9 @@ There are three types of parallel compositions, differing based on when the comp
 - The ``Race`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#race(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#a3455ac77f921f355edae8baeb911ef40>`__), backed by the ``ParallelRaceGroup`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_parallel_race_group.html>`__), constructs a parallel composition that finishes as soon as any member finishes; all other members are interrupted at that point.  The ``raceWith`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#raceWith(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a4d6c1761cef10bb79a727e43e89643d0>`__) does the same in infix notation.
 - The ``Deadline`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#deadline(edu.wpi.first.wpilibj2.command.Command,edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#aad22f6f92f4dbbe7b5736e0e39e00184>`__), ``ParallelDeadlineGroup`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_parallel_deadline_group.html>`__) finishes when a specific command (the "deadline") ends; all other members still running at that point are interrupted.  The ``deadlineWith`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#afafe81bf1624eb0ef78b30232087b4bf>`__) does the same in infix notation; the comand the decorator was called on is the deadline.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
    // Will be a parallel command group that ends after three seconds with all three commands running their full duration.
    button.onTrue(Commands.parallel(twoSecCommand, oneSecCommand, threeSecCommand));
@@ -91,7 +91,7 @@ There are three types of parallel compositions, differing based on when the comp
    // Will be a parallel deadline group 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));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
    // Will be a parallel command group 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)));
@@ -107,28 +107,28 @@ Adding Command End Conditions
 
 The ``until()`` (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#until(java.util.function.BooleanSupplier)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a4ffddf195a71e71d80e62df95fffdfcf>`__) decorator composes the command with an additional end condition. Note that the command the decorator was called on will see this end condition as an interruption.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Will be interrupted if m_limitSwitch.get() returns true
     button.onTrue(command.until(m_limitSwitch::get));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Will be interrupted if m_limitSwitch.get() returns true
     button.OnTrue(command.Until([&m_limitSwitch] { return m_limitSwitch.Get(); }));
 
 The ``withTimeout()`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#withTimeout(double)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#ac6b2e1e4f55ed905ec7d189b9288e3d0>`__) is a specialization of ``until`` that uses a timeout as the additional end condition.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Will time out 5 seconds after being scheduled, and be interrupted
     button.onTrue(command.withTimeout(5));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Will time out 5 seconds after being scheduled, and be interrupted
     button.OnTrue(command.WithTimeout(5.0_s));
@@ -147,9 +147,11 @@ Sometimes it's desired to run a command out of a few options based on sensor fee
 
 The ``Select`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#select(java.util.Map,java.util.function.Supplier)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#a56f9a9c571bd9da0a0b4612706d8db1c>`__), backed by the ``SelectCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/SelectCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_select_command.html>`__), executes one command from a map, based on a selector function called when scheduled.
 
-.. tabs::
+.. tab-set::
+
+  .. tab-item:: Java
+     :sync: Java
 
-  .. group-tab:: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
        :language: java
@@ -157,7 +159,9 @@ The ``Select`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/jav
        :linenos:
        :lineno-start: 20
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
+
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
        :language: c++
@@ -167,28 +171,28 @@ The ``Select`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/jav
 
 The ``Either`` factory (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/Commands.html#either(edu.wpi.first.wpilibj2.command.Command,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/namespacefrc2_1_1cmd.html#a389d1d0055c3be03a852bfc88aaa2ee5>`__), backed by the ``ConditionalCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_conditional_command.html>`__), is a specialization accepting two commands and a boolean selector function.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Runs either commandOnTrue or commandOnFalse depending on the value of m_limitSwitch.get()
     new ConditionalCommand(commandOnTrue, commandOnFalse, m_limitSwitch::get)
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Runs either commandOnTrue or commandOnFalse depending on the value of m_limitSwitch.get()
     frc2::ConditionalCommand(commandOnTrue, commandOnFalse, [&m_limitSwitch] { return m_limitSwitch.Get(); })
 
 The ``unless()`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#unless(java.util.function.BooleanSupplier)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#a2be7f65d40f68581104ab1f6a1ba5e93>`__) composes a command with a condition that will prevent it from running.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Command will only run if the intake is deployed. If the intake gets deployed while the command is running, the command will not stop running
     button.onTrue(command.unless(() -> !intake.isDeployed()));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Command will only run if the intake is deployed. If the intake gets deployed while the command is running, the command will not stop running
     button.OnTrue(command.Unless([&intake] { return !intake.IsDeployed(); }));
@@ -202,15 +206,15 @@ By default, composition members are run through the command composition, and are
 
 ``ProxyCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ProxyCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_proxy_command.html>`__), also creatable using the ``.asProxy()`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#asProxy()>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command_ptr.html#aa45784053431393e3277e5bc5ae7f751>`__), schedules a command "by proxy": the command is scheduled when the proxy is scheduled, and the proxy finishes when the command finishes. In the case of "forking off" from a command composition, this allows the group to track the command's progress without it being in the composition.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // The sequence continues only after the proxied command ends
     Commands.waitSeconds(5.0).asProxy()
         .andThen(Commands.print("This will only be printed after the 5-second delay elapses!"))
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // The sequence continues only after the proxied command ends
     frc2::cmd::Wait(5.0_s).AsProxy()
@@ -218,15 +222,15 @@ By default, composition members are run through the command composition, and are
 
 For cases that don't need to track the proxied command, ``ScheduleCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_schedule_command.html>`__) schedules a specified command and ends instantly.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // ScheduleCommand ends immediately, so the sequence continues
     new ScheduleCommand(Commands.waitSeconds(5.0))
         .andThen(Commands.print("This will be printed immediately!"))
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // ScheduleCommand ends immediately, so the sequence continues
     frc2::ScheduleCommand(frc2::cmd::Wait(5.0_s))
@@ -237,9 +241,10 @@ Subclassing Compositions
 
 Command compositions can also be written as a constructor-only subclass of the most exterior composition type, passing the composition members to the superclass constructor. Consider the following from the Hatch Bot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+    :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
       :language: java
@@ -247,7 +252,8 @@ Command compositions can also be written as a constructor-only subclass of the m
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+    :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.h
       :language: c++
@@ -255,12 +261,13 @@ Command compositions can also be written as a constructor-only subclass of the m
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
+       :language: c++
+       :lines: 5-
+       :linenos:
+       :lineno-start: 5
 
 The advantages and disadvantages of this subclassing approach in comparison to others are discussed in :ref:`docs/software/commandbased/organizing-command-based:Subclassing Command Groups`.
diff --git a/source/docs/software/commandbased/command-scheduler.rst b/source/docs/software/commandbased/command-scheduler.rst
index 78f119223e..343dc5a5f9 100644
--- a/source/docs/software/commandbased/command-scheduler.rst
+++ b/source/docs/software/commandbased/command-scheduler.rst
@@ -28,9 +28,10 @@ This method walks through the following steps:
    * If not, don't schedule the new command.
 #. Call ``initialize()``.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+    :sync: tabcode-java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
       :language: java
@@ -44,13 +45,15 @@ This method walks through the following steps:
       :linenos:
       :lineno-start: 181
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: tabcode-cpp
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
       :language: c++
       :lines: 114-159
       :linenos:
       :lineno-start: 114
+      
 
 The Scheduler Run Sequence
 --------------------------
@@ -64,9 +67,10 @@ Step 1: Run Subsystem Periodic Methods
 
 First, the scheduler runs the ``periodic()`` method of each registered ``Subsystem``. In simulation, each subsystem's ``simulationPeriodic()`` method is called as well.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+    :sync: tabcode-java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
       :language: java
@@ -74,7 +78,8 @@ First, the scheduler runs the ``periodic()`` method of each registered ``Subsyst
       :linenos:
       :lineno-start: 278
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+      :sync: tabcode-cpp
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
       :language: c++
@@ -89,17 +94,19 @@ Step 2: Poll Command Scheduling Triggers
 
 Secondly, the scheduler polls the state of all registered triggers to see if any new commands that have been bound to those triggers should be scheduled.  If the conditions for scheduling a bound command are met, the command is scheduled and its ``Initialize()`` method is run.
 
-.. tabs::
-
-  .. group-tab:: Java
+.. tab-set::
 
+  .. tab-item:: Java
+    :sync: tabcode-java
+    
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
       :language: java
       :lines: 290-292
       :linenos:
       :lineno-start: 290
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+      :sync: tabcode-cpp
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
       :language: c++
@@ -114,9 +121,10 @@ Thirdly, the scheduler calls the ``execute()`` method of each currently-schedule
 
 Note that this sequence of calls is done in order for each command - thus, one command may have its ``end()`` method called before another has its ``execute()`` method called.  Commands are handled in the order they were scheduled.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+    :sync: tabcode-java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
       :language: java
@@ -125,7 +133,8 @@ Note that this sequence of calls is done in order for each command - thus, one c
       :lineno-start: 295
       :emphasize-lines: 16,21-22
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+      :sync: tabcode-cpp
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
       :language: c++
@@ -139,9 +148,10 @@ Step 4: Schedule Default Commands
 
 Finally, any registered ``Subsystem`` has its default command scheduled (if it has one).  Note that the ``initialize()`` method of the default command will be called at this time.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+    :sync: tabcode-java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
       :language: java
@@ -149,7 +159,8 @@ Finally, any registered ``Subsystem`` has its default command scheduled (if it h
       :linenos:
       :lineno-start: 340
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+    :sync: tabcode-cpp
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
       :language: c++
@@ -179,9 +190,10 @@ Occasionally, it is desirable to have the scheduler execute a custom action when
 
 A typical use-case for these methods is adding markers in an event log whenever a command scheduling event takes place, as demonstrated in the following code from the HatchbotInlined example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotInlined>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+    :sync: tabcode-java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
       :language: java
@@ -189,7 +201,8 @@ A typical use-case for these methods is adding markers in an event log whenever
       :linenos:
       :lineno-start: 73
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+    :sync: tabcode-cpp
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
       :language: c++
diff --git a/source/docs/software/commandbased/organizing-command-based.rst b/source/docs/software/commandbased/organizing-command-based.rst
index aaee6fc6b6..f93f386015 100644
--- a/source/docs/software/commandbased/organizing-command-based.rst
+++ b/source/docs/software/commandbased/organizing-command-based.rst
@@ -33,21 +33,21 @@ Inline Commands
 
 The easiest and most expressive way to do this is with a ``StartEndCommand``:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     Command runIntake = Commands.startEnd(() -> intake.set(1), () -> intake.set(0), intake);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::CommandPtr runIntake = frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake});
 
 This is sufficient for commands that are only used once. However, for a command like this that might get used in many different autonomous routines and button bindings, inline commands everywhere means a lot of repetitive code:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // RobotContainer.java
     intakeButton.whileTrue(Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0), intake));
@@ -61,7 +61,7 @@ This is sufficient for commands that are only used once. However, for a command
         Commands.startEnd(() -> intake.set(1.0), () -> intake.set(0.0), intake).withTimeout(5.0)
     );
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     intakeButton.WhileTrue(frc2::cmd::StartEnd([&intake] { intake.Set(1.0); }, [&intake] { intake.Set(0); }, {&intake}));
 
@@ -85,9 +85,9 @@ For example, a command like the intake-running command is conceptually related t
 
 .. note:: In this document we will name factory methods as ``lowerCamelCaseCommand``, but teams may decide on other conventions.  In general, it is recommended to end the method name with ``Command`` if it might otherwise be confused with an ordinary method (e.g. ``intake.run`` might be the name of a method that simply turns on the intake).
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     public class Intake extends SubsystemBase {
         // [code for motor controllers, configuration, etc.]
@@ -99,7 +99,7 @@ For example, a command like the intake-running command is conceptually related t
         }
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::CommandPtr Intake::RunIntakeCommand() {
       // implicitly requires `this`
@@ -112,9 +112,9 @@ Since we are inside the ``Intake`` class, technically we can access ``private``
 
 Using this new factory method in command groups and button bindings is highly expressive:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     intakeButton.whileTrue(intake.runIntakeCommand());
 
@@ -126,7 +126,7 @@ Using this new factory method in command groups and button bindings is highly ex
         intake.runIntakeCommand().withTimeout(5.0)
     );
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     intakeButton.WhileTrue(intake.RunIntakeCommand());
 
@@ -140,15 +140,15 @@ Using this new factory method in command groups and button bindings is highly ex
 
 Adding a parameter to the ``runIntakeCommand`` method to provide the exact percentage to run the intake is easy and allows for even more flexibility.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     public Command runIntakeCommand(double percent) {
         return new StartEndCommand(() -> this.set(percent), () -> this.set(0.0), this);
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::CommandPtr Intake::RunIntakeCommand() {
       // implicitly requires `this`
@@ -157,15 +157,15 @@ Adding a parameter to the ``runIntakeCommand`` method to provide the exact perce
 
 For instance, this code creates a command group that runs the intake forwards for two seconds, waits for two seconds, and then runs the intake backwards for five seconds.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     Command intakeRunSequence = intake.runIntakeCommand(1.0).withTimeout(2.0)
         .andThen(Commands.waitSeconds(2.0))
         .andThen(intake.runIntakeCommand(-1.0).withTimeout(5.0));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::CommandPtr intakeRunSequence = intake.RunIntakeCommand(1.0).WithTimeout(2.0_s)
         .AndThen(frc2::cmd::Wait(2.0_s))
@@ -181,9 +181,9 @@ Instance factory methods work great for single-subsystem commands.  However, com
 
 .. note:: The ``sequence`` and ``parallel`` static factories construct sequential and parallel command groups: this is equivalent to the ``andThen`` and ``alongWith`` decorators, but can be more readable. Their use is a matter of personal preference.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     public class AutoRoutines {
 
@@ -201,7 +201,7 @@ Instance factory methods work great for single-subsystem commands.  However, com
         }
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // TODO
 
@@ -209,9 +209,9 @@ Non-Static Command Factories
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 If we want to avoid the verbosity of adding required subsystems as parameters to our factory methods, we can instead construct an instance of our ``AutoRoutines`` class and inject our subsystems through the constructor:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     public class AutoRoutines {
 
@@ -247,15 +247,15 @@ If we want to avoid the verbosity of adding required subsystems as parameters to
         }
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // TODO
 
 Then, elsewhere in our code, we can instantiate an single instance of this class and use it to produce several commands:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     AutoRoutines autoRoutines = new AutoRoutines(this.drivetrain, this.intake);
 
@@ -267,7 +267,7 @@ Then, elsewhere in our code, we can instantiate an single instance of this class
       autoRoutines.driveThenIntake()
     );
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // TODO
 
@@ -280,9 +280,9 @@ However, it is still possible to ergonomically write a stateful command composit
 
 .. note:: The ``Subsystem.run`` and ``Subsystem.runOnce`` factory methods sugar the creation of a ``RunCommand`` and an ``InstantCommand`` requiring ``this`` subsystem.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     public Command turnToAngle(double targetDegrees) {
         // Create a controller for the inline command to capture
@@ -296,7 +296,7 @@ However, it is still possible to ergonomically write a stateful command composit
             .andThen(runOnce(() -> arcadeDrive(0, 0)));
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // TODO
 
@@ -312,9 +312,9 @@ Subclassing Command
 
 Returning to our simple intake command from earlier, we could do this by creating a new subclass of ``Command`` that implements the necessary ``initialize`` and ``end`` methods.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     public class RunIntakeCommand extends Command {
         private Intake m_intake;
@@ -338,7 +338,7 @@ Returning to our simple intake command from earlier, we could do this by creatin
         // isFinished() defaults to return false
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // TODO
 
@@ -352,9 +352,9 @@ Subclassing Command Groups
 
 If we wish to write composite commands as their own classes, we may write a constructor-only subclass of the most exterior group type. For example, an intake-then-outtake sequence (with single-subsystem commands defined as instance factory methods) can look like this:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     public class IntakeThenOuttake extends SequentialCommandGroup {
         public IntakeThenOuttake(Intake intake) {
@@ -365,7 +365,7 @@ If we wish to write composite commands as their own classes, we may write a cons
             );
         }
     }
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // TODO
 
diff --git a/source/docs/software/commandbased/what-is-command-based.rst b/source/docs/software/commandbased/what-is-command-based.rst
index 872d552b66..f8ac61a8c7 100644
--- a/source/docs/software/commandbased/what-is-command-based.rst
+++ b/source/docs/software/commandbased/what-is-command-based.rst
@@ -7,21 +7,21 @@ WPILib supports a robot programming methodology called "command-based" programmi
 
 The command-based paradigm is also an example of :term:`declarative programming`. The command-based library allow users to define desired robot behaviors while minimizing the amount of iteration-by-iteration robot logic that they must write. For example, in the command-based program, a user can specify that "the robot should perform an action when a condition is true" (note the use of a :ref:`lambda <docs/software/commandbased/index:Lambda Expressions (Java)>`):
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     new Trigger(condition::get).onTrue(Commands.runOnce(() -> piston.set(DoubleSolenoid.Value.kForward)));
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     Trigger([&condition] { return condition.Get()).OnTrue(frc2::cmd::RunOnce([&piston] { piston.Set(frc::DoubleSolenoid::kForward)));
 
 In contrast, without using command-based, the user would need to check the button state every iteration, and perform the appropriate action based on the state of the button.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     if(condition.get()) {
       if(!pressed) {
@@ -32,7 +32,7 @@ In contrast, without using command-based, the user would need to check the butto
       pressed = false;
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     if(condition.Get()) {
       if(!pressed) {
diff --git a/source/docs/software/dashboards/glass/command-based-widgets.rst b/source/docs/software/dashboards/glass/command-based-widgets.rst
index 29e387d39b..fca51f5113 100644
--- a/source/docs/software/dashboards/glass/command-based-widgets.rst
+++ b/source/docs/software/dashboards/glass/command-based-widgets.rst
@@ -8,13 +8,13 @@ Command Selector Widget
 
 The :guilabel:`Command Selector`  widget allows you to start and cancel a specific instance of a command (sent over NetworkTables) from Glass. For example, you can create an instance of ``MyCommand`` and send it to SmartDashboard:
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       MyCommand command = new MyCommand(...);
       SmartDashboard.putData("My Command", command);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/smartdashboard/SmartDashboard.h>
 
diff --git a/source/docs/software/dashboards/glass/widgets.rst b/source/docs/software/dashboards/glass/widgets.rst
index 11eddca6cc..1cb3a5fe10 100644
--- a/source/docs/software/dashboards/glass/widgets.rst
+++ b/source/docs/software/dashboards/glass/widgets.rst
@@ -31,12 +31,12 @@ Sendable Chooser Widget
 
 The :guilabel:`Sendable Chooser` widget represents a ``SendableChooser`` instance from robot code. It is often used to select autonomous modes. Like other dashboards, your ``SendableChooser`` instance simply needs to be sent using a NetworkTables API. The simplest is to use something like ``SmartDashboard``:
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       SmartDashboard.putData("Auto Selector", m_selector);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       frc::SmartDashboard::PutData("Auto Selector", &m_selector);
 
@@ -51,12 +51,12 @@ PID Controller Widget
 
 The :guilabel:`PID Controller` widget allows you to quickly tune PID values for a certain controller. A ``PIDController`` instance must be sent using a NetworkTables API. The simplest is to use something like ``SmartDashboard``:
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       SmartDashboard.putData("Elevator PID Controller", m_elevatorPIDController);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       frc::SmartDashboard::PutData("Elevator PID Controller", &m_elevatorPIDController);
 
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 be42b9ee1b..fbb371cf00 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
@@ -10,9 +10,9 @@ Drive Tab
 
 The :guilabel:`Select Autonomous...` dropdown can be used so show the available autonomous routines and choose one to run for the match.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        SmartDashboard.putStringArray("Auto List", {"Drive Forwards", "Drive Backwards", "Shoot"});
 
@@ -27,7 +27,7 @@ The :guilabel:`Select Autonomous...` dropdown can be used so show the available
             // auto here
        }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        frc::SmartDashboard::PutStringArray("Auto List", {"Drive Forwards", "Drive Backwards", "Shoot"});
 
@@ -44,25 +44,25 @@ The :guilabel:`Select Autonomous...` dropdown can be used so show the available
 
 Sending to the "Gyro" NetworkTables entry will populate the gyro here.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        SmartDashboard.putNumber("Gyro", drivetrain.getHeading());
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        frc::SmartDashboard::PutNumber("Gyro", 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.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        SmartDashboard.putNumberArray("RobotDrive Motors", {drivetrain.getLeftFront(), drivetrain.getRightFront(), drivetrain.getLeftBack(), drivetrain.getRightBack()});
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        frc::SmartDashboard::PutNumberArray("Gyro", {drivetrain.GetLeftFront(), drivetrain.GetRightFront(), drivetrain.GetLeftBack(), drivetrain.GetRightBack()});
 
@@ -80,25 +80,25 @@ Strings
 
 The strings are labeled top-to-bottom, left-to-right from "DB/String 0" to "DB/String 9". Each String field can display at least 21 characters (exact number depends on what characters). To write to these strings:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        SmartDashboard.putString("DB/String 0", "My 21 Char TestString");
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        frc::SmartDashboard::PutString("DB/String 0", "My 21 Char TestString");
 
 To read string data entered on the Dashboard:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        String dashData = SmartDashboard.getString("DB/String 0", "myDefaultData");
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        std::string dashData = frc::SmartDashboard::GetString("DB/String 0", "myDefaultData");
 
@@ -109,25 +109,25 @@ Buttons and LEDs
 
 The Buttons and LEDs are boolean values and are labeled top-to-bottom from "DB/Button 0" to "DB/Button 3" and "DB/LED 0" to "DB/LED 3". The Buttons are bi-directional, the LEDs are only able to be written from the Robot and read on the Dashboard. To write to the Buttons or LEDs:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        SmartDashboard.putBoolean("DB/Button 0", true);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        frc::SmartDashboard::PutBoolean("DB/Button 0", true);
 
 To read from the Buttons: (default value is false)
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        boolean buttonValue = SmartDashboard.getBoolean("DB/Button 0", false);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        bool buttonValue = frc::SmartDashboard::GetBoolean("DB/Button 0", false);
 
@@ -138,24 +138,24 @@ Sliders
 
 The Sliders are bi-directional analog (double) controls/indicators with a range from 0 to 5. To write to these indicators:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        SmartDashboard.putNumber("DB/Slider 0", 2.58);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        frc::SmartDashboard::PutNumber("DB/Slider 0", 2.58);
 
 To read values from the Dashboard into the robot program: (default value of 0.0)
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        double dashData = SmartDashboard.getNumber("DB/Slider 0", 0.0);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        double dashData = frc::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 f32883e3f0..eb72869e76 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
@@ -8,13 +8,13 @@ Displaying Subsystems
 
 To see the status of a subsystem while the robot is operating in either autonomous or teleoperated modes, that is what its default command is and what command is currently using that subsystem, send a subsystem instance to Shuffleboard:
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       SmartDashboard.putData(subsystem-reference);
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       SmartDashboard::PutData(subsystem-pointer);
 
@@ -42,13 +42,13 @@ Displaying Commands
 
 Using commands and subsystems makes very modular robot programs that can easily be tested and modified. Part of this is because commands can be written completely independently of other commands and can therefore be easily run from Shuffleboard. To write a command to Shuffleboard use the ``SmartDashboard.putData`` method as shown here:
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       SmartDashboard.putData("ElevatorMove: up", new ElevatorMove(2.7));
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       SmartDashboard::PutData("ElevatorMove: up", new ElevatorMove(2.7));
 
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 2924a56b06..56f583ed2b 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
@@ -38,9 +38,9 @@ Enable Functionality in the New PIDController
 
 The following example demonstrates how to create a button on your dashboard that will enable/disable the PIDController.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     ShuffleboardTab tab = Shuffleboard.getTab("Shooter");
     NetworkTableEntry shooterEnable = tab.add("Shooter Enable", false).getEntry();
@@ -55,7 +55,7 @@ The following example demonstrates how to create a button on your dashboard that
       motor.set(pid.calculate(encoder.getDistance(), setpoint));
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc::ShuffleboardTab& tab = frc::Shuffleboard::GetTab("Shooter");
     nt::NetworkTableEntry shooterEnable = tab.Add("Shooter Enable", false).GetEntry();
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 9c494f8f40..e43e031928 100644
--- a/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst
+++ b/source/docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour.rst
@@ -41,9 +41,9 @@ Getting robot data onto the dashboard
 
 The easiest way to get data displayed on the dashboard is simply to use methods in the SmartDashboard class. For example to write a number to Shuffleboard write:
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
         SmartDashboard.putNumber("Joystick X value", joystick1.getX());
 
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 2286947a5b..b1a89bbbc3 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
@@ -8,16 +8,16 @@ Specifying a widget
 
 Call ``withWidget`` after ``add`` in the call chain:
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
        Shuffleboard.getTab("Drive")
         .add("Max Speed", 1)
         .withWidget(BuiltInWidgets.kNumberSlider) // specify the widget here
         .getEntry();
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
        frc::Shuffleboard::GetTab("Drive")
         .Add("Max Speed", 1)
@@ -33,9 +33,9 @@ Setting widget properties
 -------------------------
 Since the maximum speed only makes sense to be a value from 0 to 1 (full stop to full speed), a slider from -1 to 1 can cause problems if the value drops below zero. Fortunately, we can modify that using the ``withProperties`` method
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
     Shuffleboard.getTab("Drive")
         .add("Max Speed", 1)
@@ -43,7 +43,7 @@ Since the maximum speed only makes sense to be a value from 0 to 1 (full stop to
         .withProperties(Map.of("min", 0, "max", 1)) // specify widget properties here
         .getEntry();
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
     frc::Shuffleboard::GetTab("Drive")
         .Add("Max Speed", 1)
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 3056bc4e3c..5aafeb263f 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
@@ -10,16 +10,16 @@ Call ``withSize`` and ``withPosition`` to set the size and position of the widge
 
 ``withPosition`` sets the row and column of the top-left corner of the widget. Rows and columns are both 0-indexed, so the topmost row is number 0 and the leftmost column is also number 0. If the position of any widget in a tab is specified, every widget should also have its position set to avoid overlapping widgets.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       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
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       frc::Shuffleboard::GetTab("Pre-round")
         .Add("Auto Mode", autoModeChooser)
@@ -31,9 +31,9 @@ Adding Widgets to Layouts
 
 If there are many widgets in a tab with related data, it can be useful to place them into smaller subgroups instead of loose in the tab. Much like how the handle to a tab is retrieved with ``Shuffleboard.getTab``, a layout inside a tab (or even in another layout) can be retrieved with ``ShuffleboardTab.getLayout``.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       ShuffleboardLayout elevatorCommands = Shuffleboard.getTab("Commands")
         .getLayout("Elevator", BuiltInLayouts.kList)
@@ -44,7 +44,7 @@ If there are many widgets in a tab with related data, it can be useful to place
       elevatorCommands.add(new ElevatorUpCommand());
       // Similarly for the claw commands
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       wpi::StringMap<std::shared_ptr<nt::Value>> properties{
         std::make_pair("Label position", nt::Value::MakeString("HIDDEN"))
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 b472f7c879..fc55981af0 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
@@ -2,9 +2,9 @@ Retrieving data
 ===============
 Unlike ``SmartDashboard.getNumber`` and friends, retrieving data from Shuffleboard is also done through the NetworkTableEntries, which we covered in the previous article.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
        class DriveBase extends Subsystem {
           private ShuffleboardTab tab = Shuffleboard.getTab("Drive");
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 08eae7cf5d..8da65c6800 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
@@ -6,23 +6,23 @@ Sending simple data
 -------------------
 Sending simple data (numbers, strings, booleans, and arrays of these) is done by calling ``add`` on a tab. This method will set the value if not already present, but will not overwrite an existing value.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
        Shuffleboard.getTab("Numbers")
             .add("Pi", 3.14);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
        frc::Shuffleboard::GetTab("Numbers")
             .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
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
        class VisionCalculator {
           private ShuffleboardTab tab = Shuffleboard.getTab("Vision");
@@ -45,14 +45,14 @@ Simply using `addPersistent` instead of `add` will make the value saved on the r
 
 .. note:: This does not apply to sendable data such as choosers or motor controllers.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
        Shuffleboard.getTab("Drive")
             .addPersistent("Max Speed", 1.0);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
        frc::Shuffleboard::GetTab("Drive")
             .AddPersistent("Max Speed", 1.0);
@@ -62,14 +62,14 @@ Sending sensors, motors, etc
 
 Analogous to ``SmartDashboard.putData``, any ``Sendable`` object (most sensors, motor controllers, and SendableChoosers) can be added to any tab
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
        Shuffleboard.getTab("Tab Title")
             .add("Sendable Title", mySendable);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
        frc::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 3b7ca5a2aa..b110659596 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
@@ -5,13 +5,13 @@ Shuffleboard is a tabbed interface. Each tab organizes widgets in a logical grou
 
 Creating a new tab
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
         ShuffleboardTab tab = Shuffleboard.getTab("Tab Title");
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
         ShuffleboardTab& tab = Shuffleboard::GetTab("Tab Title");
 
@@ -21,13 +21,13 @@ Creating a new tab is as simple as calling a single method on the Shuffleboard c
 Selecting a tab
 ---------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
         Shuffleboard.selectTab("Tab Title");
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
         Shuffleboard::SelectTab("Tab Title");
 
diff --git a/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst b/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst
index c9c2fdadcc..7c002494c3 100644
--- a/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst
+++ b/source/docs/software/dashboards/smartdashboard/displaying-expressions.rst
@@ -6,9 +6,9 @@ Displaying Expressions from a Robot Program
 Writing Values to SmartDashboard
 ------------------------------------
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         protected void execute() {
           SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge());
@@ -21,7 +21,7 @@ Writing Values to SmartDashboard
           SmartDashboard.putNumber("RPM", shooter.getRPM());
         }
 
-    .. code-tab:: cpp
+    .. code-block:: cpp
 
         void Command::Execute() {
           frc::SmartDashboard::PutBoolean("Bridge Limit", BridgeTipper.AtBridge());
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 ab8c3e8e5c..4a13158cff 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
@@ -21,13 +21,13 @@ In the following examples, you'll see what the screen would look like when there
 Displaying the Scheduler Status
 -------------------------------
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     SmartDashboard.putData(CommandScheduler.getInstance());
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc::SmartDashboard::PutData(frc2::CommandScheduler::GetInstance());
 
@@ -41,13 +41,13 @@ This is the scheduler status when there are two commands running, ``ExampleComma
 Displaying Subsystem Status
 ---------------------------
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     SmartDashboard.putData(exampleSubsystem);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc::SmartDashboard::PutData(&exampleSubsystem);
 
@@ -61,13 +61,13 @@ Running commands will "require" subsystems. That is the command is reserving the
 Activating Commands with a Button
 ---------------------------------
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     SmartDashboard.putData("Autonomous Command", exampleCommand);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc::SmartDashboard::PutData("Autonomous Command", &exampleCommand);
 
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 1373500a87..79fded01a1 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
@@ -8,9 +8,9 @@ Adding the Necessary Code to your Program
 
 For each sensor or actuator that is created, set the subsystem name and display name by calling ``setName`` (``SetName`` in C++). When the SmartDashboard is put into LiveWindow mode, it will display the sensors and actuators.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         Ultrasonic ultrasonic = new Ultrasonic(1, 2);
         SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic");
@@ -21,7 +21,7 @@ For each sensor or actuator that is created, set the subsystem name and display
         Victor wrist = new Victor(2);
         SendableRegistry.setName(wrist, "Arm", "Wrist");
 
-    .. code-tab:: cpp
+    .. code-block:: cpp
 
         frc::Ultrasonic ultrasonic{1, 2};
         SendableRegistry::SetName(ultrasonic, "Arm", "Ultrasonic");
@@ -34,9 +34,9 @@ For each sensor or actuator that is created, set the subsystem name and display
 
 If your objects are in a ``Subsystem``, this can be simplified using the addChild method of ``SubsystemBase``
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         Ultrasonic ultrasonic = new Ultrasonic(1, 2);
         addChild("Ultrasonic", ultrasonic);
@@ -47,7 +47,7 @@ If your objects are in a ``Subsystem``, this can be simplified using the addChil
         Victor wrist = new Victor(2);
         addChild("Wrist", wrist);
 
-    .. code-tab:: cpp
+    .. code-block:: cpp
 
         frc::Ultrasonic ultrasonic{1, 2};
         AddChild("Ultrasonic", ultrasonic);
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 bd11490213..e4187ceb0c 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
@@ -14,9 +14,9 @@ Enable Test Mode in the Driver Station by clicking on the "Test" button and sett
 Explicitly vs. implicit test mode display
 -----------------------------------------
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         PWMSparkMax leftDrive;
         PWMSparkMax rightDrive;
@@ -33,7 +33,7 @@ Explicitly vs. implicit test mode display
           SendableRegistry.setName(accel, "SomeSubsystem", "Accelerometer");
         }
 
-    .. code-tab:: cpp
+    .. code-block:: cpp
 
         frc::PWMSparkMax leftDrive{0};
         frc::PWMSparkMax rigthDrive{1};
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 3552b6f962..1271744dff 100644
--- a/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst
+++ b/source/docs/software/dashboards/smartdashboard/verifying-smartdashboard-is-working.rst
@@ -22,9 +22,9 @@ SmartDashboard includes a connection indicator widget which will turn red or gre
 Robot Program Example
 ---------------------
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
       public class Robot extends TimedRobot {
         double counter = 0.0;
@@ -34,7 +34,7 @@ Robot Program Example
         }
       }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
       #include "Robot.h"
       float counter = 0.0;
diff --git a/source/docs/software/hardware-apis/motors/servos.rst b/source/docs/software/hardware-apis/motors/servos.rst
index 090245dd21..a84c836cdd 100644
--- a/source/docs/software/hardware-apis/motors/servos.rst
+++ b/source/docs/software/hardware-apis/motors/servos.rst
@@ -6,17 +6,17 @@ Servo motors are a type of motor which integrates positional feedback into the m
 Constructing a Servo object
 ---------------------------
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         Servo exampleServo = new Servo(1);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         frc::Servo exampleServo {1};
 
-    .. code-tab:: python
+    .. code-block:: python
 
        exampleServo = wpilib.Servo(1)
 
@@ -25,19 +25,19 @@ A servo object is constructed by passing a channel.
 Setting Servo Values
 --------------------
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         exampleServo.set(.5);
         exampleServo.setAngle(75);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         exampleServo.Set(.5);
         exampleServo.SetAngle(75);
 
-    .. code-tab:: python
+    .. code-block:: python
 
        exampleServo.set(.5)
        exampleServo.setAngle(75)
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 86890b7b46..cc635bb472 100644
--- a/source/docs/software/hardware-apis/motors/using-motor-controllers.rst
+++ b/source/docs/software/hardware-apis/motors/using-motor-controllers.rst
@@ -10,9 +10,9 @@ PWM motor controllers can be controlled in the same way as a CAN motor controlle
 
 .. note:: The ``Spark`` and ``VictorSP`` classes are used here as an example; other PWM motor controller classes have exactly the same API.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       Spark spark = new Spark(0); // 0 is the RIO PWM port this is connected to
 
@@ -22,7 +22,7 @@ PWM motor controllers can be controlled in the same way as a CAN motor controlle
 
       victor.set(0.6); // the % output of the motor, between -1 and 1
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       frc::Spark spark{0}; // 0 is the RIO PWM port this is connected to
 
@@ -32,7 +32,7 @@ PWM motor controllers can be controlled in the same way as a CAN motor controlle
 
       victor.Set(0.6); // the % output of the motor, between -1 and 1
 
-   .. code-tab:: python
+   .. code-block:: python
 
       spark = wpilib.Spark(0) # 0 is the RIO PWM port this is connected to
 
diff --git a/source/docs/software/hardware-apis/sensors/accelerometers-software.rst b/source/docs/software/hardware-apis/sensors/accelerometers-software.rst
index 2720c18d8a..93085f0a87 100644
--- a/source/docs/software/hardware-apis/sensors/accelerometers-software.rst
+++ b/source/docs/software/hardware-apis/sensors/accelerometers-software.rst
@@ -23,9 +23,9 @@ AnalogAccelerometer
 
 The :code:`AnalogAccelerometer` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/AnalogAccelerometer.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_analog_accelerometer.html>`__) allows users to read values from a single-axis accelerometer that is connected to one of the roboRIO's analog inputs.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Creates an analog accelerometer on analog input 0
         AnalogAccelerometer accelerometer = new AnalogAccelerometer(0);
@@ -39,7 +39,7 @@ The :code:`AnalogAccelerometer` class (`Java <https://github.wpilib.org/allwpili
         // Gets the current acceleration
         double accel = accelerometer.getAcceleration();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Creates an analog accelerometer on analog input 0
         frc::AnalogAccelerometer accelerometer{0};
@@ -57,14 +57,14 @@ If users have a 3-axis analog accelerometer, they can use three instances of thi
 
 There are getters for the acceleration along each cardinal direction (x, y, and z), as well as a setter for the range of accelerations the accelerometer will measure.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Sets the accelerometer to measure between -8 and 8 G's
         accelerometer.setRange(BuiltInAccelerometer.Range.k8G);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Sets the accelerometer to measure between -8 and 8 G's
         accelerometer.SetRange(BuiltInAccelerometer::Range::kRange_8G);
@@ -74,15 +74,15 @@ ADXL345_I2C
 
 The :code:`ADXL345_I2C` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/ADXL345_I2C.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_a_d_x_l345___i2_c.html>`__) provides support for the ADXL345 accelerometer over the I2C communications bus.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Creates an ADXL345 accelerometer object on the MXP I2C port
         // with a measurement range from -8 to 8 G's
         ADXL345_I2C accelerometer = new ADXL345_I2C(I2C.Port.kMXP, ADXL345_I2C.Range.k8G);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Creates an ADXL345 accelerometer object on the MXP I2C port
         // with a measurement range from -8 to 8 G's
@@ -93,15 +93,15 @@ ADXL345_SPI
 
 The :code:`ADXL345_SPI` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/ADXL345_SPI.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_a_d_x_l345___s_p_i.html>`__) provides support for the ADXL345 accelerometer over the SPI communications bus.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Creates an ADXL345 accelerometer object on the MXP SPI port
         // with a measurement range from -8 to 8 G's
         ADXL345_SPI accelerometer = new ADXL345_SPI(SPI.Port.kMXP, ADXL345_SPI.Range.k8G);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Creates an ADXL345 accelerometer object on the MXP SPI port
         // with a measurement range from -8 to 8 G's
@@ -112,15 +112,15 @@ ADXL362
 
 The :code:`ADXL362` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/ADXL362.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_a_d_x_l362.html>`__) provides support for the ADXL362 accelerometer over the SPI communications bus.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Creates an ADXL362 accelerometer object on the MXP SPI port
         // with a measurement range from -8 to 8 G's
         ADXL362 accelerometer = new ADXL362(SPI.Port.kMXP, ADXL362.Range.k8G);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Creates an ADXL362 accelerometer object on the MXP SPI port
         // with a measurement range from -8 to 8 G's
@@ -131,15 +131,15 @@ BuiltInAccelerometer
 
 The :code:`BuiltInAccelerometer` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_built_in_accelerometer.html>`__) provides access to the roboRIO's own built-in accelerometer:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Creates an object for the built-in accelerometer
         // Range defaults to +- 8 G's
         BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Creates an object for the built-in accelerometer
         // Range defaults to +- 8 G's
@@ -159,9 +159,9 @@ It is recommended to use accelerometers in FRC\ |reg| for any application which
 
 For detecting collisions, it is often more robust to measure the jerk than the acceleration.  The jerk is the derivative (or rate of change) of acceleration, and indicates how rapidly the forces on the robot are changing - the sudden impulse from a collision causes a sharp spike in the jerk.  Jerk can be determined by simply taking the difference of subsequent acceleration measurements, and dividing by the time between them:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         double prevXAccel = 0.0;
         double prevYAccel = 0.0;
@@ -183,7 +183,7 @@ For detecting collisions, it is often more robust to measure the jerk than the a
             prevYAccel = yAccel;
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         double prevXAccel = 0.0;
         double prevYAccel = 0.0;
@@ -206,9 +206,9 @@ For detecting collisions, it is often more robust to measure the jerk than the a
 
 Most accelerometers legal for FRC use are quite noisy, and it is often a good idea to combine them with the :code:`LinearFilter` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/math/filter/LinearFilter.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_linear_filter.html>`__) to reduce the noise:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         BuiltInAccelerometer accelerometer = new BuiltInAccelerometer();
 
@@ -222,7 +222,7 @@ Most accelerometers legal for FRC use are quite noisy, and it is often a good id
             double filteredXAccel = xAccelFilter.calculate(accelerometer.getX());
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         frc::BuiltInAccelerometer accelerometer;
 
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 38c7866096..8fb1c6f5ad 100644
--- a/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
+++ b/source/docs/software/hardware-apis/sensors/analog-inputs-software.rst
@@ -19,14 +19,14 @@ Initializing an AnalogInput
 
 An :code:`AnalogInput` may be initialized as follows:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Initializes an AnalogInput on port 0
         AnalogInput analog = new AnalogInput(0);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Initializes an AnalogInput on port 0
         frc::AnalogInput analog{0};
@@ -44,16 +44,16 @@ Oversampling
 
 When oversampling is enabled, the FPGA will add multiple consecutive samples together, and return the accumulated value.  Users may specify the number of *bits* of oversampling - for :math:`n` bits of oversampling, the number of samples added together is :math:`2^{n}`:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added together.
         // Thus, the reported values will increase by about a factor of 16, and the update
         // rate will decrease by a similar amount.
         analog.setOversampleBits(4);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added together.
         // Thus, the reported values will increase by about a factor of 16, and the update
@@ -65,15 +65,15 @@ Averaging
 
 Averaging behaves much like oversampling, except the accumulated values are divided by the number of samples so that the scaling of the returned values does not change.  This is often more-convenient, but occasionally the additional roundoff error introduced by the rounding is undesirable.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Sets the AnalogInput to 4-bit averaging.  16 samples will be averaged together.
         // The update rate will decrease by a factor of 16.
         analog.setAverageBits(4);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Sets the AnalogInput to 4-bit averaging.  16 samples will be averaged together.
         // The update rate will decrease by a factor of 16.
@@ -91,13 +91,13 @@ getValue
 
 The :code:`getValue` method returns the raw instantaneous measured value from the analog input, without applying any calibration and ignoring oversampling and averaging settings.  The returned value is an integer.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         analog.getValue();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         analog.GetValue();
 
@@ -106,13 +106,13 @@ getVoltage
 
 The :code:`getVoltage` method returns the instantaneous measured voltage from the analog input.  Oversampling and averaging settings are ignored, but the value is rescaled to represent a voltage.  The returned value is a double.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         analog.getVoltage();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         analog.GetVoltage();
 
@@ -121,13 +121,13 @@ getAverageValue
 
 The :code:`getAverageValue` method returns the averaged value from the analog input.  The value is not rescaled, but oversampling and averaging are both applied.  The returned value is an integer.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         analog.getAverageValue();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         analog.GetAverageValue();
 
@@ -136,13 +136,13 @@ getAverageVoltage
 
 The :code:`getAverageVoltage` method returns the averaged voltage from the analog input.  Rescaling, oversampling, and averaging are all applied.  The returned value is a double.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         analog.getAverageVoltage();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         analog.GetAverageVoltage();
 
@@ -153,9 +153,9 @@ Accumulator
 
 Analog input channels 0 and 1 additionally support an accumulator, which integrates (adds up) the signal indefinitely, so that the returned value is the sum of all past measured values.  Oversampling and averaging are applied prior to accumulation.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Sets the initial value of the accumulator to 0
         // This is the "starting point" from which the value will change over time
@@ -174,7 +174,7 @@ Analog input channels 0 and 1 additionally support an accumulator, which integra
         // Resets the accumulator to the initial value
         analog.resetAccumulator();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Sets the initial value of the accumulator to 0
         // This is the "starting point" from which the value will change over time
@@ -198,9 +198,9 @@ Obtaining synchronized count and value
 
 Sometimes, it is necessarily to obtain matched measurements of the count and the value.  This can be done using the :code:`getAccumulatorOutput` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Instantiate an AccumulatorResult object to hold the matched measurements
         AccumulatorResult result = new AccumulatorResult();
@@ -212,7 +212,7 @@ Sometimes, it is necessarily to obtain matched measurements of the count and the
         long count = result.count;
         long value = result.value;
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // The count and value variables to fill
         int_64t count;
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 8277a7680f..600f47a9e7 100644
--- a/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
+++ b/source/docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
@@ -16,9 +16,9 @@ The AnalogPotentiometer class
 
 An AnalogPotentiometer can be initialized as follows:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // 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)
@@ -26,7 +26,7 @@ An AnalogPotentiometer can be initialized as follows:
 
         AnalogPotentiometer pot = new AnalogPotentiometer(0, 180, 30);
 
-    .. code-tab:: c++
+    .. code-block:: 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)
@@ -41,9 +41,9 @@ Customizing the underlying AnalogInput
 
 If the user would like to apply custom settings to the underlying :code:`AnalogInput` used by the :code:`AnalogPotentiometer`, an alternative constructor may be used in which the :code:`AnalogInput` is injected:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Initializes an AnalogInput on port 0, and enables 2-bit averaging
         AnalogInput input = new AnalogInput(0);
@@ -55,7 +55,7 @@ If the user would like to apply custom settings to the underlying :code:`AnalogI
 
         AnalogPotentiometer pot = new AnalogPotentiometer(input, 180, 30);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Initializes an AnalogInput on port 0, and enables 2-bit averaging
         frc::AnalogInput input{0};
@@ -72,13 +72,13 @@ Reading values from the AnalogPotentiometer
 
 The scaled value can be read by simply calling the :code:`get` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         pot.get();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         pot.Get();
 
diff --git a/source/docs/software/hardware-apis/sensors/counters.rst b/source/docs/software/hardware-apis/sensors/counters.rst
index 7a67297a00..fc7b7048d7 100644
--- a/source/docs/software/hardware-apis/sensors/counters.rst
+++ b/source/docs/software/hardware-apis/sensors/counters.rst
@@ -30,9 +30,9 @@ Two-pulse mode
 
 In two-pulse mode, the :code:`Counter` will count up for every edge/pulse on the specified "up channel," and down for every edge/pulse on the specified "down channel."  A counter can be initialized in two-pulse with the following code:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Create a new Counter object in two-pulse mode
         Counter counter = new Counter(Counter.Mode.k2Pulse);
@@ -48,7 +48,7 @@ In two-pulse mode, the :code:`Counter` will count up for every edge/pulse on the
             counter.setDownSourceEdge(true, true);
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Create a new Counter object in two-pulse mode
         frc::Counter counter{frc::Counter::Mode::k2Pulse};
@@ -67,9 +67,9 @@ Semi-period mode
 
 In semi-period mode, the :code:`Counter` will count the duration of the pulses on a channel, either from a rising edge to the next falling edge, or from a falling edge to the next rising edge.  A counter can be initialized in semi-period mode with the following code:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Create a new Counter object in two-pulse mode
         Counter counter = new Counter(Counter.Mode.kSemiperiod);
@@ -83,7 +83,7 @@ In semi-period mode, the :code:`Counter` will count the duration of the pulses o
             counter.setSemiPeriodMode(true);
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Create a new Counter object in two-pulse mode
         frc::Counter counter{frc::Counter::Mode::kSemiperiod};
@@ -97,14 +97,14 @@ In semi-period mode, the :code:`Counter` will count the duration of the pulses o
 
 To get the pulse width, call the :code:`getPeriod()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Return the measured pulse width in seconds
         counter.getPeriod();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Return the measured pulse width in seconds
         counter.GetPeriod();
@@ -114,9 +114,9 @@ Pulse-length mode
 
 In pulse-length mode, the counter will count either up or down depending on the length of the pulse. A pulse below the specified threshold time will be interpreted as a forward count and a pulse above the threshold is a reverse count. This is useful for some gear tooth sensors which encode direction in this manner.  A counter can be initialized in this mode as follows:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Create a new Counter object in two-pulse mode
         Counter counter = new Counter(Counter.Mode.kPulseLength);
@@ -133,7 +133,7 @@ In pulse-length mode, the counter will count either up or down depending on the
             counter.setPulseLengthMode(.05)
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Create a new Counter object in two-pulse mode
         frc::Counter counter{frc::Counter::Mode::kPulseLength};
@@ -153,9 +153,9 @@ External direction mode
 
 In external direction mode, the counter counts either up or down depending on the level on the second channel. If the direction source is low, the counter will increase; if the direction source is high, the counter will decrease (to reverse this, see the next section). A counter can be initialized in this mode as follows:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Create a new Counter object in two-pulse mode
         Counter counter = new Counter(Counter.Mode.kExternalDirection);
@@ -170,7 +170,7 @@ In external direction mode, the counter counts either up or down depending on th
             counter.setUpSourceEdge(true, true);
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Create a new Counter object in two-pulse mode
         frc::Counter counter{frc::Counter::Mode::kExternalDirection};
@@ -192,9 +192,9 @@ Configuring counter parameters
 
 Apart from the mode-specific configurations, the :code:`Counter` class offers a number of additional configuration methods:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Configures the counter to return a distance of 4 for every 256 pulses
         // Also changes the units of getRate
@@ -213,7 +213,7 @@ Apart from the mode-specific configurations, the :code:`Counter` class offers a
         // Can be between 1 and 127 samples
         counter.setSamplesToAverage(5);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Configures the counter to return a distance of 4 for every 256 pulses
         // Also changes the units of getRate
@@ -242,14 +242,14 @@ Count
 
 Users can obtain the current count with the :code:`get()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // returns the current count
         counter.get();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // returns the current count
         counter.Get();
@@ -261,14 +261,14 @@ Distance
 
 If the :ref:`distance per pulse <docs/software/hardware-apis/sensors/counters:Configuring counter parameters>` has been configured, users can obtain the total distance traveled by the counted sensor with the :code:`getDistance()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // returns the current distance
         counter.getDistance();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // returns the current distance
         counter.GetDistance();
@@ -280,14 +280,14 @@ Rate
 
 Users can obtain the current rate of change of the counter with the :code:`getRate()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets the current rate of the counter
         counter.getRate();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets the current rate of the counter
         counter.GetRate();
@@ -297,14 +297,14 @@ Stopped
 
 Users can obtain whether the counter is stationary with the :code:`getStopped()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets whether the counter is stopped
         counter.getStopped();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets whether the counter is stopped
         counter.GetStopped();
@@ -314,14 +314,14 @@ Direction
 
 Users can obtain the direction in which the counter last moved with the :code:`getDirection()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets the last direction in which the counter moved
         counter.getDirection();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets the last direction in which the counter moved
         counter.GetDirection();
@@ -333,14 +333,14 @@ Period
 
 Users can obtain the duration (in seconds) of the most-recent period with the :code:`getPeriod()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // returns the current period in seconds
         counter.getPeriod();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // returns the current period in seconds
         counter.GetPeriod();
@@ -350,14 +350,14 @@ Resetting a counter
 
 To reset a counter to a distance reading of zero, call the :code:`reset()` method.  This is useful for ensuring that the measured distance corresponds to the actual desired physical measurement.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Resets the encoder to read a distance of zero
         counter.reset();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Resets the encoder to read a distance of zero
         counter.Reset();
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 b9ab3bc004..e2793fe96a 100644
--- a/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst
+++ b/source/docs/software/hardware-apis/sensors/digital-inputs-software.rst
@@ -14,14 +14,14 @@ The DigitalInput class
 
 A :code:`DigitalInput` can be initialized as follows:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Initializes a DigitalInput on DIO 0
         DigitalInput input = new DigitalInput(0);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Initializes a DigitalInput on DIO 0
         frc::DigitalInput input{0};
@@ -31,14 +31,14 @@ Reading the value of the DigitalInput
 
 The state of the :code:`DigitalInput` can be polled with the :code:`get` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets the value of the digital input.  Returns true if the circuit is open.
         input.get();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets the value of the digital input.  Returns true if the circuit is open.
         input.Get();
@@ -52,9 +52,9 @@ Sometimes, it is desirable to use an analog input as a digital input.  This can
 
 An :code:`AnalogTrigger` may be initialized as follows.  As with :code:`AnalogPotentiometer`, an :code:`AnalogInput` may be passed explicitly if the user wishes to customize the sampling settings:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Initializes an AnalogTrigger on port 0
         AnalogTrigger trigger0 = new AnalogTrigger(0);
@@ -66,7 +66,7 @@ An :code:`AnalogTrigger` may be initialized as follows.  As with :code:`AnalogPo
         // Initializes an AnalogTrigger using the above input
         AnalogTrigger trigger1 = new AnalogTrigger(input);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Initializes an AnalogTrigger on port 0
         frc::AnalogTrigger trigger0{0};
@@ -85,9 +85,9 @@ Setting the trigger points
 
 To convert the analog signal to a digital one, it is necessary to specify at what values the trigger will enable and disable.  These values may be different to avoid "dithering" around the transition point:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Sets the trigger to enable at a raw value of 3500, and disable at a value of 1000
         trigger.setLimitsRaw(1000, 3500);
@@ -95,7 +95,7 @@ To convert the analog signal to a digital one, it is necessary to specify at wha
         // 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);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Sets the trigger to enable at a raw value of 3500, and disable at a value of 1000
         trigger.SetLimitsRaw(1000, 3500);
@@ -113,9 +113,9 @@ Limiting the motion of a mechanism
 
 Nearly all motorized mechanisms (such as arms and elevators) in FRC\ |reg| should be given some form of "limit switch" to prevent them from damaging themselves at the end of their range of motions.  A short example is given below:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         Spark spark = new Spark(0);
 
@@ -131,7 +131,7 @@ Nearly all motorized mechanisms (such as arms and elevators) in FRC\ |reg| shoul
             }
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Motor for the mechanism
         frc::Spark spark{0};
diff --git a/source/docs/software/hardware-apis/sensors/encoders-software.rst b/source/docs/software/hardware-apis/sensors/encoders-software.rst
index e65f160862..ab85455312 100644
--- a/source/docs/software/hardware-apis/sensors/encoders-software.rst
+++ b/source/docs/software/hardware-apis/sensors/encoders-software.rst
@@ -38,15 +38,15 @@ Initializing a Quadrature Encoder
 
 A quadrature encoder can be instantiated as follows:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Initializes an encoder on DIO pins 0 and 1
         // Defaults to 4X decoding and non-inverted
         Encoder encoder = new Encoder(0, 1);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Initializes an encoder on DIO pins 0 and 1
         // Defaults to 4X decoding and non-inverted
@@ -63,15 +63,15 @@ The WPILib :code:`Encoder` class can decode encoder signals in three different m
 
 4X decoding offers the greatest precision, but at the potential cost of increased "jitter" in rate measurements.  To use a different decoding type, use the following constructor:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Initializes an encoder on DIO pins 0 and 1
         // 2X encoding and non-inverted
         Encoder encoder = new Encoder(0, 1, false, Encoder.EncodingType.k2X);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Initializes an encoder on DIO pins 0 and 1
         // 2X encoding and non-inverted
@@ -86,9 +86,9 @@ Configuring Quadrature Encoder Parameters
 
 The :code:`Encoder` class offers a number of configuration methods:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Configures the encoder to return a distance of 4 for every 256 pulses
         // Also changes the units of getRate
@@ -107,7 +107,7 @@ The :code:`Encoder` class offers a number of configuration methods:
         // Can be between 1 and 127 samples
         encoder.setSamplesToAverage(5);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Configures the encoder to return a distance of 4 for every 256 pulses
         // Also changes the units of getRate
@@ -138,14 +138,14 @@ Distance
 
 Users can obtain the total distance traveled by the encoder with the :code:`getDistance()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets the distance traveled
         encoder.getDistance();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets the distance traveled
         encoder.GetDistance();
@@ -157,14 +157,14 @@ Rate
 
 Users can obtain the current rate of change of the encoder with the :code:`getRate()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets the current rate of the encoder
         encoder.getRate();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets the current rate of the encoder
         encoder.GetRate();
@@ -174,14 +174,14 @@ Stopped
 
 Users can obtain whether the encoder is stationary with the :code:`getStopped()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets whether the encoder is stopped
         encoder.getStopped();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets whether the encoder is stopped
         encoder.GetStopped();
@@ -191,14 +191,14 @@ Direction
 
 Users can obtain the direction in which the encoder last moved with the :code:`getDirection()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets the last direction in which the encoder moved
         encoder.getDirection();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets the last direction in which the encoder moved
         encoder.GetDirection();
@@ -208,14 +208,14 @@ Period
 
 Users can obtain the period of the encoder pulses (in seconds) with the :code:`getPeriod()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets the current period of the encoder
         encoder.getPeriod();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets the current period of the encoder
         encoder.GetPeriod();
@@ -225,14 +225,14 @@ Resetting a Quadrature Encoder
 
 To reset a quadrature encoder to a distance reading of zero, call the :code:`reset()` method.  This is useful for ensuring that the measured distance corresponds to the actual desired physical measurement, and is often called during a :ref:`homing <docs/software/hardware-apis/sensors/encoders-software:Homing a mechanism>` routine:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Resets the encoder to read a distance of zero
         encoder.reset();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Resets the encoder to read a distance of zero
         encoder.Reset();
@@ -257,14 +257,14 @@ Initializing a Duty Cycle Encoder
 
 A duty cycle encoder can be instantiated as follows:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Initializes a duty cycle encoder on DIO pins 0
         DutyCycleEncoder encoder = new DutyCycleEncoder(0);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Initializes a duty cycle encoder on DIO pins 0
         frc::DutyCycleEncoder encoder{0};
@@ -276,14 +276,14 @@ Configuring Duty Cycle Encoder Parameters
 
 The :code:`DutyCycleEncoder` class offers a number of configuration methods:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Configures the encoder to return a distance of 4 for every rotation
         encoder.setDistancePerRotation(4.0);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Configures the encoder to return a distance of 4 for every rotation
         encoder.SetDistancePerRotation(4.0);
@@ -295,14 +295,14 @@ Reading Distance from Duty Cycle Encoders
 
 Users can obtain the distance measured by the encoder with the :code:`getDistance()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets the distance traveled
         encoder.getDistance();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets the distance traveled
         encoder.GetDistance();
@@ -313,14 +313,14 @@ Detecting a Duty Cycle Encoder is Connected
 
 As duty cycle encoders output a continuous set of pulses, it is possible to detect that the encoder has been unplugged.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets if the encoder is connected
         encoder.isConnected();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets if the encoder is connected
         encoder.IsConnected();
@@ -331,9 +331,9 @@ Resetting a Duty Cycle Encoder
 
 To reset an encoder so the current distance is 0, call the :code:`reset()` method.  This is useful for ensuring that the measured distance corresponds to the actual desired physical measurement. Unlike quadrature encoders, duty cycle encoders don't need to be homed. However, after reset, the position offset can be stored to be set when the program starts so that the reset doesn't have to be performed again. The :doc:`Preferences class </docs/software/basic-programming/robot-preferences>` provides a method to save and retrieve the values on the roboRIO.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Resets the encoder to read a distance of zero at the current position
         encoder.reset();
@@ -344,7 +344,7 @@ To reset an encoder so the current distance is 0, call the :code:`reset()` metho
         // set the position offset to half a rotation
         encoder.setPositionOffset(0.5);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Resets the encoder to read a distance of zero at the current position
         encoder.Reset();
@@ -371,14 +371,14 @@ Initializing an Analog Encoder
 
 An analog encoder can be instantiated as follows:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Initializes a duty cycle encoder on Analog Input pins 0
         AnalogEncoder encoder = new AnalogEncoder(0);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Initializes a duty cycle encoder on DIO pins 0
         frc::AnalogEncoder encoder{0};
@@ -390,14 +390,14 @@ Configuring Analog Encoder Parameters
 
 The :code:`AnalogEncoder` class offers a number of configuration methods:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Configures the encoder to return a distance of 4 for every rotation
         encoder.setDistancePerRotation(4.0);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Configures the encoder to return a distance of 4 for every rotation
         encoder.SetDistancePerRotation(4.0);
@@ -409,14 +409,14 @@ Reading Distance from Analog Encoders
 
 Users can obtain the distance measured by the encoder with the :code:`getDistance()` method:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Gets the distance measured
         encoder.getDistance();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Gets the distance measured
         encoder.GetDistance();
@@ -428,9 +428,9 @@ Resetting an Analog Encoder
 
 To reset an analog encoder so the current distance is 0, call the :code:`reset()` method.  This is useful for ensuring that the measured distance corresponds to the actual desired physical measurement. Unlike quadrature encoders, duty cycle encoders don't need to be homed. However, after reset, the position offset can be stored to be set when the program starts so that the reset doesn't have to be performed again. The :doc:`Preferences class </docs/software/basic-programming/robot-preferences>` provides a method to save and retrieve the values on the roboRIO.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Resets the encoder to read a distance of zero at the current position
         encoder.reset();
@@ -441,7 +441,7 @@ To reset an analog encoder so the current distance is 0, call the :code:`reset()
         // set the position offset to half a rotation
         encoder.setPositionOffset(0.5);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Resets the encoder to read a distance of zero at the current position
         encoder.Reset();
@@ -464,9 +464,9 @@ Encoders can be used on a robot drive to create a simple "drive to distance" rou
 
 .. note:: The following example uses the `Encoder` class, but is similar if other `DutyCycleEncoder` or `AnalogEncoder` is used. However, quadrature encoders are typically better suited for drivetrains since they roll over many times and don't have an absolute position.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Creates an encoder on DIO ports 0 and 1
         Encoder encoder = new Encoder(0, 1);
@@ -501,7 +501,7 @@ Encoders can be used on a robot drive to create a simple "drive to distance" rou
             }
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Creates an encoder on DIO ports 0 and 1.
         frc::Encoder encoder{0, 1};
@@ -541,9 +541,9 @@ Since quadrature encoders measure *relative* distance, it is often important to
 
 .. note:: Homing is not necessary for absolute encoders like duty cycle encoders and analog encoders.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         Encoder encoder = new Encoder(0, 1);
 
@@ -563,7 +563,7 @@ Since quadrature encoders measure *relative* distance, it is often important to
             }
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         frc::Encoder encoder{0,1};
 
diff --git a/source/docs/software/hardware-apis/sensors/gyros-software.rst b/source/docs/software/hardware-apis/sensors/gyros-software.rst
index 3bc051f3b0..720f5b2040 100644
--- a/source/docs/software/hardware-apis/sensors/gyros-software.rst
+++ b/source/docs/software/hardware-apis/sensors/gyros-software.rst
@@ -18,14 +18,14 @@ The ADIS16448 uses the :code:`ADIS16448_IMU` class (`Java <https://github.wpilib
 
 .. warning:: The Analog Devices documentation linked above contains outdated instructions for software installation as the ADIS16448 is now built into WPILib.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // ADIS16448 plugged into the MXP port
         ADIS16448_IMU gyro = new ADIS16448_IMU();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // ADIS16448 plugged into the MXP port
         ADIS16448_IMU gyro;
@@ -37,14 +37,14 @@ The ADIS16470 uses the :code:`ADIS16470_IMU` class (`Java <https://github.wpilib
 
 .. warning:: The Analog Devices documentation linked above contains outdated instructions for software installation as the ADIS16470 is now built into WPILib.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // ADIS16470 plugged into the MXP port
         ADIS16470_IMU gyro = new ADIS16470_IMU();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // ADIS16470 plugged into the MXP port
         ADIS16470_IMU gyro;
@@ -56,14 +56,14 @@ The :code:`ADXRS450_Gyro` class (`Java <https://github.wpilib.org/allwpilib/docs
 
 .. note:: ADXRS450 Gyro accumulation is handled through special circuitry in the FPGA; accordingly only a single instance of :code:`ADXRS450_Gyro` may be used.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Creates an ADXRS450_Gyro object on the onboard SPI port
         ADXRS450_Gyro gyro = new ADXRS450_Gyro();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Creates an ADXRS450_Gyro object on the onboard SPI port
         frc::ADXRS450_Gyro gyro;
@@ -75,14 +75,14 @@ The :code:`AnalogGyro` class (`Java <https://github.wpilib.org/allwpilib/docs/be
 
 .. note:: Gyro accumulation is handled through special circuitry in the FPGA; accordingly, :code:`AnalogGyro`\`s may only be used on analog ports 0 and 1.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Creates an AnalogGyro object on port 0
         AnalogGyro gyro = new AnalogGyro(0);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Creates an AnalogGyro object on port 0
         frc::AnalogGyro gyro{0};
@@ -92,14 +92,14 @@ navX
 
 The navX uses the :code:`AHRS` class.  See the `navX documentation <https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/>`__ for additional connection types.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // navX MXP using SPI
         AHRS gyro = new AHRS(SPI.Port.kMXP);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // navX MXP using SPI
         AHRS gyro{SPI::Port::kMXP};
@@ -109,16 +109,16 @@ Pigeon
 
 The Pigeon should use the :code:`WPI_PigeonIMU` class.  The Pigeon can either be connected with CAN or by data cable to a TalonSRX.  The `Pigeon IMU User's Guide <https://store.ctr-electronics.com/content/user-manual/Pigeon%20IMU%20User's%20Guide.pdf>`__ contains full details on using the Pigeon.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         WPI_PigeonIMU gyro = new WPI_PigeonIMU(0); // Pigeon is on CAN Bus with device ID 0
         // OR (choose one or the other based on your connection)
         TalonSRX talon = new TalonSRX(0); // TalonSRX is on CAN Bus with device ID 0
         WPI_PigeonIMU gyro = new WPI_PigeonIMU(talon); // Pigeon uses the talon created above
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         WPI_PigeonIMU gyro{0}; // Pigeon is on CAN Bus with device ID 0
         // OR (choose one or the other based on your connection)
@@ -137,9 +137,9 @@ Displaying the robot heading on the dashboard
 
 :ref:`Shuffleboard <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour:Tour of Shuffleboard>` includes a widget for displaying heading data from a gyro in the form of a compass.  This can be helpful for viewing the robot heading when sight lines to the robot are obscured:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Use gyro declaration from above here
 
@@ -148,7 +148,7 @@ Displaying the robot heading on the dashboard
             Shuffleboard.getTab("Example tab").add(gyro);
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Use gyro declaration from above here
 
@@ -171,9 +171,9 @@ Example: Tank drive stabilization using turn rate
 
 The following example shows how to stabilize heading using a simple P loop closed on the turn rate.  Since a robot that is not turning should have a turn rate of zero, the setpoint for the loop is implicitly zero, making this method very simple.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Use gyro declaration from above here
 
@@ -206,7 +206,7 @@ The following example shows how to stabilize heading using a simple P loop close
             drive.tankDrive(.5 + kP * error, .5 - kP * error);
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Use gyro declaration from above here
 
@@ -243,9 +243,9 @@ Example: Tank drive stabilization using heading
 
 The following example shows how to stabilize heading using a simple P loop closed on the heading.  Unlike in the turn rate example, we will need to set the setpoint to the current heading before starting motion, making this method slightly more-complicated.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Use gyro declaration from above here
 
@@ -286,7 +286,7 @@ The following example shows how to stabilize heading using a simple P loop close
             drive.tankDrive(.5 + kP * error, .5 - kP * error);
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Use gyro declaration from above here
 
@@ -332,9 +332,9 @@ Another common and highly-useful application for a gyro is turning a robot to fa
 
 Much like with heading stabilization, this is often accomplished with a PID loop - unlike with stabilization, however, the loop can only be closed on the heading.  The following example code will turn the robot to face 90 degrees with a simple P loop:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // Use gyro declaration from above here
 
@@ -367,7 +367,7 @@ Much like with heading stabilization, this is often accomplished with a PID loop
             drive.tankDrive(kP * error, -kP * error);
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         // Use gyro declaration from above here
 
diff --git a/source/docs/software/hardware-apis/sensors/limit-switch.rst b/source/docs/software/hardware-apis/sensors/limit-switch.rst
index 6159989009..a2d4a72168 100644
--- a/source/docs/software/hardware-apis/sensors/limit-switch.rst
+++ b/source/docs/software/hardware-apis/sensors/limit-switch.rst
@@ -8,9 +8,9 @@ Limit switches can have "normally open" or "normally closed" outputs.  This will
 Controlling a Motor with Two Limit Switches
 -------------------------------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
      DigitalInput toplimitSwitch = new DigitalInput(0);
      DigitalInput bottomlimitSwitch = new DigitalInput(1);
@@ -42,7 +42,7 @@ Controlling a Motor with Two Limit Switches
          }
      }
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
      frc::DigitalInput toplimitSwitch {0};
      frc::DigitalInput bottomlimitSwitch {1};
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 9e75aca06d..3bbc1302b8 100644
--- a/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst
+++ b/source/docs/software/kinematics-and-odometry/differential-drive-kinematics.rst
@@ -12,9 +12,9 @@ Converting Chassis Speeds to Wheel Speeds
 -----------------------------------------
 The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java) / ``ToWheelSpeeds(ChassisSpeeds speeds)`` (C++) method should be used to convert a ``ChassisSpeeds`` object to a ``DifferentialDriveWheelSpeeds`` object. This is useful in situations where you have to convert a linear velocity (``vx``) and an angular velocity (``omega``) to left and right wheel velocities.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Creating my kinematics object: track width of 27 inches
       DifferentialDriveKinematics kinematics =
@@ -33,7 +33,7 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java) / ``ToWheelSpeeds(ChassisSpee
       // Right velocity
       double rightVelocity = wheelSpeeds.rightMetersPerSecond;
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Creating my kinematics object: track width of 27 inches
       frc::DifferentialDriveKinematics kinematics{27_in};
@@ -51,9 +51,9 @@ Converting Wheel Speeds to Chassis Speeds
 -----------------------------------------
 One can also use the kinematics object to convert individual wheel speeds (left and right) to a singular ``ChassisSpeeds`` object. The ``toChassisSpeeds(DifferentialDriveWheelSpeeds speeds)`` (Java) / ``ToChassisSpeeds(DifferentialDriveWheelSpeeds speeds)`` (C++) method should be used to achieve this.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Creating my kinematics object: track width of 27 inches
       DifferentialDriveKinematics kinematics =
@@ -72,7 +72,7 @@ One can also use the kinematics object to convert individual wheel speeds (left
       // Angular velocity
       double angularVelocity = chassisSpeeds.omegaRadiansPerSecond;
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Creating my kinematics object: track width of 27 inches
       frc::DifferentialDriveKinematics kinematics{27_in};
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 8fe180b7f9..ce17da81af 100644
--- a/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst
+++ b/source/docs/software/kinematics-and-odometry/differential-drive-odometry.rst
@@ -15,9 +15,9 @@ The optional argument is the starting pose of your robot on the field (as a ``Po
 
 .. note:: 0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase. The ``Gyro`` interface supplies ``getRotation2d``/``GetRotation2d`` that you can use for this purpose. See :ref:`Field Coordinate System <docs/software/advanced-controls/geometry/coordinate-systems:Field Coordinate System>` for more information about the coordinate system.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Creating my odometry object. Here,
       // our starting pose is 5 meters along the long end of the field and in the
@@ -27,7 +27,7 @@ The optional argument is the starting pose of your robot on the field (as a ``Po
         m_leftEncoder.getDistance(), m_rightEncoder.getDistance(),
         new Pose2d(5.0, 13.5, new Rotation2d()));
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Creating my odometry object. Here,
       // our starting pose is 5 meters along the long end of the field and in the
@@ -45,9 +45,9 @@ The ``update`` method can be used to update the robot's position on the field. T
 
 .. note:: If the robot is moving forward in a straight line, **both** distances (left and right) must be increasing positively -- the rate of change must be positive.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       @Override
       public void periodic() {
@@ -60,7 +60,7 @@ The ``update`` method can be used to update the robot's position on the field. T
           m_rightEncoder.getDistance());
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       void Periodic() override {
         // Get the rotation of the robot from the gyro.
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 31eadd765b..c16791bd3d 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
@@ -23,16 +23,16 @@ Constructing a ChassisSpeeds object
 -----------------------------------
 The constructor for the ``ChassisSpeeds`` object is very straightforward, accepting three arguments for ``vx``, ``vy``, and ``omega``. In Java, ``vx`` and ``vy`` must be in meters per second. In C++, the units library may be used to provide a linear velocity using any linear velocity unit.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // 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.
       var speeds = new ChassisSpeeds(3.0, -2.0, Math.PI);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // The robot is moving at 3 meters per second forward, 2 meters
       // per second to the right, and rotating at half a rotation per
@@ -47,9 +47,9 @@ A ``ChassisSpeeds`` object can also be created from a set of field-relative spee
 
 The static ``ChassisSpeeds.fromFieldRelativeSpeeds`` (Java) / ``ChassisSpeeds::FromFieldRelativeSpeeds`` (C++) method can be used to generate the ``ChassisSpeeds`` object from field-relative speeds. This method accepts the ``vx`` (relative to the field), ``vy`` (relative to the field), ``omega``, and the robot angle.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // The desired field relative speed here is 2 meters per second
       // toward the opponent's alliance station wall, and 2 meters per
@@ -59,7 +59,7 @@ The static ``ChassisSpeeds.fromFieldRelativeSpeeds`` (Java) / ``ChassisSpeeds::F
       ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds(
         2.0, 2.0, Math.PI / 2.0, Rotation2d.fromDegrees(45.0));
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // The desired field relative speed here is 2 meters per second
       // toward the opponent's alliance station wall, and 2 meters per
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 4426e22350..3e6472e6c1 100644
--- a/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst
+++ b/source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst
@@ -6,9 +6,9 @@ Constructing the Kinematics Object
 ----------------------------------
 The ``MecanumDriveKinematics`` class accepts four constructor arguments, with each argument being the location of a wheel relative to the robot center (as a ``Translation2d``). The order for the arguments is front left, front right, back left, and back right. The locations for the wheels must be relative to the center of the robot. Positive x values represent moving toward the front of the robot whereas positive y values represent moving toward the left of the robot.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Locations of the wheels relative to the robot center.
       Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
@@ -22,7 +22,7 @@ The ``MecanumDriveKinematics`` class accepts four constructor arguments, with ea
       );
 
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Locations of the wheels relative to the robot center.
       frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
@@ -39,9 +39,9 @@ Converting Chassis Speeds to Wheel Speeds
 -----------------------------------------
 The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java) / ``ToWheelSpeeds(ChassisSpeeds speeds)`` (C++) method should be used to convert a ``ChassisSpeeds`` object to a ``MecanumDriveWheelSpeeds`` object. This is useful in situations where you have to convert a forward velocity, sideways velocity, and an angular velocity into individual wheel speeds.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Example chassis speeds: 1 meter per second forward, 3 meters
       // per second to the left, and rotation at 1.5 radians per second
@@ -57,7 +57,7 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java) / ``ToWheelSpeeds(ChassisSpee
       double backLeft = wheelSpeeds.rearLeftMetersPerSecond
       double backRight = wheelSpeeds.rearRightMetersPerSecond
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Example chassis speeds: 1 meter per second forward, 3 meters
       // per second to the left, and rotation at 1.5 radians per second
@@ -73,9 +73,9 @@ Field-oriented drive
 ~~~~~~~~~~~~~~~~~~~~
 :ref:`Recall <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:Creating a ChassisSpeeds object from field-relative speeds>` that a ``ChassisSpeeds`` object can be created from a set of desired field-oriented speeds. This feature can be used to get wheel speeds from a set of desired field-oriented speeds.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // The desired field relative speed here is 2 meters per second
       // toward the opponent's alliance station wall, and 2 meters per
@@ -88,7 +88,7 @@ Field-oriented drive
       // Now use this in our kinematics
       MecanumDriveWheelSpeeds wheelSpeeds = kinematics.toWheelSpeeds(speeds);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // The desired field relative speed here is 2 meters per second
       // toward the opponent's alliance station wall, and 2 meters per
@@ -113,9 +113,9 @@ Converting wheel speeds to chassis speeds
 -----------------------------------------
 One can also use the kinematics object to convert a ``MecanumDriveWheelSpeeds`` object to a singular ``ChassisSpeeds`` object. The ``toChassisSpeeds(MecanumDriveWheelSpeeds speeds)`` (Java) / ``ToChassisSpeeds(MecanumDriveWheelSpeeds speeds)`` (C++) method can be used to achieve this.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Example wheel speeds
       var wheelSpeeds = new MecanumDriveWheelSpeeds(-17.67, 20.51, -13.44, 16.26);
@@ -128,7 +128,7 @@ One can also use the kinematics object to convert a ``MecanumDriveWheelSpeeds``
       double sideways = chassisSpeeds.vyMetersPerSecond;
       double angular = chassisSpeeds.omegaRadiansPerSecond;
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Example wheel speeds
       frc::MecanumDriveWheelSpeeds wheelSpeeds{-17.67_mps, 20.51_mps, -13.44_mps, 16.26_mps};
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 97e5da185c..004fccc9a5 100644
--- a/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst
+++ b/source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst
@@ -18,9 +18,9 @@ The fourth optional argument is the starting pose of your robot on the field (as
 
 .. note:: 0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase.  The ``Gyro`` interface supplies ``getRotation2d``/``GetRotation2d`` that you can use for this purpose. See :ref:`Field Coordinate System <docs/software/advanced-controls/geometry/coordinate-systems:Field Coordinate System>` for more information about the coordinate system.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Locations of the wheels relative to the robot center.
       Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
@@ -46,7 +46,7 @@ The fourth optional argument is the starting pose of your robot on the field (as
         new Pose2d(5.0, 13.5, new Rotation2d())
       );
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Locations of the wheels relative to the robot center.
       frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
@@ -79,9 +79,9 @@ Updating the robot pose
 -----------------------
 The ``update`` method of the odometry class updates the robot position on the field. The update method takes in the gyro angle of the robot, along with a ``MecanumDriveWheelPositions`` object representing the position of each of the 4 wheels on the robot. This ``update`` 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.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       @Override
       public void periodic() {
@@ -97,7 +97,7 @@ The ``update`` method of the odometry class updates the robot position on the fi
         m_pose = m_odometry.update(gyroAngle, wheelPositions);
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       void Periodic() override {
         // Get my wheel positions
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 9e6ecc2249..ff2d4d6151 100644
--- a/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
+++ b/source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
@@ -19,9 +19,9 @@ The ``SwerveDriveKinematics`` class accepts a variable number of constructor arg
 
 The locations for the modules must be relative to the center of the robot. Positive x values represent moving toward the front of the robot whereas positive y values represent moving toward the left of the robot.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Locations for the swerve drive modules relative to the robot center.
       Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
@@ -34,7 +34,7 @@ The locations for the modules must be relative to the center of the robot. Posit
         m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
       );
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Locations for the swerve drive modules relative to the robot center.
       frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
@@ -53,9 +53,9 @@ The ``toSwerveModuleStates(ChassisSpeeds speeds)`` (Java) / ``ToSwerveModuleStat
 
 The elements in the array that is returned by this method are the same order in which the kinematics object was constructed. For example, if the kinematics object was constructed with the front left module location, front right module location, back left module location, and the back right module location in that order, the elements in the array would be the front left module state, front right module state, back left module state, and back right module state in that order.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Example chassis speeds: 1 meter per second forward, 3 meters
       // per second to the left, and rotation at 1.5 radians per second
@@ -77,7 +77,7 @@ The elements in the array that is returned by this method are the same order in
       // Back right module state
       SwerveModuleState backRight = moduleStates[3];
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Example chassis speeds: 1 meter per second forward, 3 meters
       // per second to the left, and rotation at 1.5 radians per second
@@ -95,13 +95,13 @@ The ``SwerveModuleState`` class contains a static ``optimize()`` (Java) / ``Opti
 
 This method takes two parameters: the desired state (usually from the ``toSwerveModuleStates`` method) and the current angle. It will return the new optimized state which you can use as the setpoint in your feedback control loop.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       var frontLeftOptimized = SwerveModuleState.optimize(frontLeft,
          new Rotation2d(m_turningEncoder.getDistance()));
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       auto flOptimized = frc::SwerveModuleState::Optimize(fl,
          units::radian_t(m_turningEncoder.GetDistance()));
@@ -110,9 +110,9 @@ Field-oriented drive
 ^^^^^^^^^^^^^^^^^^^^
 :ref:`Recall <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:Creating a ChassisSpeeds object from field-relative speeds>` that a ``ChassisSpeeds`` object can be created from a set of desired field-oriented speeds. This feature can be used to get module states from a set of desired field-oriented speeds.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // The desired field relative speed here is 2 meters per second
       // toward the opponent's alliance station wall, and 2 meters per
@@ -125,7 +125,7 @@ Field-oriented drive
       // Now use this in our kinematics
       SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(speeds);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // The desired field relative speed here is 2 meters per second
       // toward the opponent's alliance station wall, and 2 meters per
@@ -150,9 +150,9 @@ Converting module states to chassis speeds
 ------------------------------------------
 One can also use the kinematics object to convert an array of ``SwerveModuleState`` objects to a singular ``ChassisSpeeds`` object. The ``toChassisSpeeds(SwerveModuleState... states)`` (Java) / ``ToChassisSpeeds(SwerveModuleState... states)`` (C++) method can be used to achieve this.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Example module states
       var frontLeftState = new SwerveModuleState(23.43, Rotation2d.fromDegrees(-140.19));
@@ -169,7 +169,7 @@ One can also use the kinematics object to convert an array of ``SwerveModuleStat
       double sideways = chassisSpeeds.vyMetersPerSecond;
       double angular = chassisSpeeds.omegaRadiansPerSecond;
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Example module States
       frc::SwerveModuleState frontLeftState{23.43_mps, Rotation2d(-140.19_deg)};
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 77239ee5fb..bebdeedfdd 100644
--- a/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst
+++ b/source/docs/software/kinematics-and-odometry/swerve-drive-odometry.rst
@@ -18,9 +18,9 @@ The fourth optional argument is the starting pose of your robot on the field (as
 
 .. note:: 0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase. The ``Gyro`` interface supplies ``getRotation2d``/``GetRotation2d`` that you can use for this purpose. See :ref:`Field Coordinate System <docs/software/advanced-controls/geometry/coordinate-systems:Field Coordinate System>` for more information about the coordinate system.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       // Locations for the swerve drive modules relative to the robot center.
       Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
@@ -45,7 +45,7 @@ The fourth optional argument is the starting pose of your robot on the field (as
           m_backRightModule.getPosition()
         }, new Pose2d(5.0, 13.5, new Rotation2d()));
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       // Locations for the swerve drive modules relative to the robot center.
       frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
@@ -74,9 +74,9 @@ The ``update`` method of the odometry class updates the robot position on the fi
 
 This ``update`` 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.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       @Override
       public void periodic() {
@@ -91,7 +91,7 @@ This ``update`` method must be called periodically, preferably in the ``periodic
           });
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       void Periodic() override {
         // Get the rotation of the robot from the gyro.
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 70111a7966..b7e5a37b5a 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
@@ -19,9 +19,9 @@ Both of the following examples are extremely simplified programs that just illus
 Writing a Program to Access the Topics
 --------------------------------------
 
-.. tabs::
-
-   .. code-tab:: java
+.. tab-set-code::
+  
+   .. code-block:: java
 
       DoubleArraySubscriber areasSub;
 
@@ -44,7 +44,7 @@ Writing a Program to Access the Topics
           System.out.println();
       }
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       nt::DoubleArraySubscriber areasSub;
 
@@ -65,7 +65,7 @@ Writing a Program to Access the Topics
         std::cout << std::endl;
       }
 
-  .. code-tab:: python
+   .. code-block:: python
 
         def robotInit(self):
             table = ntcore.NetworkTableInstance.getDefault().getTable("GRIP/mycontoursReport")
diff --git a/source/docs/software/networktables/robot-program.rst b/source/docs/software/networktables/robot-program.rst
index cf92719a1a..e8300a2e32 100644
--- a/source/docs/software/networktables/robot-program.rst
+++ b/source/docs/software/networktables/robot-program.rst
@@ -5,9 +5,9 @@ In a robot program, a NetworkTables server is automatically started on the defau
 
 The example robot program below publishes incrementing X and Y values to a table named ``datatable``. The values for X and Y can be easily viewed using the OutlineViewer program that shows the NetworkTables hierarchy and all the values associated with each topic.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         package edu.wpi.first.wpilibj.templates;
 
@@ -49,7 +49,7 @@ The example robot program below publishes incrementing X and Y values to a table
           }
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         #include <frc/TimedRobot.h>
         #include <networktables/DoubleTopic.h>
@@ -92,7 +92,7 @@ The example robot program below publishes incrementing X and Y values to a table
 
         START_ROBOT_CLASS(EasyNetworkExample)
 
-    .. code-tab:: python
+    .. code-block:: python
 
         #!/usr/bin/env python3
 
diff --git a/source/docs/software/roborio-info/roborio-brownouts.rst b/source/docs/software/roborio-info/roborio-brownouts.rst
index 936e193372..97371cb783 100644
--- a/source/docs/software/roborio-info/roborio-brownouts.rst
+++ b/source/docs/software/roborio-info/roborio-brownouts.rst
@@ -71,13 +71,13 @@ The NI roboRIO 1.0 does not support custom brownout voltages. It is fixed at 6.3
 
 The NI roboRIO 2.0 adds the option for a software settable brownout level.  The default brownout level (Stage 2) of the roboRIO 2.0 is 6.75V.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     RobotController.setBrownoutVoltage(7.0);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc::RobotController::SetBrownoutVoltage(7_V);
 
diff --git a/source/docs/software/telemetry/datalog.rst b/source/docs/software/telemetry/datalog.rst
index f1fe807436..e7e43dc269 100644
--- a/source/docs/software/telemetry/datalog.rst
+++ b/source/docs/software/telemetry/datalog.rst
@@ -25,16 +25,16 @@ On startup, all existing log files where a DS has not been connected will be del
 
 The most basic usage of DataLogManager only requires a single line of code (typically this would be called from ``robotInit``). This will record all NetworkTables changes to the data log.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         import edu.wpi.first.wpilibj.DataLogManager;
 
         // Starts recording to data log
         DataLogManager.start();
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         #include "frc/DataLogManager.h"
 
@@ -52,9 +52,9 @@ Logging Joystick Data
 
 DataLogManager by default does not record joystick data.  The ``DriverStation`` class provides support for logging of DS control and joystick data via the ``startDataLog()`` function:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         import edu.wpi.first.wpilibj.DataLogManager;
         import edu.wpi.first.wpilibj.DriverStation;
@@ -68,7 +68,7 @@ DataLogManager by default does not record joystick data.  The ``DriverStation``
         // (alternatively) Record only DS control data
         DriverStation.startDataLog(DataLogManager.getLog(), false);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         #include "frc/DataLogManager.h"
         #include "frc/DriverStation.h"
@@ -91,9 +91,9 @@ The ``DataLog`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java
 
 The LogEntry classes can be used in conjunction with DataLogManager to record values only to a data log and not to NetworkTables:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         import edu.wpi.first.util.datalog.BooleanLogEntry;
         import edu.wpi.first.util.datalog.DataLog;
@@ -125,7 +125,7 @@ The LogEntry classes can be used in conjunction with DataLogManager to record va
           }
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         #include "frc/DataLogManager.h"
         #include "wpi/DataLog.h"
diff --git a/source/docs/software/telemetry/robot-telemetry-with-sendable.rst b/source/docs/software/telemetry/robot-telemetry-with-sendable.rst
index 261198e1c2..6392387e89 100644
--- a/source/docs/software/telemetry/robot-telemetry-with-sendable.rst
+++ b/source/docs/software/telemetry/robot-telemetry-with-sendable.rst
@@ -23,13 +23,13 @@ Sending a Sendable to the Dashboard
 
 To send a ``Sendable`` object to the dashboard, simply use the dashboard's ``putData`` method.  For example, an "arm" class that uses a :ref:`PID Controller <docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib>` can automatically log telemetry from the controller by calling the following in its constructor:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         SmartDashboard.putData("Arm PID", armPIDController);
 
-    .. code-tab:: cpp
+    .. code-block:: cpp
 
         frc::SmartDashboard::PutData("Arm PID", &armPIDController);
 
diff --git a/source/docs/software/telemetry/writing-sendable-classes.rst b/source/docs/software/telemetry/writing-sendable-classes.rst
index 436bba551b..2f7fd63d55 100644
--- a/source/docs/software/telemetry/writing-sendable-classes.rst
+++ b/source/docs/software/telemetry/writing-sendable-classes.rst
@@ -5,23 +5,21 @@ Since the ``Sendable`` interface only has one method, writing your own classes t
 
 For example, here is the implementation of ``initSendable`` from WPILib's ``BangBangController``:
 
-.. tabs::
+.. tab-set-code::
 
-    .. group-tab:: Java
 
-        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java
-           :language: java
-           :lines: 150-158
-           :linenos:
-           :lineno-start: 150
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java
+        :language: java
+        :lines: 150-158
+        :linenos:
+        :lineno-start: 150
 
-    .. group-tab:: C++
 
-        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpimath/src/main/native/cpp/controller/BangBangController.cpp
-           :language: cpp
-           :lines: 58-72
-           :linenos:
-           :lineno-start: 58
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpimath/src/main/native/cpp/controller/BangBangController.cpp
+        :language: cpp
+        :lines: 58-72
+        :linenos:
+        :lineno-start: 58
 
 To enable the automatic updating of values by WPILib "in the background", ``Sendable`` data names are bound to getter and setter functions rather than specific data values.  If a field that you wish to log has no defined setters and getters, they can be defined inline with a lambda expression.
 
@@ -50,22 +48,20 @@ Since ``Sendable`` allows users to consume arbitrary values from the dashboard,
 
 To help users ensure safety when interfacing with dashboard values, ``SendableBuilder`` exposes a ``setSafeState`` method, which is called to place any ``Sendable`` mechanism that actuates based on dashboard input into a safe state.  Any potentially hazardous user-written ``Sendable`` implementation should call ``setSafeState`` with a suitable safe state implementation.  For example, here is the implementation from the WPILib ``PWMMotorController`` class:
 
-.. tabs::
+.. tab-set-code::
 
-    .. group-tab:: Java
 
-        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
-           :language: java
-           :lines: 118-124
-           :linenos:
-           :lineno-start: 118
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
+        :language: java
+        :lines: 118-124
+        :linenos:
+        :lineno-start: 118
 
-    .. group-tab:: C++
 
-        .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
-           :language: cpp
-           :lines: 56-62
-           :linenos:
-           :lineno-start: 56
+    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+        :language: cpp
+        :lines: 56-62
+        :linenos:
+        :lineno-start: 56
 
 Additionally, users may call ``builder.setActuator(true)`` to mark any mechanism that might move as a result of ``Sendable`` input as an actuator.  Currently, this is used by :ref:`Shuffleboard <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour:Tour of Shuffleboard>` to disable actuator widgets when not in :ref:`LiveWindow <docs/controls-overviews/control-system-software:LiveWindow>` mode.
diff --git a/source/docs/software/vision-processing/grip/using-generated-code-in-a-robot-program.rst b/source/docs/software/vision-processing/grip/using-generated-code-in-a-robot-program.rst
index 320fb44d9a..4cc955e167 100644
--- a/source/docs/software/vision-processing/grip/using-generated-code-in-a-robot-program.rst
+++ b/source/docs/software/vision-processing/grip/using-generated-code-in-a-robot-program.rst
@@ -23,9 +23,9 @@ writing your robot program. When writing your own program be aware of the follow
 
 Iterative program definitions
 -----------------------------
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         package org.usfirst.frc.team190.robot;
 
@@ -65,9 +65,9 @@ In this first part of the program you can see all the import statements for the
 -   **imgLock** is a variable to synchronize access to the data being simultaneously updated with each image acquisition pass
     and the code that's processing the coordinates and steering the robot.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         @Override
         public void robotInit() {
@@ -103,9 +103,9 @@ in order to find its center, then saves that value in the variable centerX. Note
 this makes sure the main robot thread will always have the most up-to-date value of the variable, as long as it also uses
 **synchronized** blocks to read the variable.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         @Override
         public void autonomousPeriodic() {
diff --git a/source/docs/software/vision-processing/introduction/cameraserver-class.rst b/source/docs/software/vision-processing/introduction/cameraserver-class.rst
index b61a42515d..6feded250f 100644
--- a/source/docs/software/vision-processing/introduction/cameraserver-class.rst
+++ b/source/docs/software/vision-processing/introduction/cameraserver-class.rst
@@ -82,9 +82,9 @@ When a new image is captured by the camera, both the CvSink and the MjpegServer
 
 The above graph is what the following CameraServer snippet creates:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         import edu.wpi.first.cameraserver.CameraServer;
         import edu.wpi.cscore.CvSink;
@@ -99,7 +99,7 @@ The above graph is what the following CameraServer snippet creates:
         // Creates the CvSource and MjpegServer [2] and connects them
         CvSource outputStream = CameraServer.putVideo("Blur", 640, 480);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         #include "cameraserver/CameraServer.h"
 
@@ -114,9 +114,9 @@ The above graph is what the following CameraServer snippet creates:
 
 The CameraServer implementation effectively does the following at the cscore level (for explanation purposes). CameraServer takes care of many of the details such as creating unique names for all cscore objects and automatically selecting port numbers. CameraServer also keeps a singleton registry of created objects so they aren't destroyed if they go out of scope.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         import edu.wpi.cscore.CvSink;
         import edu.wpi.cscore.CvSource;
@@ -137,7 +137,7 @@ The CameraServer implementation effectively does the following at the cscore lev
         MjpegServer mjpegServer2 = new MjpegServer("serve_Blur", 1182);
         mjpegServer2.setSource(outputStream);
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         #include "cscore_oo.h"
 
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 58707580a8..4c2156ad8a 100644
--- a/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst
+++ b/source/docs/software/vision-processing/roborio/using-multiple-cameras.rst
@@ -6,9 +6,9 @@ Switching the Driver Views
 
 If you're interested in just switching what the driver sees, and are using SmartDashboard, the SmartDashboard CameraServer Stream Viewer has an option ("Selected Camera Path") that reads the given :term:`NetworkTables` key and changes the "Camera Choice" to that value (displaying that camera). The robot code then just needs to set the :term:`NetworkTables` key to the correct camera name. Assuming "Selected Camera Path" is set to "CameraSelection", the following code uses the joystick 1 trigger button state to show camera1 and camera2.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        UsbCamera camera1;
        UsbCamera camera2;
@@ -34,7 +34,7 @@ If you're interested in just switching what the driver sees, and are using Smart
            }
        }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        cs::UsbCamera camera1;
        cs::UsbCamera camera2;
@@ -61,9 +61,9 @@ If you're interested in just switching what the driver sees, and are using Smart
 
 If you're using some other dashboard, you can change the camera used by the camera server dynamically. If you open a stream viewer nominally to camera1, the robot code will change the stream contents to either camera1 or camera2 based on the joystick trigger.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        UsbCamera camera1;
        UsbCamera camera2;
@@ -88,7 +88,7 @@ If you're using some other dashboard, you can change the camera used by the came
            }
        }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        cs::UsbCamera camera1;
        cs::UsbCamera camera2;
@@ -118,9 +118,9 @@ Keeping Streams Open
 
 By default, the cscore library is pretty aggressive in turning off cameras not in use. What this means is that when you switch cameras, it may disconnect from the camera not in use, so switching back will have some delay as it reconnects to the camera. To keep both camera connections open, use the ``SetConnectionStrategy()`` method to tell the library to keep the streams open, even if you aren't using them.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
        UsbCamera camera1;
        UsbCamera camera2;
@@ -148,7 +148,7 @@ By default, the cscore library is pretty aggressive in turning off cameras not i
            }
        }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
        cs::UsbCamera camera1;
        cs::UsbCamera camera2;
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 889c5c080a..e67a8a15a4 100644
--- a/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst
+++ b/source/docs/software/vision-processing/wpilibpi/basic-vision-example.rst
@@ -3,9 +3,9 @@ Basic Vision Example
 
 This is an example of a basic vision setup that posts the target's location in the aiming coordinate system described :ref:`here <docs/software/vision-processing/introduction/identifying-and-processing-the-targets:Measurements>` to NetworkTables, and uses CameraServer to display a bounding rectangle of the contour detected. This example will display the framerate of the processing code on the images sent to CameraServer.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       from cscore import CameraServer
       import ntcore
diff --git a/source/docs/software/vision-processing/wpilibpi/image-thresholding.rst b/source/docs/software/vision-processing/wpilibpi/image-thresholding.rst
index 881e94acdb..0c0fa970f7 100644
--- a/source/docs/software/vision-processing/wpilibpi/image-thresholding.rst
+++ b/source/docs/software/vision-processing/wpilibpi/image-thresholding.rst
@@ -17,9 +17,9 @@ Unlike RGB, HSV allows you to not only filter based on the colors of the pixels,
 
 You can use OpenCV to convert a BGR image matrix to HSV.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       hsv_img = cv2.cvtColor(input_img, cv2.COLOR_BGR2HSV)
 
@@ -35,9 +35,9 @@ We will use this field image as an example for the whole process of image proces
 
 By thresholding the image using HSV, you can separate the image into the vision target (foreground), and the other things that the camera sees (background). The following code example converts a HSV image into a binary image by thresholding with HSV values.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       binary_img = cv2.inRange(hsv_img, (min_hue, min_sat, min_val), (max_hue, max_sat, max_val))
 
diff --git a/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst b/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst
index 328dee83a6..7e62ef1f1d 100644
--- a/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst
+++ b/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst
@@ -27,9 +27,9 @@ Erosion
 
 Erosion in computer vision is similar to erosion on soil. It takes away from the borders of foreground objects. This process can remove noise from the background.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       kernel = np.ones((3, 3), np.uint8)
       binary_img = cv2.erode(binary_img, kernel, iterations = 1)
@@ -44,9 +44,9 @@ Dilation
 
 Dilation is opposite of erosion. Instead of taking away from the borders, it adds to them. This process can remove small holes inside a larger region.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       kernel = np.ones((3, 3), np.uint8)
       binary_img = cv2.dilate(binary_img, kernel, iterations = 1)
@@ -61,9 +61,9 @@ Opening
 
 Opening is erosion followed by dilation. This process removes noise without affecting the shape of larger features.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       kernel = np.ones((3, 3), np.uint8)
       binary_img = cv2.morphologyEx(binary_img, cv2.MORPH_OPEN, kernel)
@@ -78,9 +78,9 @@ Closing
 
 Closing is dilation followed by erosion. This process removes small holes or breaks without affecting the shape of larger features.
 
-.. tabs::
+.. tab-set-block::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       kernel = np.ones((3, 3), np.uint8)
       binary_img = cv2.morphologyEx(binary_img, cv2.MORPH_CLOSE, kernel)
diff --git a/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst b/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
index 736fefa442..702f2e8db6 100644
--- a/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
+++ b/source/docs/software/vision-processing/wpilibpi/using-cameraserver.rst
@@ -6,9 +6,9 @@ Grabbing Frames from CameraServer
 
 The WPILibPi image comes with all the necessary libraries to make your own vision processing system. In order to get the current frame from the camera, you can use the CameraServer library. For information about CameraServer, the :ref:`docs/software/vision-processing/introduction/cameraserver-class:Read and Process Video: CameraServer Class`.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       from cscore import CameraServer
       import cv2
@@ -39,9 +39,9 @@ Sending frames to CameraServer
 
 Sometimes, you may want to send processed video frames back to the CameraServer instance for debugging purposes, or viewing in a dashboard application like Shuffleboard.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       #
       # CameraServer initialization code here
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 5bb6b0a3cb..f6582efed8 100644
--- a/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst
+++ b/source/docs/software/vision-processing/wpilibpi/working-with-contours.rst
@@ -6,17 +6,17 @@ After thresholding and removing noise with morphological operations, you are now
 Finding and Filtering Contours
 ------------------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       _, contours, _ = cv2.findContours(binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
 
 In cases where there is only one vision target, you can just take the largest contour and assume that is the target you are looking for. When there is more than one vision target, you can use size, shape, fullness, and other properties to filter unwanted contours out.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       if len(contours) > 0:
          largest = contours[0]
@@ -41,9 +41,9 @@ Now that you've found the contour(s) that you want, you now want to get informat
 Center
 ^^^^^^
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       rect = cv2.minAreaRect(contour)
       center, _, _ = rect
@@ -52,9 +52,9 @@ Center
 Corners
 ^^^^^^^
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       corners = cv2.convexHull(contour)
       corners = cv2.approxPolyDP(corners, 0.1 * cv2.arcLength(contour), True)
@@ -62,9 +62,9 @@ Corners
 Rotation
 ^^^^^^^^
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
       _, _, rotation = cv2.fitEllipse(contour)
 
@@ -75,9 +75,9 @@ Publishing to NetworkTables
 
 You can use NetworkTables to send these properties to the Driver Station and the RoboRIO. Additional processing could be done on the Raspberry Pi, or the RoboRIO itself.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: py
+   .. code-block:: py
 
          import ntcore
 
diff --git a/source/docs/software/vscode-overview/creating-robot-program.rst b/source/docs/software/vscode-overview/creating-robot-program.rst
index c3dd811e73..caff907307 100644
--- a/source/docs/software/vscode-overview/creating-robot-program.rst
+++ b/source/docs/software/vscode-overview/creating-robot-program.rst
@@ -23,37 +23,34 @@ The :code:`TimedRobot` class is the base class recommended for most users.  It p
 
 .. note:: A `TimedRobot Skeleton` template is available that removes some informative comments and the autonomous example. You can use this if you're already familiar with `TimedRobot`. The example shown below is of `TimedRobot Skeleton`.
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
+      :language: java
+      :lines: 7-55
+      :linenos:
+      :lineno-start: 7
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
-         :language: java
-         :lines: 7-55
-         :linenos:
-         :lineno-start: 7
 
-   .. group-tab:: C++
-
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
-         :language: cpp
-         :lines: 5-29
-         :linenos:
-         :lineno-start: 5
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
+      :language: cpp
+      :lines: 5-29
+      :linenos:
+      :lineno-start: 5
 
 Periodic methods are called every 20 ms by default. This can be changed by calling the superclass constructor with the new desired update rate.
 
 .. danger:: Changing your robot rate can cause some unintended behavior (loop overruns). Teams can also use `Notifiers <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Notifier.html>`__ to schedule methods at a custom rate.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       public Robot() {
         super(0.03); // Periodic methods will now be called every 30 ms.
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       Robot() : frc::TimedRobot(30_ms) {}
 
diff --git a/source/docs/software/vscode-overview/debugging-robot-program.rst b/source/docs/software/vscode-overview/debugging-robot-program.rst
index 2038631932..f478203eb8 100644
--- a/source/docs/software/vscode-overview/debugging-robot-program.rst
+++ b/source/docs/software/vscode-overview/debugging-robot-program.rst
@@ -37,13 +37,13 @@ Debugging with Print Statements
 
 Another way to debug your program is to use print statements in your code and view them using the RioLog in Visual Studio Code or the Driver Station.  Print statements should be added with care as they are not very efficient especially when used in high quantities.  They should be removed for competition as they can cause loop overruns.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         System.out.print("example");
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         wpi::outs() << "example\n";
 
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 15a0744f34..b37c4d66f5 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/device-sim.rst
@@ -18,15 +18,15 @@ Simulation device object can be constructed in two ways:
 - a constructor that accepts the regular hardware object.
 - a constructor or factory method that accepts the port/index/channel number that the device is connected to. These would be the same number that was used to construct the regular hardware object. This is especially useful for :doc:`unit testing <unit-testing>`.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       // create a real encoder object on DIO 2,3
       Encoder encoder = new Encoder(2, 3);
       // create a sim controller for the encoder
       EncoderSim simEncoder = new EncoderSim(encoder);
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
        // create a real encoder object on DIO 2,3
        frc::Encoder encoder{2, 3};
@@ -38,14 +38,14 @@ Reading and Writing Device Data
 
 Each simulation class has getter (``getXxx()``/``GetXxx()``) and setter (``setXxx(value)``/``SetXxx(value)``) functions for each field ``Xxx``. The getter functions will return the same as the getter of the regular device class.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       simEncoder.setCount(100);
       encoder.getCount(); // 100
       simEncoder.getCount(); // 100
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       simEncoder.SetCount(100);
       encoder.GetCount(); // 100
@@ -62,8 +62,8 @@ In C++, save the ``CallbackStore`` object in the right scope - the callback will
 
 .. warning:: Attempting to retrieve a value of a type from a ``HALValue`` containing a different type is undefined behavior.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       NotifyCallback callback = (String name, HALValue value) -> {
         if (value.getType() == HALValue.kInt) {
@@ -74,7 +74,7 @@ In C++, save the ``CallbackStore`` object in the right scope - the callback will
 
       store.close(); // cancel the callback
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       HAL_NotifyCallback callback = [](const char* name, void* param, const HALValue* value) {
         if (value->type == HAL_INT) {
@@ -93,25 +93,25 @@ The ``SimDeviceSim`` (**not** ``SimDevice``!) class is a general device simulati
 
 The ``SimDeviceSim`` object is created using a string key identical to the key the vendor used to construct the underlying ``SimDevice`` in their device class. This key is the one that the device shows up with in the :guilabel:`Other Devices` tab, and is typically of the form ``Prefix:Device Name[index]``. If the key contains ports/index/channel numbers, they can be passed as separate arguments to the ``SimDeviceSim`` constructor. The key contains a prefix that is hidden by default in the SimGUI, it can be shown by selecting the :guilabel:`Show prefix` option. Not including this prefix in the key passed to ``SimDeviceSim`` will not match the device!
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       SimDeviceSim device = new SimDeviceSim(deviceKey, index);
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       frc::sim::SimDeviceSim device{deviceKey, index};
 
 Once we have the ``SimDeviceSim``, we can get ``SimValue`` objects representing the device's fields. Type-specific ``SimDouble``, ``SimInt``, ``SimLong``, ``SimBoolean``, and ``SimEnum`` subclasses also exist, and should be used instead of the type-unsafe ``SimValue`` class. These are constructed from the ``SimDeviceSim`` using a string key identical to the one the vendor used to define the field. This key is the one the field appears as in the SimGUI. Attempting to retrieve a ``SimValue`` object outside of simulation or when either the device or field keys are unmatched will return ``null`` - this can cause ``NullPointerException`` in Java or undefined behavior in C++.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       SimDouble field = device.getDouble(fieldKey);
       field.get();
       field.set(value);
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       hal::SimDouble field = device.GetDouble(fieldKey);
       field.Get();
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 6d582f6845..f40812f1e3 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
@@ -22,8 +22,8 @@ You can calculate the measurement noise of your sensors by taking multiple data
 
 .. note:: It is very important to use SI units (i.e. meters and radians) when passing parameters in Java. In C++, the :ref:`units library <docs/software/basic-programming/cpp-units:The C++ Units Library>` can be used to specify any unit type.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       // Create the simulation model of our drivetrain.
       DifferentialDrivetrainSim m_driveSim = new DifferentialDrivetrainSim(
@@ -41,7 +41,7 @@ You can calculate the measurement noise of your sensors by taking multiple data
         // l and r position: 0.005 m
         VecBuilder.fill(0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005));
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/simulation/DifferentialDrivetrainSim.h>
 
@@ -85,8 +85,8 @@ You can calculate the measurement noise of your sensors by taking multiple data
 
 .. note:: It is very important to use SI units (i.e. meters and radians) when passing parameters in Java. In C++, the :ref:`units library <docs/software/basic-programming/cpp-units:The C++ Units Library>` can be used to specify any unit type.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       // Create our feedforward gain constants (from the identification
       // tool)
@@ -111,7 +111,7 @@ You can calculate the measurement noise of your sensors by taking multiple data
         // l and r position: 0.005 m
         VecBuilder.fill(0.001, 0.001, 0.001, 0.1, 0.1, 0.005, 0.005));
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/simulation/DifferentialDrivetrainSim.h>
       #include <frc/system/plant/LinearSystemId.h>
@@ -166,8 +166,8 @@ You can calculate the measurement noise of your sensors by taking multiple data
 
 .. note:: It is very important to use SI units (i.e. meters and radians) when passing parameters in Java. In C++, the :ref:`units library <docs/software/basic-programming/cpp-units:The C++ Units Library>` can be used to specify any unit type.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       private DifferentialDrivetrainSim m_driveSim = DifferentialDrivetrainSim.createKitbotSim(
         KitbotMotor.kDualCIMPerSide, // 2 CIMs per side.
@@ -176,7 +176,7 @@ You can calculate the measurement noise of your sensors by taking multiple data
         null                         // No measurement noise.
       );
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/simulation/DifferentialDrivetrainSim.h>
 
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 57fdbe2337..b514b9f38f 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
@@ -8,12 +8,12 @@ Robot Pose Visualization
 ------------------------
 The robot pose can be visualized on the Simulator GUI (during simulation) or on a dashboard such as Glass (on a real robot) by sending the odometry pose over a ``Field2d`` object. A ``Field2d`` can be trivially constructed without any constructor arguments:
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       private Field2d m_field = new Field2d();
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/smartdashboard/Field2d.h>
 
@@ -23,15 +23,15 @@ The robot pose can be visualized on the Simulator GUI (during simulation) or on
 
 This ``Field2d`` instance must then be sent over NetworkTables. The best place to do this is in the constructor of your subsystem.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       public Drivetrain() {
         ...
         SmartDashboard.putData("Field", m_field);
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/smartdashboard/SmartDashboard.h>
 
@@ -44,8 +44,8 @@ This ``Field2d`` instance must then be sent over NetworkTables. The best place t
 
 Finally, the pose from your odometry must be updated periodically into the ``Field2d`` object. Remember that this should be in a general ``periodic()`` method i.e. one that runs both during simulation and during real robot operation.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       public void periodic() {
         ...
@@ -58,7 +58,7 @@ Finally, the pose from your odometry must be updated periodically into the ``Fie
         m_field.setRobotPose(m_odometry.getPoseMeters());
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       void Periodic() {
         ...
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 488a0ac38a..70f5f89c62 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
@@ -10,8 +10,8 @@ The ``EncoderSim`` class allows users to set encoder positions and velocities on
 
 .. note:: It is not possible to simulate encoders that are directly connected to CAN motor controllers using WPILib classes. For more information about your specific motor controller, please read your vendor's documentation.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       // These represent our regular encoder objects, which we would
       // create to use on a real robot.
@@ -24,7 +24,7 @@ The ``EncoderSim`` class allows users to set encoder positions and velocities on
       private EncoderSim m_leftEncoderSim = new EncoderSim(m_leftEncoder);
       private EncoderSim m_rightEncoderSim = new EncoderSim(m_rightEncoder);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/Encoder.h>
       #include <frc/simulation/EncoderSim.h>
@@ -48,8 +48,8 @@ Similar to the ``EncoderSim`` class, simulated gyroscope classes also exist for
 
 .. note:: It is not possible to simulate certain vendor gyros (i.e. Pigeon IMU and NavX) using WPILib classes. Please read the respective vendors' documentation for information on their simulation support.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       // Create our gyro object like we would on a real robot.
       private AnalogGyro m_gyro = new AnalogGyro(1);
@@ -59,7 +59,7 @@ Similar to the ``EncoderSim`` class, simulated gyroscope classes also exist for
       // when deploying code to the roboRIO.
       private AnalogGyroSim m_gyroSim = new AnalogGyroSim(m_gyro);
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/AnalogGyro.h>
       #include <frc/simulation/AnalogGyroSim.h>
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 5918bcc1cc..4d6e218c48 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
@@ -10,8 +10,8 @@ There are three main steps to updating the model:
  2. Advance the model forward in time by the nominal periodic timestep (Usually 20 ms). This updates all of the drivetrain's states (i.e. pose, encoder positions and velocities) as if 20 ms had passed.
  3. Update simulated sensors with new positions, velocities, and angles to use in other places.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       private PWMSparkMax m_leftMotor = new PWMSparkMax(0);
       private PWMSparkMax m_rightMotor = new PWMSparkMax(1);
@@ -42,7 +42,7 @@ There are three main steps to updating the model:
         m_gyroSim.setAngle(-m_driveSim.getHeading().getDegrees());
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       frc::PWMSparkMax m_leftMotor{0};
       frc::PWMSparkMax m_rightMotor{1};
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 7b2efa20db..66234ab075 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
@@ -83,9 +83,9 @@ Determining Simulation from Robot Code
 
 In cases where vendor libraries do not compile when running the robot simulation, you can wrap their content with ``RobotBase.isReal()`` which returns a ``boolean``.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       TalonSRX motorLeft;
       TalonSRX motorRight;
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 cc7f9fda3a..ad8fd30837 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
@@ -13,9 +13,9 @@ Setting the PID Constants
 
 The height constants and PID constants are automatically generated.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       public class Elevator extends PIDSubsystem {
 
@@ -35,7 +35,7 @@ The height constants and PID constants are automatically generated.
           private static final double kF = 0.0;
           // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
       static constexpr const double Bottom = 4.6;
@@ -51,9 +51,9 @@ The height constants and PID constants are automatically generated.
 Get Potentiometer Measurement
 -----------------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
        @Override
        public double getMeasurement() {
@@ -63,7 +63,7 @@ Get Potentiometer Measurement
            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
        }
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       double Elevator::GetMeasurement() {
           // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
@@ -77,9 +77,9 @@ The ``getMeasurement()`` method is used to set the value of the sensor that is p
 Calculate PID Output
 --------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
           @Override
           public void useOutput(double output, double setpoint) {
@@ -90,7 +90,7 @@ Calculate PID Output
               // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=OUTPUT
           }
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       void Elevator::UseOutput(double output, double setpoint) {
           output += setpoint*kF;
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 a84099292e..c2af7196ad 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
@@ -16,9 +16,9 @@ For more information on the organization of a Command Based robot, see :doc:`/do
 
 Autogenerated Code
 ------------------
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
         m_chooser.setDefaultOption("Autonomous", new Autonomous());
@@ -26,7 +26,7 @@ Autogenerated Code
 
         SmartDashboard.putData("Auto Mode", m_chooser);
 
-    .. code-tab:: cpp
+    .. code-block:: cpp
 
         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
         m_chooser.SetDefaultOption("Autonomous", new Autonomous());
@@ -38,13 +38,13 @@ When the robot description is modified and code is re-exported RobotBuilder is d
 
 If code inside one of these blocks must be modified, the comments can be removed, but this will prevent further updates from happening later. In the above example, if the //BEGIN and //END comments were removed, then later another required subsystem was added in RobotBuilder, it would not be generated on that next export.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         // ROBOTBUILDER TYPE: Robot.
 
-    .. code-tab:: cpp
+    .. code-block:: cpp
 
         // ROBOTBUILDER TYPE: Robot.
 
@@ -52,9 +52,9 @@ Additionally, each file has a comment defining the type of file. If this is modi
 
 Main Robot Program
 ------------------
-.. tabs::
+.. tab-set::
 
-    .. tab:: Java
+    .. tab-item:: Java
 
         .. code-block:: java
             :linenos:
@@ -179,7 +179,7 @@ Main Robot Program
             }
 
 
-    .. tab:: C++ (Header)
+    .. tab-item:: C++ (Header)
 
         .. code-block:: C++
             :linenos:
@@ -215,7 +215,7 @@ Main Robot Program
             };
 
 
-    .. tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
 
         .. code-block:: C++
             :linenos:
@@ -299,9 +299,9 @@ This is the main program generated by RobotBuilder. There are a number of parts
 
 RobotContainer
 --------------
-.. tabs::
+.. tab-set::
 
-    .. tab:: Java
+    .. tab-item:: Java
 
         .. code-block:: java
             :linenos:
@@ -478,7 +478,7 @@ RobotContainer
             }
 
 
-    .. tab:: C++ (Header)
+    .. tab-item:: C++ (Header)
 
         .. code-block:: C++
             :linenos:
@@ -554,7 +554,7 @@ RobotContainer
                 void ConfigureButtonBindings();
             };
 
-    .. tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
 
         .. code-block:: cpp
             :linenos:
diff --git a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-testing-with-shuffleboard.rst b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-testing-with-shuffleboard.rst
index 6c7d2491f3..df0967b542 100644
--- a/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-testing-with-shuffleboard.rst
+++ b/source/docs/software/wpilib-tools/robotbuilder/introduction/robotbuilder-testing-with-shuffleboard.rst
@@ -24,15 +24,15 @@ The buttons will be generated automatically and will appear on the dashboard scr
 Adding Commands Manually
 ------------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       SmartDashboard.putData("Autonomous Command", new AutonomousCommand());
       SmartDashboard.putData("Open Claw", new OpenClaw(m_claw);
       SmartDashboard.putData("Close Claw", new CloseClaw(m_claw));
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       SmartDashboard::PutData("Autonomous Command", new AutonomousCommand());
       SmartDashboard::PutData("Open Claw", new OpenClaw(&m_claw));
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 b59d8be958..823b972348 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
@@ -41,10 +41,11 @@ Add two joysticks to the Operator Interface, one is the left stick and the other
 Create a Method to Write the Motors on the Subsystem
 ----------------------------------------------------
 
-.. tabs::
-
-   .. group-tab:: java
+.. tab-set::
 
+   .. tab-item:: java
+      :sync: java
+    
       .. code-block:: java
          :linenos:
          :lineno-start: 11
@@ -173,7 +174,8 @@ Create a Method to Write the Motors on the Subsystem
              }
          }
 
-   .. group-tab:: C++ (Header)
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
       .. code-block:: c++
          :linenos:
@@ -235,7 +237,9 @@ Create a Method to Write the Motors on the Subsystem
 
          };
 
-   .. group-tab:: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Header)
+
 
       .. code-block:: c++
          :linenos:
@@ -343,9 +347,10 @@ Create a parameter preset to retrieve joystick values. Java: For the left parame
 Add the Code to do the Driving
 ------------------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: java
+   .. tab-item:: java
+      :sync: java
 
       .. code-block:: java
          :linenos:
@@ -423,7 +428,8 @@ Add the Code to do the Driving
              }
          }
 
-   .. group-tab:: C++ (Header)
+   .. tab-item:: C++ (Header)
+      :sync: C++ (Header)
 
       .. code-block:: c++
          :linenos:
@@ -475,7 +481,8 @@ Add the Code to do the Driving
              // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
          };
 
-   .. group-tab:: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Header)
 
       .. code-block:: c++
          :linenos:
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 ceeb20d39d..2ebef26e47 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
@@ -13,137 +13,135 @@ This is the definition of the `CloseClaw` command in RobotBuilder. Notice that i
 Generated CloseClaw Class
 -------------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. code-block:: java
-        :linenos:
-        :lineno-start: 11
-        :emphasize-lines: 42, 53, 59
+    .. code-block:: java
+    :linenos:
+    :lineno-start: 11
+    :emphasize-lines: 42, 53, 59
 
-         // ROBOTBUILDER TYPE: Command.
+        // ROBOTBUILDER TYPE: Command.
 
-         package frc.robot.commands;
-         import edu.wpi.first.wpilibj2.command.CommandBase;
+        package frc.robot.commands;
+        import edu.wpi.first.wpilibj2.command.CommandBase;
 
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
-         import frc.robot.subsystems.Claw;
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+        import frc.robot.subsystems.Claw;
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
 
-         /**
-          *
-          */
-         public class CloseClaw extends CommandBase {
+        /**
+        *
+        */
+        public class CloseClaw extends CommandBase {
 
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
-                 private final Claw m_claw;
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+                private final Claw m_claw;
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
 
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
+            // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
 
 
-             public CloseClaw(Claw subsystem) {
+            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=CONSTRUCTORS
+                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
-                 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
+                // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
 
-                 m_claw = subsystem;
-                 addRequirements(m_claw);
+                m_claw = subsystem;
+                addRequirements(m_claw);
 
-             // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
-             }
+            // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
+            }
 
-             // Called when the command is initially scheduled.
-             @Override
-             public void initialize() {
-                 m_claw.close(); // (1)
-             }
+            // 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 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)
-             }
+            // 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)
-             }
+            // 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;
+            @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
+            }
+        }
 
 
-   .. group-tab:: C++
 
-      .. code-block:: cpp
-         :linenos:
-         :lineno-start: 11
-         :emphasize-lines: 21, 31, 36
+    .. code-block:: cpp
+        :linenos:
+        :lineno-start: 11
+        :emphasize-lines: 21, 31, 36
 
-         // ROBOTBUILDER TYPE: Command.
+        // ROBOTBUILDER TYPE: Command.
 
-         // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 
-         #include "commands/CloseClaw.h"
+        #include "commands/CloseClaw.h"
 
-         CloseClaw::CloseClaw(Claw* m_claw)
-         :m_claw(m_claw){
+        CloseClaw::CloseClaw(Claw* m_claw)
+        :m_claw(m_claw){
 
-             // Use AddRequirements() here to declare subsystem dependencies
-             // eg. AddRequirements(m_Subsystem);
-             SetName("CloseClaw");
-             AddRequirements({m_claw});
+            // Use AddRequirements() here to declare subsystem dependencies
+            // eg. AddRequirements(m_Subsystem);
+            SetName("CloseClaw");
+            AddRequirements({m_claw});
 
-         // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
+        // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
 
-         }
+        }
 
-         // Called just before this Command runs the first time
-         void CloseClaw::Initialize() {
-             m_claw->Close(); // (1)
-         }
+        // 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
-         void CloseClaw::Execute() {
+        // 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()
-         bool CloseClaw::IsFinished() {
-             return m_claw->IsGripping(); // (2)
-         }
+        // 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
-         void CloseClaw::End(bool interrupted) {
-             m_claw->Stop(); // (3)
-         }
+        // Called once after isFinished returns true
+        void CloseClaw::End(bool interrupted) {
+            m_claw->Stop(); // (3)
+        }
 
-         bool CloseClaw::RunsWhenDisabled() const {
-             // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
-             return false;
+        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/yearly-overview/2020-Game-Data.rst b/source/docs/yearly-overview/2020-Game-Data.rst
index d111e77eb2..e341605464 100644
--- a/source/docs/yearly-overview/2020-Game-Data.rst
+++ b/source/docs/yearly-overview/2020-Game-Data.rst
@@ -28,9 +28,9 @@ C++/Java
 
 In C++ and Java the Game Data is accessed by using the GetGameSpecificMessage method of the DriverStation class. Teams likely want to query the data in a Teleop method such as Teleop Periodic in order to receive the data after it is sent during the match. Make sure to handle the case where the data is an empty string as this is what the data will be until the criteria are reached to enable Position Control for either alliance.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     import edu.wpi.first.wpilibj.DriverStation;
 
@@ -60,7 +60,7 @@ In C++ and Java the Game Data is accessed by using the GetGameSpecificMessage me
       //Code for no data received yet
     }
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     #include <frc/DriverStation.h>
 
diff --git a/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst b/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst
index 46d2e0178a..0ee8e7d10b 100644
--- a/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst
+++ b/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst
@@ -19,9 +19,10 @@ Overview
 
 ----
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
       .. figure:: /docs/controls-overviews/images/frc-control-system-layout-rev.svg
         :alt: Detailed diagram of all of the components and how they are connected.
@@ -29,7 +30,8 @@ Overview
 
         Diagram courtesy of FRC\ |reg| Team 3161 and Stefen Acepcion.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. figure:: /docs/controls-overviews/images/frc-control-system-layout.svg
         :alt: Detailed diagram of all of the components and how they are connected.
@@ -86,14 +88,16 @@ For a test board, cut piece of 1/4" or 1/2" (6-12 mm) material (wood or plastic)
 
 Layout the Core Control System Components
 -----------------------------------------
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
       .. image:: images/how-to-wire-a-simple-robot/layout-REV.jpg
         :alt: A basic wiring layout with CTR components.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/layout.jpg
         :alt: A basic wiring layout with CTR components.
@@ -111,9 +115,10 @@ Using the Dual Lock or hardware, fasten all components to the board. Note that i
 Attach Robot Side Battery Connector
 ----------------------------------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
       The next step will involve using the Wago connectors on the PDH. To use the Wago connectors, open the lever, insert the wire, then close the lever. Two sizes of Wago connector are found on the PDH:
 
@@ -133,7 +138,8 @@ Attach Robot Side Battery Connector
 
       Using a 7/16" (11 mm) box end wrench, remove the nut on the "Batt" side of the main breaker and secure the positive terminal of the battery connector
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/terminal-lug.jpg
         :alt: Highlights the location of the terminal lugs on the PDP and circuit breaker.
@@ -152,9 +158,10 @@ Attach Robot Side Battery Connector
 Wire Breaker to Power Distribution
 ----------------------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
          .. image:: images/how-to-wire-a-simple-robot/circuit-breaker-REV.jpg
            :alt: Show the circuit breaker wired to the PDH.
@@ -168,7 +175,8 @@ Wire Breaker to Power Distribution
          2. Using the 7/16" (11 mm) wrench, secure the wire to the "AUX" side of the 120A main breaker.
          3. Lift the lever on the positive (red) input terminal of the PDH, insert the wire, then close the terminal.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/circuit-breaker.jpg
         :alt: Show the circuit breaker wired to the PDP.
@@ -186,9 +194,10 @@ Wire Breaker to Power Distribution
 Insulate power connections
 --------------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
       .. image:: images/how-to-wire-a-simple-robot/insulate-REV.jpg
         :alt: Putting tape around the connectors to insulate them.
@@ -197,7 +206,8 @@ Insulate power connections
 
       Using electrical tape, insulate the two connections to the 120A breaker.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/insulate.jpg
         :alt: Putting tape around the connectors to insulate them.
@@ -211,9 +221,10 @@ Insulate power connections
 Motor Controller Power
 ----------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
          .. image:: images/how-to-wire-a-simple-robot/pdh-motor-power.jpg
            :alt: Wiring power from the PDH to motor controllers.
@@ -235,7 +246,8 @@ Motor Controller Power
          3. Strip the other end of each wire, and crimp on a ring or fork terminal
          4. Attach the terminal to the motor controller input terminals (red to +, black to -)
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. raw:: html
 
@@ -294,9 +306,10 @@ After making the connection check to be sure that it is clean and secure:
 
 roboRIO Power
 -------------
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
          .. image:: images/how-to-wire-a-simple-robot/roborio-power-REV.jpg
            :alt: Power coming from the PDH to the roboRIO.
@@ -312,7 +325,8 @@ roboRIO Power
          4. Cut and strip the wire.
          5. Using a very small flat screwdriver connect the wires to the power input connector of the roboRIO (red to V, black to C). Also make sure that the power connector is screwed down securely to the roboRIO.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/roborio-power.jpg
         :alt: Power coming from the PDP to the roboRIO.
@@ -328,9 +342,10 @@ roboRIO Power
 
 Radio Power
 -----------
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
          .. image:: images/how-to-wire-a-simple-robot/rpm-pdh-power.jpg
            :alt: Power going from the PDH to the RPM.
@@ -346,7 +361,8 @@ Radio Power
          4. Cut and strip ~5/16" (~8 mm) from the end of the wire.
          5. Connect the wire to the RPM 12V Input terminals.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/vrm-power.jpg
         :alt: Power going from the PDP to the VRM.
@@ -373,9 +389,10 @@ Radio Power
 Pneumatics Power (Optional)
 ---------------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
       .. image:: images/how-to-wire-a-simple-robot/ph-pdh-power.jpg
         :alt: Power going from the PDH to the PH.
@@ -395,7 +412,8 @@ Pneumatics Power (Optional)
       4. Cut and strip ~5/16" (~8 mm) from the other end of the wire.
       5. Connect the wire to the PH input terminals.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/pcm-power.jpg
         :alt: Power going from the PDP to the PCM.
@@ -413,9 +431,10 @@ Pneumatics Power (Optional)
 Ethernet Cables
 ---------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
       .. image:: images/how-to-wire-a-simple-robot/rpm.jpg
         :alt: Picture of the RPM.
@@ -428,7 +447,8 @@ Ethernet Cables
       1. Connect an Ethernet cable from the RJ45 (Ethernet) socket of the roboRIO to the port on the Radio Power Module labeled roboRIO.
       2. Connect an Ethernet cable from the RJ45 socket of the radio closest to the barrel connector socket (labeled 18-24v POE) to the socket labeled WiFi Radio on the RPM
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/radio-ethernet.jpg
         :alt: Connecting Ethernet from the roboRIO to the PoE cable.
@@ -443,9 +463,10 @@ CAN Devices
 roboRIO to Pneumatics CAN
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
       .. image:: images/how-to-wire-a-simple-robot/roborio-can.jpg
         :alt: roboRIO CAN connection.
@@ -462,7 +483,8 @@ roboRIO to Pneumatics CAN
       3. Measure the length required to reach the CAN terminals of the PCM (either of the two available pairs). Cut and strip ~5/16" (~8 mm) off this end of the wires.
       4. Insert the wires into the appropriate color coded CAN terminals on the PH. You may use either of the Yellow/Green terminal pairs on the PH, there is no defined in or out.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/pcm-can.jpg
         :alt: Connecting CAN wire from the roboRIO to the PCM.
@@ -479,9 +501,10 @@ roboRIO to Pneumatics CAN
 Pneumatics to PD CAN
 ^^^^^^^^^^^^^^^^^^^^^
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
          .. image:: images/how-to-wire-a-simple-robot/ph-pdh-power.jpg
            :alt: PH CAN connection.
@@ -500,7 +523,8 @@ Pneumatics to PD CAN
 
          .. note: See the :ref:`CAN Wiring Basics<docs/hardware/hardware-basics/can-wiring-basics:Termination>` if you need to terminate the CAN bus somewhere other than the PDP.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/pdp-can.jpg
         :alt: Connecting the PCM CAN to the PDP.
@@ -520,9 +544,10 @@ Pneumatics to PD CAN
 Motor Controller Signal Wires
 -----------------------------
 
-.. tabs ::
+.. tab-set ::
 
-   .. group-tab:: PWM
+   .. tab-item:: PWM
+      :sync: PWM
 
       .. image:: images/how-to-wire-a-simple-robot/pwm.jpg
         :alt: PWM Cables going from the roboRIO to the Spark Motor Controller.
@@ -544,7 +569,8 @@ Motor Controller Signal Wires
       3. Connect 1 PWM Y-cable to the 2 PWM cables for the controllers controlling each side of the robot. The brown wire on the Y-cable should match the black wire on the PWM cable.
       4. Connect the PWM Y-cables to the PWM ports on the roboRIO. The brown wire should be towards the outside of the roboRIO. It is recommended to connect the left side to PWM 0 and the right side to PWM 1 for the most straightforward programming experience, but any channel will work as long as you note which side goes to which channel and adjust the code accordingly.
 
-   .. group-tab:: CAN
+   .. tab-item:: CAN
+      :sync: CAN
 
       The Spark MAX controllers can also be wired using CAN. When wiring CAN the objective is to create a single complete bus running from the roboRIO on one end and running through all CAN devices on the robot. It is recommended to have either Power Distribution device at the other end of the bus because they have built-in termination. If you do not wish to locate one of these devices at the end of the bus see :ref:`CAN Wiring Basics<docs/hardware/hardware-basics/can-wiring-basics:CAN Wiring Basics>` for info about terminating yourself.
 
@@ -572,9 +598,10 @@ Requires: Wire stripper, 2 pin cable, Robot Signal Light, 18 AWG (1 :math:`mm^2`
 Circuit Breakers
 ----------------
 
-.. tabs ::
+.. tab-set ::
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: REV
 
       .. image:: images/how-to-wire-a-simple-robot/40A-breaker-REV.jpg
         :alt: Installing 40A breakers in the PDP.
@@ -585,7 +612,8 @@ Circuit Breakers
 
       If working on a Robot Quick Build, stop here and insert the board into the robot chassis before continuing.
 
-   .. group-tab:: CTR
+   .. tab-item:: CTR
+      :sync: CTR
 
       .. image:: images/how-to-wire-a-simple-robot/40A-breaker.jpg
         :alt: Installing 40A breakers in the PDP.
diff --git a/source/docs/zero-to-robot/step-2/frc-game-tools.rst b/source/docs/zero-to-robot/step-2/frc-game-tools.rst
index 2218775f49..ecd103f7d7 100644
--- a/source/docs/zero-to-robot/step-2/frc-game-tools.rst
+++ b/source/docs/zero-to-robot/step-2/frc-game-tools.rst
@@ -53,12 +53,12 @@ Installation
 Extraction
 ^^^^^^^^^^
 
-.. tabs::
-   .. tab:: Online
+.. tab-set::
+   .. tab-item:: Online
 
       Run the downloaded executable file to start the install process. Click :guilabel:`Yes` if a Windows Security prompt appears.
 
-   .. tab:: Offline (Windows 10+)
+   .. tab-item:: Offline (Windows 10+)
 
       Right click on the downloaded iso file and select :guilabel:`mount`. Run ``install.exe`` from the mounted iso. Click :guilabel:`Yes` if a Windows Security prompt appears.
 
diff --git a/source/docs/zero-to-robot/step-2/labview-setup.rst b/source/docs/zero-to-robot/step-2/labview-setup.rst
index bb553cfad3..46fe4be318 100644
--- a/source/docs/zero-to-robot/step-2/labview-setup.rst
+++ b/source/docs/zero-to-robot/step-2/labview-setup.rst
@@ -54,12 +54,12 @@ Teams are permitted to install the software on as many team computers as needed,
 Starting Install
 ^^^^^^^^^^^^^^^^
 
-.. tabs::
-  .. tab:: Online Installer
+.. tab-set::
+  .. tab-item:: Online Installer
 
      Run the downloaded exe file to start the install process. Click :guilabel:`Yes` if a Windows Security prompt
 
-  .. tab:: Offline Installer (Windows 10+)
+  .. tab-item:: Offline Installer (Windows 10+)
 
      Right click on the downloaded iso file and select mount. Run install.exe from the mounted iso. Click "Yes" if a Windows Security prompt
 
diff --git a/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java.rst b/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java.rst
index e482b6f67b..3be8ca3492 100644
--- a/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java.rst
+++ b/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java.rst
@@ -62,13 +62,15 @@ For C++ projects, there is one more step to set up IntelliSense.  Whenever we op
 Imports/Includes
 ----------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: PWM
+   .. tab-item:: PWM
+      :sync: pwm
 
-      .. tabs::
+      .. tab-set::
 
-         .. group-tab:: Java
+         .. tab-item:: Java
+            :sync: java
 
             .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
                :language: java
@@ -76,78 +78,78 @@ Imports/Includes
                :linenos:
                :lineno-start: 7
 
-         .. group-tab:: C++
-
+         .. tab-item:: C++
+            :sync: cpp
+            
             .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 5-10
                :linenos:
                :lineno-start: 5
 
-   .. group-tab:: CTRE
+   .. tab-item:: CTRE
+      :sync: ctre
 
-         .. tabs::
+      .. tab-set-code::
 
-            .. group-tab:: Java
 
-               .. code-block:: java
+         .. code-block:: java
 
-                  import edu.wpi.first.wpilibj.Joystick;
-                  import edu.wpi.first.wpilibj.TimedRobot;
-                  import edu.wpi.first.wpilibj.Timer;
-                  import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-                  import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+            import edu.wpi.first.wpilibj.Joystick;
+            import edu.wpi.first.wpilibj.TimedRobot;
+            import edu.wpi.first.wpilibj.Timer;
+            import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+            import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
-            .. group-tab:: C++
 
-               .. code-block:: cpp
+         .. code-block:: cpp
 
-                  #include <frc/Joystick.h>
-                  #include <frc/TimedRobot.h>
-                  #include <frc/Timer.h>
-                  #include <frc/drive/DifferentialDrive.h>
-                  #include <ctre/phoenix/motorcontrol/can/WPI_TalonFX.h>
+            #include <frc/Joystick.h>
+            #include <frc/TimedRobot.h>
+            #include <frc/Timer.h>
+            #include <frc/drive/DifferentialDrive.h>
+            #include <ctre/phoenix/motorcontrol/can/WPI_TalonFX.h>
 
-   .. group-tab:: REV
+   .. tab-item:: REV
 
-         .. tabs::
+         .. tab-set-code::
 
-            .. group-tab:: Java
 
-               .. code-block:: java
+            .. code-block:: java
 
-                  import com.revrobotics.CANSparkMax;
-                  import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+               import com.revrobotics.CANSparkMax;
+               import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
-                  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;
+               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;
 
-            .. group-tab:: C++
 
-               .. code-block:: cpp
+            .. code-block:: cpp
 
-                  #include <frc/TimedRobot.h>
-                  #include <frc/Timer.h>
-                  #include <frc/XboxController.h>
-                  #include <frc/drive/DifferentialDrive.h>
-                  #include <frc/motorcontrol/PWMSparkMax.h>
+               #include <frc/TimedRobot.h>
+               #include <frc/Timer.h>
+               #include <frc/XboxController.h>
+               #include <frc/drive/DifferentialDrive.h>
+               #include <frc/motorcontrol/PWMSparkMax.h>
 
-                  #include <rev/CANSparkMax.h>
+               #include <rev/CANSparkMax.h>
 
 Our code needs to reference the components of WPILib that are used. In C++ this is accomplished using ``#include`` statements; in Java it is done with ``import`` statements. The program references classes for ``Joystick`` (for driving), ``PWMSparkMax`` / ``WPI_TalonFX`` / ``CANSparkMax (for controlling motors), ``TimedRobot`` (the base class used for the example), ``Timer`` (used for autonomous), and ``DifferentialDrive`` (for connecting the joystick control to the motors).
 
 Defining the variables for our sample robot
 -------------------------------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: PWM
+   .. tab-item:: PWM
+      :sync: pwm
 
-      .. tabs::
+      .. tab-set::
 
-         .. group-tab:: Java
+         .. tab-item:: Java
+            :sync: java
 
             .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
                :language: java
@@ -155,7 +157,8 @@ Defining the variables for our sample robot
                :linenos:
                :lineno-start: 19
 
-         .. group-tab:: C++
+         .. tab-item:: C++
+            :sync: cpp
 
             .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
@@ -169,11 +172,13 @@ Defining the variables for our sample robot
                :linenos:
                :lineno-start: 50
 
-   .. group-tab:: CTRE
+   .. tab-item:: CTRE
+      :sync: ctre
 
-      .. tabs::
+      .. tab-set::
 
-         .. group-tab:: Java
+         .. tab-item:: Java
+            :sync: java
 
             .. code-block:: java
 
@@ -184,7 +189,8 @@ Defining the variables for our sample robot
                   private final Joystick m_stick = new Joystick(0);
                   private final Timer m_timer = new Timer();
 
-         .. group-tab:: C++
+         .. tab-item:: C++
+            :sync: cpp
 
             .. code-block:: cpp
 
@@ -209,11 +215,13 @@ Defining the variables for our sample robot
                 frc::Joystick m_stick{0};
                 frc::Timer m_timer;
 
-   .. group-tab:: REV
+   .. tab-item:: REV
+      :sync: rev
 
-      .. tabs::
+      .. tab-set::
 
-         .. group-tab:: Java
+         .. tab-item:: Java
+            :sync: java
 
             .. code-block:: java
 
@@ -224,7 +232,8 @@ Defining the variables for our sample robot
                  private final XboxController m_controller = new XboxController(0);
                  private final Timer m_timer = new Timer();
 
-         .. group-tab:: C++
+         .. tab-item:: C++
+            :sync: cpp
 
             .. code-block:: cpp
 
@@ -258,14 +267,14 @@ The sample robot in our examples will have a joystick on USB port 0 for arcade d
 Robot Initialization
 --------------------
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
           @Override
           public void robotInit() {}
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         void RobotInit() {}
 
@@ -275,23 +284,21 @@ The ``RobotInit`` method is run when the robot program is starting up, but after
 Simple Autonomous Example
 -------------------------
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
-         :language: java
-         :lines: 38-54
-         :linenos:
-         :lineno-start: 38
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+      :language: java
+      :lines: 38-54
+      :linenos:
+      :lineno-start: 38
 
-   .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
-         :language: c++
-         :lines: 22-33
-         :linenos:
-         :lineno-start: 22
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+      :language: c++
+      :lines: 22-33
+      :linenos:
+      :lineno-start: 22
 
 The ``AutonomousInit`` method is run once each time the robot transitions to autonomous from another mode. In this program, we restart the ``Timer`` in this method.
 
@@ -300,46 +307,41 @@ The ``AutonomousInit`` method is run once each time the robot transitions to aut
 Joystick Control for Teleoperation
 ----------------------------------
 
-.. tabs::
-
-   .. group-tab:: Java
+.. tab-set-code::
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
-         :language: java
-         :lines: 56-64
-         :linenos:
-         :lineno-start: 56
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+      :language: java
+      :lines: 56-64
+      :linenos:
+      :lineno-start: 56
 
-   .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
-         :language: c++
-         :lines: 35-41
-         :linenos:
-         :lineno-start: 35
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+      :language: c++
+      :lines: 35-41
+      :linenos:
+      :lineno-start: 35
 
 Like in Autonomous, the Teleop mode has a ``TeleopInit`` and ``TeleopPeriodic`` function. In this example we don't have anything to do in ``TeleopInit``, it is provided for illustration purposes only. In ``TeleopPeriodic``, the code uses the ``ArcadeDrive`` method to map the Y-axis of the ``Joystick`` to forward/back motion of the drive motors and the X-axis to turning motion.
 
 Test Mode
 ---------
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
-         :language: java
-         :lines: 66-72
-         :linenos:
-         :lineno-start: 66
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+      :language: java
+      :lines: 66-72
+      :linenos:
+      :lineno-start: 66
 
-   .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
-         :language: c++
-         :lines: 43-45
-         :linenos:
-         :lineno-start: 43
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+      :language: c++
+      :lines: 43-45
+      :linenos:
+      :lineno-start: 43
 
 Test Mode is used for testing robot functionality. Similar to ``TeleopInit``, the ``TestInit`` and ``TestPeriodic`` methods are provided here for illustrative purposes only.
 

From 5fa5c09b68daf9fa37ad1e52d72fbdbe4f77aacc Mon Sep 17 00:00:00 2001
From: GrahamSH <grahamshllk@gmail.com>
Date: Mon, 23 Oct 2023 21:27:43 -0400
Subject: [PATCH 2/9] fix a silly

---
 .../vision-processing/wpilibpi/morphological-operations.rst     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst b/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst
index 7e62ef1f1d..4681e51383 100644
--- a/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst
+++ b/source/docs/software/vision-processing/wpilibpi/morphological-operations.rst
@@ -78,7 +78,7 @@ Closing
 
 Closing is dilation followed by erosion. This process removes small holes or breaks without affecting the shape of larger features.
 
-.. tab-set-block::
+.. tab-set-code::
 
    .. code-block:: py
 

From f5b6290e42790467e537267d5bca904d710e9892 Mon Sep 17 00:00:00 2001
From: GrahamSH <grahamshllk@gmail.com>
Date: Tue, 24 Oct 2023 07:49:17 -0400
Subject: [PATCH 3/9] fix some errors

---
 .../robotbuilder-writing-command-code.rst         |  7 +++----
 .../robotbuilder-writing-subsystem-code.rst       | 15 +++++++++------
 2 files changed, 12 insertions(+), 10 deletions(-)

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 2ebef26e47..86cc3f628d 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
@@ -17,9 +17,9 @@ Generated CloseClaw Class
 
 
     .. code-block:: java
-    :linenos:
-    :lineno-start: 11
-    :emphasize-lines: 42, 53, 59
+       :linenos:
+       :lineno-start: 11
+       :emphasize-lines: 42, 53, 59
 
         // ROBOTBUILDER TYPE: Command.
 
@@ -149,4 +149,3 @@ RobotBuilder will generate the class files for the `CloseClaw` command. The comm
 1. Start the claw motor moving in the closing direction by calling the ``Close()`` method that was added to the `Claw` subsystem in the `CloseClaw` Initialize method.
 2. This command is finished when the limit switch in the `Claw` subsystem is tripped.
 3. The ``End()`` method is called when the command is finished and is a place to clean up. In this case, the motor is stopped since the time has run out.
-
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 cc3b066749..1fe35a782e 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
@@ -13,9 +13,10 @@ The claw at the end of a robot arm is a subsystem operated by a single VictorSPX
 Adding Subsystem Capabilities
 -----------------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: java
 
       .. code-block:: java
         :linenos:
@@ -102,7 +103,8 @@ Adding Subsystem Capabilities
 
         }
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. code-block:: cpp
          :linenos:
@@ -171,9 +173,10 @@ Notice that member variable called ``motor`` and ``limitswitch`` are created by
 Adding the Method Declarations to the Header File (C++ Only)
 ------------------------------------------------------------
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. code-block:: cpp
          :linenos:
@@ -227,4 +230,4 @@ Adding the Method Declarations to the Header File (C++ Only)
 
 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.
 
-To add the behavior to the claw subsystem to handle opening and closing you need to :doc:`define commands <../introduction/robotbuilder-creating-command>`.
+To add the behavior to the claw subsystem to handle opening and closing you need to :doc:`define commands <../introduction/robotbuilder-creating-command>`.
\ No newline at end of file

From 613ea9255f3de326c89b80de25ef93fd60a39563 Mon Sep 17 00:00:00 2001
From: GrahamSH <grahamshllk@gmail.com>
Date: Tue, 24 Oct 2023 08:47:08 -0400
Subject: [PATCH 4/9] fix warning

---
 source/docs/software/basic-programming/reading-stacktraces.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/source/docs/software/basic-programming/reading-stacktraces.rst b/source/docs/software/basic-programming/reading-stacktraces.rst
index 21f820171c..42119aa2a1 100644
--- a/source/docs/software/basic-programming/reading-stacktraces.rst
+++ b/source/docs/software/basic-programming/reading-stacktraces.rst
@@ -324,7 +324,7 @@ For example, consider the following code:
 
 When run, you'll see output that looks like this:
 
-.. tab-set-code::
+.. tab-set::
 
    .. tab-item:: Java
       :sync: tabcode-java

From 4d9f2142fada8538e249494622b97ae384301974 Mon Sep 17 00:00:00 2001
From: GrahamSH <grahamshllk@gmail.com>
Date: Tue, 24 Oct 2023 21:38:30 -0400
Subject: [PATCH 5/9] 15 more files

---
 .../docs/software/commandbased/commands.rst   | 248 +++++++++--------
 .../convenience-features/event-based.rst      | 126 ++++-----
 .../scheduling-functions.rst                  |  11 +-
 .../dashboards/glass/field2d-widget.rst       |  32 +--
 .../dashboards/glass/mech2d-widget.rst        | 103 +++----
 .../custom-widgets/creating-plugins.rst       |   4 +-
 .../shuffleboard-displaying-data.rst          |   4 +-
 .../hardware-apis/misc/addressable-leds.rst   |  40 +--
 .../networktables/nt4-migration-guide.rst     | 252 +++++++++---------
 .../pathweaver/integrating-robot-program.rst  |   6 +-
 .../apriltag/apriltag-intro.rst               |  18 +-
 .../using-the-cameraserver-on-the-roborio.rst |  41 ++-
 .../robot-simulation/physics-sim.rst          |  24 +-
 .../robot-simulation/unit-testing.rst         |  20 +-
 .../zero-to-robot/step-2/wpilib-setup.rst     |  27 +-
 15 files changed, 465 insertions(+), 491 deletions(-)

diff --git a/source/docs/software/commandbased/commands.rst b/source/docs/software/commandbased/commands.rst
index f1659ee3e1..a2a0697e37 100644
--- a/source/docs/software/commandbased/commands.rst
+++ b/source/docs/software/commandbased/commands.rst
@@ -40,13 +40,13 @@ Each command should declare any subsystems it controls as requirements. This bac
 
 Declaring requirements is done by overriding the ``getRequirements()`` method in the relevant command class, by calling ``addRequirements()``, or by using the ``requirements`` vararg (Java) / ``Requirements`` struct (C++) parameter at the end of the parameter list of most command constructors and factories in the library:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     Commands.run(intake::activate, intake);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::cmd::Run([&intake] { intake.Activate(); }, {&intake});
 
@@ -61,13 +61,13 @@ The ``runsWhenDisabled()`` method (`Java <https://github.wpilib.org/allwpilib/do
 
 This property can be set either by overriding the ``runsWhenDisabled()`` method in the relevant command class, or by using the ``ignoringDisable`` decorator (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#ignoringDisable(boolean)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#acc67b15e71a66aafb7523ccdd0a7a834>`__):
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     Command mayRunDuringDisabled = Commands.run(() -> updateTelemetry()).ignoringDisable(true);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::CommandPtr mayRunDuringDisabled = frc2::cmd::Run([] { UpdateTelemetry(); }).IgnoringDisable(true);
 
@@ -82,13 +82,13 @@ The ``getInterruptionBehavior()`` method (`Java <https://github.wpilib.org/allwp
 
 This property can be set either by overriding the ``getInterruptionBehavior`` method in the relevant command class, or by using the `withInterruptBehavior()` decorator (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html#a6583f966509478a29e7764a72c4bf177>`__):
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     Command noninteruptible = Commands.run(intake::activate, intake).withInterruptBehavior(Command.InterruptBehavior.kCancelIncoming);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::CommandPtr noninterruptible = frc2::cmd::Run([&intake] { intake.Activate(); }, {&intake}).WithInterruptBehavior(Command::InterruptBehavior::kCancelIncoming);
 
@@ -106,37 +106,40 @@ The most basic commands are actions the robot takes: setting voltage to a motor,
 
 The ``runOnce`` factory, backed by the ``InstantCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/InstantCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_instant_command.html>`__) class, creates a command that calls a lambda once, and then finishes.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+      :sync: tabcode-java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
-      :language: java
-      :lines: 25-35
-      :linenos:
-      :lineno-start: 25
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
+        :language: java
+        :lines: 25-35
+        :linenos:
+        :lineno-start: 25
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+      :sync: tabcode-cpp
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
-      :language: c++
-      :lines: 20-28
-      :linenos:
-      :lineno-start: 20
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
+        :language: c++
+        :lines: 20-28
+        :linenos:
+        :lineno-start: 20
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+      :sync: tabcode-cpp-source
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
-      :language: c++
-      :lines: 15-25
-      :linenos:
-      :lineno-start: 15
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
+        :language: c++
+        :lines: 15-25
+        :linenos:
+        :lineno-start: 15
 
 The ``run`` factory, backed by the ``RunCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/RunCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_run_command.html>`__) class, creates a command that calls a lambda repeatedly, until interrupted.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // A split-stick arcade command, with forward/backward controlled by the left
     // hand, and turning controlled by the right.
@@ -145,7 +148,7 @@ The ``run`` factory, backed by the ``RunCommand`` (`Java <https://github.wpilib.
         driverController.getRightX()),
         m_robotDrive)
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // A split-stick arcade command, with forward/backward controlled by the left
     // hand, and turning controlled by the right.
@@ -159,9 +162,9 @@ The ``run`` factory, backed by the ``RunCommand`` (`Java <https://github.wpilib.
 
 The ``startEnd`` factory, backed by the ``StartEndCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/StartEndCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_start_end_command.html>`__) class, calls one lambda when scheduled, and then a second lambda when interrupted.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     Commands.startEnd(
         // Start a flywheel spinning at 50% power
@@ -172,7 +175,7 @@ The ``startEnd`` factory, backed by the ``StartEndCommand`` (`Java <https://gith
         m_shooter
     )
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::cmd::StartEnd(
       // Start a flywheel spinning at 50% power
@@ -185,9 +188,9 @@ The ``startEnd`` factory, backed by the ``StartEndCommand`` (`Java <https://gith
 
 ``FunctionalCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_functional_command.html>`__) accepts four lambdas that constitute the four command lifecycle methods: a ``Runnable``/``std::function<void()>`` for each of ``initialize()`` and ``execute()``, a ``BooleanConsumer``/``std::function<void(bool)>`` for ``end()``, and a ``BooleanSupplier``/``std::function<bool()>`` for ``isFinished()``.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     new FunctionalCommand(
         // Reset encoders on command start
@@ -202,7 +205,7 @@ The ``startEnd`` factory, backed by the ``StartEndCommand`` (`Java <https://gith
         m_robotDrive
     )
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::FunctionalCommand(
       // Reset encoders on command start
@@ -226,28 +229,28 @@ Waiting for a certain condition to happen or adding a delay can be useful to syn
 
 To wait and end after a specified period of time elapses, the library offers the ``Commands.waitSeconds(double)``/``frc2::cmd::Wait(units::second_t)`` factory, backed by the ``WaitCommand`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/WaitCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_wait_command.html>`__) class.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Ends 5 seconds after being scheduled
     new WaitCommand(5.0)
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Ends 5 seconds after being scheduled
     frc2::WaitCommand(5.0_s)
 
 To wait until a certain condition becomes ``true``, the library offers the ``Commands.waitUntil(BooleanSupplier)``/``frc2::cmd::WaitUntil(std::function<bool()>)`` factory, backed by the ``WaitUntilCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_wait_until_command.html>`__).
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // Ends after m_limitSwitch.get() returns true
     new WaitUntilCommand(m_limitSwitch::get)
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // Ends after m_limitSwitch.Get() returns true
     frc2::WaitUntilCommand([&m_limitSwitch] { return m_limitSwitch.Get(); })
@@ -278,54 +281,54 @@ Users may also write custom command classes. As this is significantly more verbo
 
 To write a custom command class, subclass the abstract ``Command`` class (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/Command.html>`__) or ``CommandHelper`` (`C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_command.html>`__), as seen in the command-based template (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h>`__):
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
+    :language: java
+    :lines: 7-24
+    :linenos:
+    :lineno-start: 7
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
-      :language: java
-      :lines: 7-24
-      :linenos:
-      :lineno-start: 7
 
-  .. group-tab:: C++
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
-      :language: c++
-      :lines: 5-31
-      :linenos:
-      :lineno-start: 5
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
+    :language: c++
+    :lines: 5-31
+    :linenos:
+    :lineno-start: 5
 
 Simple Command Example
 ----------------------
 
 What might a functional command look like in practice? As before, below is a simple command from the HatchBot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__) that uses the ``HatchSubsystem``:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: tabcode-java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
+        :language: java
+        :lines: 5-
+        :linenos:
+        :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: tabcode-cpp
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
+        :language: c++
+        :lines: 5-
+        :linenos:
+        :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: tabcode-cpp-source
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
+        :language: c++
+        :lines: 5-
+        :linenos:
+        :lineno-start: 5
 
 Notice that the hatch subsystem used by the command is passed into the command through the command’s constructor. This is a pattern called :term:`dependency injection`, and allows users to avoid declaring their subsystems as global variables. This is widely accepted as a best-practice - the reasoning behind this is discussed in a :doc:`later section <structuring-command-based-project>`.
 
@@ -333,68 +336,63 @@ Notice also that the above command calls the subsystem method once from initiali
 
 What about a more complicated case? Below is a drive command, from the same example project:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: tabcode-java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
-      :language: java
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
+        :language: java
+        :lines: 5-
+        :linenos:
+        :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: tabcode-cpp
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
+        :language: c++
+        :lines: 5-
+        :linenos:
+        :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: tabcode-cpp-source
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
-      :language: c++
-      :lines: 5-
-      :linenos:
-      :lineno-start: 5
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/aaea85ff165602a612e57a0e8170eaaa43ceec8f/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
+        :language: c++
+        :lines: 5-
+        :linenos:
+        :lineno-start: 5
 
 And then usage:
 
-.. tabs::
-
-  .. group-tab:: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
-      :language: java
-      :lines: 59-67
-      :linenos:
-      :lineno-start: 59
+.. tab-set-code::
 
-  .. group-tab:: C++
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
+    :language: java
+    :lines: 59-67
+    :linenos:
+    :lineno-start: 59
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 57-60
-      :linenos:
-      :lineno-start: 57
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+    :language: c++
+    :lines: 57-60
+    :linenos:
+    :lineno-start: 57
 
 Notice that this command does not override ``isFinished()``, and thus will never end; this is the norm for commands that are intended to be used as default commands. Once more, this command is rather simple and calls the subsystem method only from one place, and as such, could be more concisely written using factories:
 
-.. tabs::
-
-  .. group-tab:: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
-      :language: java
-      :lines: 51-60
-      :linenos:
-      :lineno-start: 51
+.. tab-set-code::
 
-  .. group-tab:: C++
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
+    :language: java
+    :lines: 51-60
+    :linenos:
+    :lineno-start: 51
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
-      :language: c++
-      :lines: 52-58
-      :linenos:
-      :lineno-start: 52
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+    :language: c++
+    :lines: 52-58
+    :linenos:
+    :lineno-start: 52
diff --git a/source/docs/software/convenience-features/event-based.rst b/source/docs/software/convenience-features/event-based.rst
index ee9b433dad..d983eb0997 100644
--- a/source/docs/software/convenience-features/event-based.rst
+++ b/source/docs/software/convenience-features/event-based.rst
@@ -10,19 +10,16 @@ EventLoop
 
 The ``EventLoop`` class is a "container" for pairs of conditions and actions, which can be polled using the ``poll()``/``Poll()`` method. When polled, every condition will be queried and if it returns ``true`` the action associated with the condition will be executed.
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
-         :language: java
-         :lines: 33-33, 87-91
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+      :language: java
+      :lines: 33-33, 87-91
 
-   .. group-tab:: C++
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-         :language: cpp
-         :lines: 94-94, 81-81
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: cpp
+      :lines: 94-94, 81-81
 
 .. warning:: The ``EventLoop``'s ``poll()`` method should be called consistently in a ``*Periodic()`` method. Failure to do this will result in unintended loop behavior.
 
@@ -33,19 +30,16 @@ The ``BooleanEvent`` class represents a boolean condition: a ``BooleanSupplier``
 
 To bind a callback action to the condition, use ``ifHigh()``/``IfHigh()``:
 
-.. tabs::
-
-   .. group-tab:: Java
+.. tab-set-code::
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
-         :language: java
-         :lines: 72-78
 
-   .. group-tab:: C++
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+      :language: java
+      :lines: 72-78
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-         :language: cpp
-         :lines: 64-72
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: cpp
+      :lines: 64-72
 
 Remember that button binding is *declarative*: bindings only need to be declared once, ideally some time during robot initialization. The library handles everything else.
 
@@ -59,76 +53,62 @@ and() / &&
 
 The ``and()``/``&&`` composes two ``BooleanEvent`` conditions into a third condition that returns ``true`` only when **both** of the conditions return ``true``.
 
-.. tabs::
-
-   .. group-tab:: Java
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
-         :language: java
-         :lines: 44-49
+.. tab-set-code::
 
-   .. group-tab:: C++
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+      :language: java
+      :lines: 44-49
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-         :language: cpp
-         :lines: 35-40
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: cpp
+      :lines: 35-40
 
 or() / ||
 ^^^^^^^^^
 
 The ``or()``/``||`` composes two ``BooleanEvent`` conditions into a third condition that returns ``true`` only when **either** of the conditions return ``true``.
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
-         :language: java
-         :lines: 51-57
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+      :language: java
+      :lines: 51-57
 
-   .. group-tab:: C++
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-         :language: cpp
-         :lines: 42-47
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: cpp
+      :lines: 42-47
 
 negate() / !
 ^^^^^^^^^^^^
 
 The ``negate()``/``!`` composes one ``BooleanEvent`` condition into another condition that returns the opposite of what the original conditional did.
 
-.. tabs::
-
-   .. group-tab:: Java
+.. tab-set-code::
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
-         :language: java
-         :lines: 46-47
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+      :language: java
+      :lines: 46-47
 
-   .. group-tab:: C++
-
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-         :language: cpp
-         :lines: 37-38
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: cpp
+      :lines: 37-38
 
 debounce() / Debounce()
 ^^^^^^^^^^^^^^^^^^^^^^^
 
 To avoid rapid repeated activation, conditions (especially those originating from digital inputs) can be debounced with the :ref:`WPILib Debouncer class <docs/software/advanced-controls/filters/debouncer:Debouncer>` using the `debounce` method:
 
-.. tabs::
-
-   .. group-tab:: Java
+.. tab-set-code::
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
-         :language: java
-         :lines: 71-75
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+      :language: java
+      :lines: 71-75
 
-   .. group-tab:: C++
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-         :language: cpp
-         :lines: 64-69
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: cpp
+      :lines: 64-69
 
 rising(), falling()
 ^^^^^^^^^^^^^^^^^^^
@@ -137,32 +117,30 @@ Often times it is desired to bind an action not to the *current* state of a cond
 
 .. warning:: Due to the "memory" these conditions have, do not use the same instance in multiple places.
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
-         :language: java
-         :lines: 79-84
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java
+      :language: java
+      :lines: 79-84
 
-   .. group-tab:: C++
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
-         :language: cpp
-         :lines: 74-78
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
+      :language: cpp
+      :lines: 74-78
 
 Downcasting ``BooleanEvent`` Objects
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 To convert ``BooleanEvent`` objects to other types, most commonly the ``Trigger`` subclass used for :ref:`binding commands to conditions <docs/software/commandbased/binding-commands-to-triggers:Binding Commands to Triggers>`, the generic ``castTo()``/``CastTo()`` decorator exists:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     Trigger trigger = booleanEvent.castTo(Trigger::new);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     frc2::Trigger trigger = booleanEvent.CastTo<frc2::Trigger>();
 
diff --git a/source/docs/software/convenience-features/scheduling-functions.rst b/source/docs/software/convenience-features/scheduling-functions.rst
index ddae346d6a..301e02b89a 100644
--- a/source/docs/software/convenience-features/scheduling-functions.rst
+++ b/source/docs/software/convenience-features/scheduling-functions.rst
@@ -6,9 +6,10 @@ The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda
 
 .. note:: The units for the period and offset are seconds in Java. In C++, the :ref:`units library <docs/software/basic-programming/cpp-units:The C++ Units Library>` can be used to specify a period and offset in any time unit.
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+      :sync: Java
 
         .. code-block:: java
 
@@ -36,7 +37,8 @@ The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda
                 }
               }
 
-    .. group-tab:: C++ (Header)
+    .. tab-item:: C++ (Header)
+       :sync: C++ (Header)
 
         .. code-block:: cpp
 
@@ -52,7 +54,8 @@ The ``addPeriodic()`` (Java) / ``AddPeriodic()`` (C++) method takes in a lambda
               void TeleopPeriodic() override;
             };
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
         .. code-block:: cpp
 
diff --git a/source/docs/software/dashboards/glass/field2d-widget.rst b/source/docs/software/dashboards/glass/field2d-widget.rst
index a6678648fe..7ef83b5039 100644
--- a/source/docs/software/dashboards/glass/field2d-widget.rst
+++ b/source/docs/software/dashboards/glass/field2d-widget.rst
@@ -8,8 +8,8 @@ Sending Robot Pose from User Code
 
 To send your robot's position (usually obtained by :ref:`odometry <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:What is odometry?>` or a pose estimator), a ``Field2d`` instance must be created in robot code and sent over NetworkTables. The instance must then be updated periodically with the latest robot pose.
 
-.. tabs::
-   .. code-tab:: java
+.. tab-set-code::
+   .. code-block:: java
 
       private final Field2d m_field = new Field2d();
 
@@ -25,7 +25,7 @@ To send your robot's position (usually obtained by :ref:`odometry <docs/software
         m_field.setRobotPose(m_odometry.getPoseMeters());
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/smartdashboard/Field2d.h>
       #include <frc/smartdashboard/SmartDashboard.h>
@@ -51,23 +51,19 @@ Sending Trajectories to Field2d
 
 Visualizing your trajectory is a great debugging step for verifying that your trajectories are created as intended. Trajectories can be easily visualized in :ref:`Field2d <docs/software/dashboards/glass/field2d-widget:The Field2d Widget>` using the ``setTrajectory()``/``SetTrajectory()`` functions.
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
+   .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
+      :language: java
+      :lines: 44-61
+      :linenos:
+      :lineno-start: 44
 
-      .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/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/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
-         :language: cpp
-         :lines: 18-30
-         :linenos:
-         :lineno-start: 18
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
+      :language: cpp
+      :lines: 18-30
+      :linenos:
+      :lineno-start: 18
 
 Viewing Trajectories with Glass
 -------------------------------
diff --git a/source/docs/software/dashboards/glass/mech2d-widget.rst b/source/docs/software/dashboards/glass/mech2d-widget.rst
index 74710b85cf..4b1016bbe3 100644
--- a/source/docs/software/dashboards/glass/mech2d-widget.rst
+++ b/source/docs/software/dashboards/glass/mech2d-widget.rst
@@ -10,86 +10,71 @@ The ``Mechanism2d`` object is the "canvas" where the mechanism is drawn. The roo
 
 In the examples below, an elevator is drawn, with a rotational wrist on top of the elevator. The full Mechanism2d example is available in `Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java>`__ / `C++ <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp>`__
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+      :language: java
+      :lines: 43-46
+      :linenos:
+      :lineno-start: 43
 
-     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
-        :language: java
-        :lines: 43-46
-        :linenos:
-        :lineno-start: 43
-
-  .. group-tab:: C++
-
-     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
-        :language: cpp
-        :lines: 59-62
-        :linenos:
-        :lineno-start: 59
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+      :language: cpp
+      :lines: 59-62
+      :linenos:
+      :lineno-start: 59
 
 
 Each ``MechanismLigament2d`` object represents a stage of the mechanism. It has a three required parameters, a name, an initial length to draw (relative to the size of the ``Mechanism2d`` object), and an initial angle to draw the ligament in degrees. Ligament angles are relative to the parent ligament, and follow math notation - the same as :ref:`Rotation2d <docs/software/advanced-controls/geometry/pose:Rotation>` (counterclockwise-positive). A ligament based on the root with an angle of zero will point right. Two optional parameters let you change the width (also relative to the size of the Mechanism2d object) and the color. Call ``append()``/``Append()`` on a root node or ligament node to add another node to the figure. In Java, pass a constructed ``MechanismLigament2d`` object to add it. In C++, pass the construction parameters in order to construct and add a ligament.
 
-.. tabs::
-
-  .. group-tab:: Java
-
-     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
-        :language: java
-        :lines: 48-53
-        :linenos:
-        :lineno-start: 48
+.. tab-set-code::
 
-  .. group-tab:: C++
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+      :language: java
+      :lines: 48-53
+      :linenos:
+      :lineno-start: 48
 
-     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
-        :language: cpp
-        :lines: 63-69
-        :linenos:
-        :lineno-start: 63
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+      :language: cpp
+      :lines: 63-69
+      :linenos:
+      :lineno-start: 63
 
 Then, publish the ``Mechanism2d`` object to NetworkTables:
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+      :language: java
+      :lines: 55-56
+      :linenos:
+      :lineno-start: 55
 
-     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
-        :language: java
-        :lines: 55-56
-        :linenos:
-        :lineno-start: 55
 
-  .. group-tab:: C++
-
-     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
-        :language: cpp
-        :lines: 36-37
-        :linenos:
-        :lineno-start: 36
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+      :language: cpp
+      :lines: 36-37
+      :linenos:
+      :lineno-start: 36
 
 .. note:: The ``Mechanism2d`` instance can also be sent using a lower-level NetworkTables API or using the :ref:`Shuffleboard API <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-displaying-data:Displaying data from your robot>`. In this case, the ``SmartDashboard`` API was used, meaning that the :guilabel:`Mechanism2d` widget will appear under the ``SmartDashboard`` table name.
 
 To manipulate a ligament angle or length, call ``setLength()`` or ``setAngle()`` on the ``MechanismLigament2d`` object. When manipulating ligament length based off of sensor measurements, make sure to add the minimum length to prevent 0-length (and therefore invisible) ligaments.
 
-.. tabs::
-
-  .. group-tab:: Java
-
-     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
-        :language: java
-        :lines: 59-64
-        :linenos:
-        :lineno-start: 59
+.. tab-set-code::
 
-  .. group-tab:: C++
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
+      :language: java
+      :lines: 59-64
+      :linenos:
+      :lineno-start: 59
 
-     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
-        :language: cpp
-        :lines: 40-45
-        :linenos:
-        :lineno-start: 40
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
+      :language: cpp
+      :lines: 40-45
+      :linenos:
+      :lineno-start: 40
 
 Viewing the Mechanism2d in Glass
 --------------------------------
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 b8c128c82c..70ac97edb8 100644
--- a/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst
+++ b/source/docs/software/dashboards/shuffleboard/custom-widgets/creating-plugins.rst
@@ -17,9 +17,9 @@ Create a Custom Plugin
 ----------------------
 In order to define a plugin, the plugin class must be a subclass of `edu.wpi.first.shuffleboard.api.Plugin <https://github.com/wpilibsuite/shuffleboard/blob/main/api/src/main/java/edu/wpi/first/shuffleboard/api/plugin/Plugin.java>`_ or one of its subclasses. An example of a plugin class would be as following.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       import edu.wpi.first.shuffleboard.api.plugin.Description;
       import edu.wpi.first.shuffleboard.api.plugin.Plugin;
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 d1ae24aebc..b4078d481b 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
@@ -11,9 +11,9 @@ Often debugging or monitoring the status of a robot involves writing a number of
 Displaying values in normal operating mode (autonomous or teleop)
 -----------------------------------------------------------------
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         protected void execute() {
             SmartDashboard.putBoolean("Bridge Limit", bridgeTipper.atBridge());
diff --git a/source/docs/software/hardware-apis/misc/addressable-leds.rst b/source/docs/software/hardware-apis/misc/addressable-leds.rst
index b2a248cd12..0073db8cc8 100644
--- a/source/docs/software/hardware-apis/misc/addressable-leds.rst
+++ b/source/docs/software/hardware-apis/misc/addressable-leds.rst
@@ -14,9 +14,10 @@ After the length of the strip has been set, you'll have to create an ``Addressab
 
 .. note:: C++ does not have an AddressableLEDBuffer, and instead uses an Array.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: Java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
          :language: java
@@ -24,7 +25,8 @@ After the length of the strip has been set, you'll have to create an ``Addressab
          :linenos:
          :lineno-start: 17
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: C++
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.h
          :language: cpp
@@ -50,9 +52,10 @@ Using RGB Values
 
 RGB stands for Red, Green, and Blue. This is a fairly common color model as it's quite easy to understand. LEDs can be set with the ``setRGB`` method that takes 4 arguments: index of the LED, amount of red, amount of green, amount of blue. The amount of Red, Green, and Blue are integer values between 0-255.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: Java
 
       .. code-block:: Java
 
@@ -63,7 +66,8 @@ RGB stands for Red, Green, and Blue. This is a fairly common color model as it's
 
          m_led.setData(m_ledBuffer);
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: C++
 
       .. code-block:: C++
 
@@ -83,9 +87,10 @@ HSV stands for Hue, Saturation, and Value. Hue describes the color or tint, satu
 
 LEDs can be set with the ``setHSV`` method that takes 4 arguments: index of the LED, hue, saturation, and value. An example is shown below for setting the color of an LED strip to red (hue of 0).
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: Java
 
       .. code-block:: Java
 
@@ -96,7 +101,8 @@ LEDs can be set with the ``setHSV`` method that takes 4 arguments: index of the
 
          m_led.setData(m_ledBuffer);
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: C++
 
       .. code-block:: C++
 
@@ -115,9 +121,10 @@ Moving outside of the for loop, the ``m_rainbowFirstPixelHue`` then iterates the
 
 .. note:: It's good robot practice to keep the ``robotPeriodic()`` method as clean as possible, so we'll create a method for handling setting our LED data. We'll call this method ``rainbow()`` and call it from ``robotPeriodic()``.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: Java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
          :language: java
@@ -125,7 +132,8 @@ Moving outside of the for loop, the ``m_rainbowFirstPixelHue`` then iterates the
          :linenos:
          :lineno-start: 42
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: C++
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
          :language: cpp
@@ -135,9 +143,10 @@ Moving outside of the for loop, the ``m_rainbowFirstPixelHue`` then iterates the
 
 Now that we have our ``rainbow`` method created, we have to actually call the method and set the data of the LED.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: Java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
          :language: java
@@ -145,7 +154,8 @@ Now that we have our ``rainbow`` method created, we have to actually call the me
          :linenos:
          :lineno-start: 34
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: C++
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
          :language: cpp
diff --git a/source/docs/software/networktables/nt4-migration-guide.rst b/source/docs/software/networktables/nt4-migration-guide.rst
index 8dcc1b4c0b..7c3347cda2 100644
--- a/source/docs/software/networktables/nt4-migration-guide.rst
+++ b/source/docs/software/networktables/nt4-migration-guide.rst
@@ -10,188 +10,180 @@ While ``NetworkTableEntry`` can still be used (for backwards compatibility), use
 
 NT3 code (was):
 
-.. tabs::
+.. tab-set-code::
 
-    .. group-tab:: Java
+      .. code-block:: java
 
-        .. code-block:: java
+          public class Example {
+            final NetworkTableEntry yEntry;
+            final NetworkTableEntry outEntry;
 
-            public class Example {
-              final NetworkTableEntry yEntry;
-              final NetworkTableEntry outEntry;
+            public Example() {
+              NetworkTableInstance inst = NetworkTableInstance.getDefault();
 
-              public Example() {
-                NetworkTableInstance inst = NetworkTableInstance.getDefault();
+              // get the subtable called "datatable"
+              NetworkTable datatable = inst.getTable("datatable");
 
-                // get the subtable called "datatable"
-                NetworkTable datatable = inst.getTable("datatable");
+              // get the entry in "datatable" called "Y"
+              yEntry = datatable.getEntry("Y");
 
-                // get the entry in "datatable" called "Y"
-                yEntry = datatable.getEntry("Y");
-
-                // get the entry in "datatable" called "Out"
-                outEntry = datatable.getEntry("Out");
-              }
+              // get the entry in "datatable" called "Out"
+              outEntry = datatable.getEntry("Out");
+            }
 
-              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);
-              }
+            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);
             }
+          }
 
-    .. group-tab:: C++
 
-        .. code-block:: cpp
+      .. code-block:: cpp
 
-            class Example {
-              nt::NetworkTableEntry yEntry;
-              nt::NetworkTableEntry outEntry;
+          class Example {
+            nt::NetworkTableEntry yEntry;
+            nt::NetworkTableEntry outEntry;
 
-             public:
-              Example() {
-                nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+            public:
+            Example() {
+              nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
 
-                // get the subtable called "datatable"
-                auto datatable = inst.GetTable("datatable");
+              // get the subtable called "datatable"
+              auto datatable = inst.GetTable("datatable");
 
-                // get the entry in "datatable" called "Y"
-                yEntry = datatable->GetEntry("Y");
+              // get the entry in "datatable" called "Y"
+              yEntry = datatable->GetEntry("Y");
 
-                // get the entry in "datatable" called "Out"
-                outEntry = datatable->GetEntry("Out");
-              }
+              // get the entry in "datatable" called "Out"
+              outEntry = datatable->GetEntry("Out");
+            }
 
-              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);
-              }
-            };
+            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);
+            }
+          };
 
-    .. group-tab:: Python
 
-        .. code-block:: python
+      .. code-block:: python
 
-            class Example:
-                def __init__(self):
-                    inst = ntcore.NetworkTableInstance.getDefault()
+          class Example:
+              def __init__(self):
+                  inst = ntcore.NetworkTableInstance.getDefault()
 
-                    # get the subtable called "datatable"
-                    datatable = inst.getTable("datatable")
+                  # get the subtable called "datatable"
+                  datatable = inst.getTable("datatable")
 
-                    # get the entry in "datatable" called "Y"
-                    self.yEntry = datatable.getEntry("Y")
+                  # get the entry in "datatable" called "Y"
+                  self.yEntry = datatable.getEntry("Y")
 
-                    # get the entry in "datatable" called "Out"
-                    self.outEntry = datatable.getEntry("Out")
+                  # get the entry in "datatable" called "Out"
+                  self.outEntry = datatable.getEntry("Out")
 
-                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)
+              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):
 
-.. tabs::
-
-    .. group-tab:: Java
+.. tab-set-code::
 
-        .. code-block:: java
+      .. code-block:: java
 
-            public class Example {
-              final DoubleSubscriber ySub;
-              final DoublePublisher outPub;
+          public class Example {
+            final DoubleSubscriber ySub;
+            final DoublePublisher outPub;
 
-              public Example() {
-                NetworkTableInstance inst = NetworkTableInstance.getDefault();
+            public Example() {
+              NetworkTableInstance inst = NetworkTableInstance.getDefault();
 
-                // get the subtable called "datatable"
-                NetworkTable datatable = inst.getTable("datatable");
+              // get the subtable called "datatable"
+              NetworkTable datatable = inst.getTable("datatable");
 
-                // subscribe to the topic in "datatable" called "Y"
-                // default value is 0
-                ySub = datatable.getDoubleTopic("Y").subscribe(0.0);
+              // 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"
-                outPub = datatable.getDoubleTopic("Out").publish();
-              }
+              // publish to the topic in "datatable" called "Out"
+              outPub = datatable.getDoubleTopic("Out").publish();
+            }
 
-              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);
-              }
+            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
-              // the lifetime of the entire robot program, in which case close() needs to be
-              // called to stop subscribing
-              public void close() {
-                ySub.close();
-                outPub.close();
-              }
+            // 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() {
+              ySub.close();
+              outPub.close();
             }
+          }
 
-    .. group-tab:: C++
 
-        .. code-block:: cpp
+      .. code-block:: cpp
 
-            class Example {
-              nt::DoubleSubscriber ySub;
-              nt::DoublePublisher outPub;
+          class Example {
+            nt::DoubleSubscriber ySub;
+            nt::DoublePublisher outPub;
 
-             public:
-              Example() {
-                nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
+            public:
+            Example() {
+              nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
 
-                // get the subtable called "datatable"
-                auto datatable = inst.GetTable("datatable");
+              // get the subtable called "datatable"
+              auto datatable = inst.GetTable("datatable");
 
-                // subscribe to the topic in "datatable" called "Y"
-                // default value is 0
-                ySub = datatable->GetDoubleTopic("Y").Subscribe(0.0);
+              // 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"
-                outPub = datatable->GetDoubleTopic("Out").Publish();
-              }
+              // publish to the topic in "datatable" called "Out"
+              outPub = datatable->GetDoubleTopic("Out").Publish();
+            }
 
-              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);
-              }
-            };
+            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);
+            }
+          };
 
-    .. group-tab:: Python
 
-        .. code-block:: python
+      .. code-block:: python
 
-            class Example:
-                def __init__(self) -> None:
-                    inst = ntcore.NetworkTableInstance.getDefault()
+          class Example:
+              def __init__(self) -> None:
+                  inst = ntcore.NetworkTableInstance.getDefault()
 
-                    # get the subtable called "datatable"
-                    datatable = inst.getTable("datatable")
+                  # get the subtable called "datatable"
+                  datatable = inst.getTable("datatable")
 
-                    # subscribe to the topic in "datatable" called "Y"
-                    # default value is 0
-                    self.ySub = datatable.getDoubleTopic("Y").subscribe(0.0)
+                  # 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"
-                    self.outPub = datatable.getDoubleTopic("Out").publish()
+                  # publish to the topic in "datatable" called "Out"
+                  self.outPub = datatable.getDoubleTopic("Out").publish()
 
-                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)
+              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
-                # the lifetime of the entire robot program, in which case close() needs to be
-                # called to stop subscribing
-                def close(self):
-                    self.ySub.close()
-                    self.outPub.close()
+              # 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):
+                  self.ySub.close()
+                  self.outPub.close()
 
 Shuffleboard
 ------------
diff --git a/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst b/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst
index 2f2455006f..c979489d64 100644
--- a/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst
+++ b/source/docs/software/pathplanning/pathweaver/integrating-robot-program.rst
@@ -9,9 +9,9 @@ The ``fromPathweaverJson`` (Java) / ``FromPathweaverJson`` (C++) static methods
 
 .. note:: PathWeaver places JSON files in ``src/main/deploy/paths`` which will automatically be placed on the roboRIO file system in ``/home/lvuser/deploy/paths`` and can be accessed using getDeployDirectory as shown below.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       String trajectoryJSON = "paths/YourPath.wpilib.json";
       Trajectory trajectory = new Trajectory();
@@ -26,7 +26,7 @@ The ``fromPathweaverJson`` (Java) / ``FromPathweaverJson`` (C++) static methods
          }
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       #include <frc/Filesystem.h>
       #include <frc/trajectory/TrajectoryUtil.h>
diff --git a/source/docs/software/vision-processing/apriltag/apriltag-intro.rst b/source/docs/software/vision-processing/apriltag/apriltag-intro.rst
index d499b7c4a2..94e718db0f 100644
--- a/source/docs/software/vision-processing/apriltag/apriltag-intro.rst
+++ b/source/docs/software/vision-processing/apriltag/apriltag-intro.rst
@@ -63,30 +63,30 @@ Processing Technique
 
 While most FRC teams should not have to implement their own code to identify AprilTags in a camera image, it is useful to know the basics of how the underlying libraries function.
 
-.. tabs::
+.. tab-set::
 
-   .. tab:: Original Image
+   .. tab-item:: Original Image
 
       .. image:: images/orig_img.png
          :alt: Original, unprocessed image
 
       An image from a camera is simply an array of values, corresponding to the color and brightness of each pixel.
 
-   .. tab:: Remove Colors
+   .. tab-item:: Remove Colors
 
       .. image:: images/bw_img.png
          :alt: Image converted to be grey-scale
 
       The first step is to convert the image to a grey-scale (brightness-only) image. Color information is not needed to detect the black-and-white tags.
 
-   .. tab:: Decimate
+   .. tab-item:: Decimate
 
       .. image:: images/decimate.png
          :alt: Image converted to a lower resolution
 
       The next step is to convert the image to a lower resolution. Working with fewer pixels helps the algorithm work faster. The full-resolution image will be used later to refine early estimates.
 
-   .. tab:: Adaptive Threshold
+   .. tab-item:: Adaptive Threshold
 
       .. image:: images/adaptive_threshold.png
          :alt: Image with adaptive threshold algorithm applied
@@ -96,14 +96,14 @@ While most FRC teams should not have to implement their own code to identify Apr
 
       The threshold is calculated by looking at the pixel's brightness, compared to a small neighborhood of pixels around it.
 
-   .. tab:: Segmentation
+   .. tab-item:: Segmentation
 
       .. image:: images/segmentation.png
          :alt: Adaptive thresholded image, but with clusters of similar pixels grouped together
 
       Next, the known pixels are clumped together. Any clumps which are too small to reasonably be a meaningful part of a tag are discarded.
 
-   .. tab:: Quad Detection
+   .. tab-item:: Quad Detection
 
       .. image:: images/detected_quads.png
          :alt: Image with quadrilateral areas identified and marked
@@ -120,7 +120,7 @@ While most FRC teams should not have to implement their own code to identify Apr
 
       If all has gone well so far, we are left with a four-sided region of pixels that is likely a valid tag.
 
-   .. tab:: Decode ID
+   .. tab-item:: Decode ID
 
       .. image:: images/decode_id.png
          :alt: Image with AprilTag data decoded into a target identification number.
@@ -134,7 +134,7 @@ While most FRC teams should not have to implement their own code to identify Apr
 
       It is possible there is no valid tag ID which matches the suspect tag. In this case, the decoding process stops.
 
-   .. tab:: Fit External Quad
+   .. tab-item:: Fit External Quad
 
       .. image:: images/fit_ext_quad.png
          :alt: External quadrilateral fitting process applied to each target
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 60611cfc0f..0de2b2ad27 100644
--- a/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst
+++ b/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst
@@ -9,21 +9,19 @@ The following program starts automatic capture of a USB camera like the Microsof
 .. image:: images/using-the-cameraserver-on-the-roborio/simple-cameraserver-program.png
   :alt: By going to View then "Add..." then "CameraServer Stream Viewer" SmartDashboard adds a stream viewer widget.
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
-         :language: java
-         :lines: 7-20
-         :linenos:
-         :lineno-start: 7
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
+      :language: java
+      :lines: 7-20
+      :linenos:
+      :lineno-start: 7
 
-   .. group-tab:: C++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
-         :language: cpp
-         :lines: 7-8,16-18,20,25-31
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
+      :language: cpp
+      :lines: 7-8,16-18,20,25-31
 
 
 Advanced Camera Server Program
@@ -31,20 +29,17 @@ Advanced Camera Server Program
 
 In the following example a thread created in robotInit() gets the Camera Server instance. Each frame of the video is individually processed, in this case drawing a rectangle on the image using the OpenCV ``rectangle()`` method. The resultant images are then passed to the output stream and sent to the dashboard. You can replace the ``rectangle`` operation with any image processing code that is necessary for your application. You can even annotate the image using OpenCV methods to write targeting information onto the image being sent to the dashboard.
 
-.. tabs::
+.. tab-set-code::
 
-   .. group-tab:: Java
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
+      :language: java
+      :lines: 7-65
+      :linenos:
+      :lineno-start: 7
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
-         :language: java
-         :lines: 7-65
-         :linenos:
-         :lineno-start: 7
 
-   .. group-tab:: C++
-
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
-         :language: cpp
-         :lines: 5-20,23-56,58-61,63-64,69-76
+   .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
+      :language: cpp
+      :lines: 5-20,23-56,58-61,63-64,69-76
 
 Notice that in these examples, the ``PutVideo()`` method writes the video to a named stream. To view that stream on SmartDashboard or Shuffleboard, select that named stream. In this case that is "Rectangle".
diff --git a/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst b/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst
index 406f90ab32..ba4be23a76 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst
@@ -39,9 +39,10 @@ In the following example, we simulate an elevator given the mass of the moving c
 
 .. note:: The elevator and arm simulators will prevent the simulated position from exceeding given minimum or maximum heights or angles. If you wish to simulate a mechanism with infinite rotation or motion, :code:`LinearSystemSim` may be a better option.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
@@ -49,7 +50,8 @@ In the following example, we simulate an elevator given the mass of the moving c
          :linenos:
          :lineno-start: 47
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
          :language: cpp
@@ -59,9 +61,10 @@ In the following example, we simulate an elevator given the mass of the moving c
 
 Next, :code:`teleopPeriodic`/:code:`TeleopPeriodic` (Java/C++) uses a simple PID control loop to drive our elevator to a setpoint 30 inches off the ground.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
          :language: java
@@ -75,7 +78,8 @@ Next, :code:`teleopPeriodic`/:code:`TeleopPeriodic` (Java/C++) uses a simple PID
          :linenos:
          :lineno-start: 99
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
          :language: cpp
@@ -95,9 +99,10 @@ Next, :code:`simulationPeriodic`/:code:`SimulationPeriodic` (Java/C++) uses the
 
 Finally, the simulated encoder's distance reading is set using the simulated elevator's position, and the robot's battery voltage is set using the estimated current drawn by the elevator.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+      :sync: java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
@@ -105,7 +110,8 @@ Finally, the simulated encoder's distance reading is set using the simulated ele
          :linenos:
          :lineno-start: 79
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: cpp
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.1.1-beta-2/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
          :language: cpp
diff --git a/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst b/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst
index 8debd36c57..a24ab60833 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/unit-testing.rst
@@ -14,20 +14,24 @@ To provide a "clean slate" for each test, we need to have a function to destroy
 
 .. note:: Vendors might not support resource closing identically to the way shown here. See your vendor's documentation for more information as to what they support and how.
 
-.. tabs::
-   .. group-tab:: Java
+.. tab-set::
+   .. tab-item:: Java
+      :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/Intake.java
          :language: java
          :lines: 7-
 
-   .. group-tab:: C++ (Header)
+   .. tab-item:: C++ (Header)
+      :sync: C++
+
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.h
          :language: cpp
          :lines: 7-
 
-   .. group-tab:: C++ (Source)
+   .. tab-item:: C++ (Source)
+      :sync: C++ (Source)
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
          :language: cpp
@@ -46,14 +50,16 @@ Both JUnit and GoogleTest have multiple assertion types; the most common is equa
 
 .. note:: Comparison of floating-point values isn't accurate, so comparing them should be done with an acceptable error parameter (``DELTA``).
 
-.. tabs::
-   .. group-tab:: Java
+.. tab-set::
+   .. tab-item:: Java
+      :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java
          :language: java
          :lines: 7-
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+      :sync: C++
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
          :language: cpp
diff --git a/source/docs/zero-to-robot/step-2/wpilib-setup.rst b/source/docs/zero-to-robot/step-2/wpilib-setup.rst
index 73c1ef10c0..d527066c6d 100644
--- a/source/docs/zero-to-robot/step-2/wpilib-setup.rst
+++ b/source/docs/zero-to-robot/step-2/wpilib-setup.rst
@@ -34,9 +34,10 @@ Extracting the Installer
 
 When you download the WPILib installer, it is distributed as a disk image file ``.iso`` for Windows, ``.tar.gz`` for Linux, and distributed as a ``DMG`` for MacOS.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Windows 10+
+   .. tab-item:: Windows 10+
+      :sync: windows-10
 
       Windows 10+ users can right click on the downloaded disk image and select :guilabel:`Mount` to open it. Then launch ``WPILibInstaller.exe``.
 
@@ -54,7 +55,8 @@ When you download the WPILib installer, it is distributed as a disk image file `
 
       .. note:: After launching the installer, Windows may display a window titled "Windows protected your PC". Click :guilabel:`More info`, then select :guilabel:`Run anyway` to run the installer.
 
-   .. group-tab:: macOS
+   .. tab-item:: macOS
+      :sync: macos
 
       For this release, macOS users will need to have the Xcode Command Line Tools installed before running the installer; we are working on removing this requirement in a future release. This can be done by running ``xcode-select --install`` in the Terminal.
 
@@ -63,7 +65,8 @@ When you download the WPILib installer, it is distributed as a disk image file `
       .. image:: images/wpilib-setup/macos-launch.png
          :alt: Show the macOS screen after double clicking the DMG file.
 
-   .. group-tab:: Linux
+   .. tab-item:: Linux
+      :sync: linux
 
       Linux users should extract the downloaded ``.tar.gz`` and then launch ``WPILibInstaller``. Ubuntu treats executables in the file explorer as shared libraries, so double-clicking won't run them. Run the following commands in a terminal instead with ``<version>`` replaced with the version you're installing.
 
@@ -135,14 +138,16 @@ Post-Installation
 
 Some operating systems require some final action to complete installation.
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: macOS
+   .. tab-item:: macOS
+      :sync: macos
 
       After installation, the installer opens the WPILib VS Code folder. Drag the VS Code application to the dock.
       Eject WPILibInstaller image from the desktop.
 
-   .. group-tab:: Linux
+   .. tab-item:: Linux
+      :sync: linux
 
       Some versions of Linux (e.g. Ubuntu 20.04) require you to give the desktop shortcut the ability to launch. Right click on the desktop icon and select Allow Launching.
 
@@ -185,18 +190,18 @@ Uninstalling
 
 WPILib is designed to install to different folders for different years, so that it is not necessary to uninstall a previous version before installing this year's WPILib. However, the following instructions can be used to uninstall WPILib if desired.
 
-.. tabs::
+.. tab-set::
 
-  .. tab:: Windows
+  .. tab-item:: Windows
 
      1. Delete the appropriate wpilib folder (``c:\Users\Public\wpilib\YYYY`` where ``YYYY`` is the year to uninstall)
      2. Delete the desktop icons at ``C:\Users\Public\Public Desktop``
 
-  .. tab:: macOS
+  .. tab-item:: macOS
 
      1. Delete the appropriate wpilib folder (``~/wpilib/YYYY`` where ``YYYY`` is the year to uninstall)
 
-  .. tab:: Linux
+  .. tab-item:: Linux
 
      1. Delete the appropriate wpilib folder (``~/wpilib/YYYY`` where ``YYYY`` is the year to uninstall). eg ``rm -rf ~/wpilib/YYYY``
 

From 8517fdc154c4bb48ebe7647170a8d01fcf95185a Mon Sep 17 00:00:00 2001
From: GrahamSH <grahamshllk@gmail.com>
Date: Wed, 25 Oct 2023 17:50:56 -0400
Subject: [PATCH 6/9] i'm done!!!

---
 .../contributing/frc-docs/style-guide.rst     |   2 +-
 .../commandbased/pid-subsystems-commands.rst  |  71 +++++++-----
 .../profile-subsystems-commands.rst           |  60 +++++++----
 .../profilepid-subsystems-commands.rst        |  60 +++++++----
 .../structuring-command-based-project.rst     |  67 +++++++-----
 .../docs/software/commandbased/subsystems.rst |  53 +++++----
 ...autonomous-program-from-smartdashboard.rst |  76 ++++++++-----
 .../motors/wpi-drive-classes.rst              |  94 ++++++++--------
 .../hardware-apis/pneumatics/pressure.rst     |  94 +++++++++++-----
 .../hardware-apis/pneumatics/solenoids.rst    |  34 ++++--
 .../sensors/ultrasonics-software.rst          |  35 +++---
 .../networktables/client-side-program.rst     |  26 +++--
 .../networktables/listening-for-change.rst    |  27 +++--
 .../networktables/multiple-instances.rst      |  18 ++--
 .../networktables-networking.rst              |  36 ++++---
 .../networktables/publish-and-subscribe.rst   |  84 ++++++++++-----
 .../networktables/tables-and-topics.rst       |  18 ++--
 .../creating-drive-subsystem.rst              |  83 ++++++++------
 .../creating-following-trajectory.rst         |  58 ++++++----
 .../entering-constants.rst                    | 102 ++++++++----------
 20 files changed, 673 insertions(+), 425 deletions(-)

diff --git a/source/docs/contributing/frc-docs/style-guide.rst b/source/docs/contributing/frc-docs/style-guide.rst
index ca71eb0252..5a3fa0d539 100644
--- a/source/docs/contributing/frc-docs/style-guide.rst
+++ b/source/docs/contributing/frc-docs/style-guide.rst
@@ -105,7 +105,7 @@ RLI (Remote Literal Include)
 
 When possible, instead of using code blocks, an RLI should be used.  This pulls code lines directly from GitHub, most commonly using the example programs.  This automatically keeps the code up to date with any changes that are made.  The format of an RLI is:
 
-.. tab-set-code:: 
+.. code-block:: ReST
 
 
    .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
diff --git a/source/docs/software/commandbased/pid-subsystems-commands.rst b/source/docs/software/commandbased/pid-subsystems-commands.rst
index da19e2d6b5..8393e026b3 100644
--- a/source/docs/software/commandbased/pid-subsystems-commands.rst
+++ b/source/docs/software/commandbased/pid-subsystems-commands.rst
@@ -22,15 +22,17 @@ When subclassing ``PIDSubsystem``, users must override two abstract methods to p
 getMeasurement()
 ~~~~~~~~~~~~~~~~
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+     :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
          :language: java
          :lines: 84-84
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+     :sync: C++
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
          :language: cpp
@@ -43,15 +45,17 @@ Users should override this method to return whatever sensor reading they wish to
 useOutput()
 ~~~~~~~~~~~
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+     :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
          :language: java
          :lines: 77-77
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+     :sync: C++
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
          :language: cpp
@@ -79,14 +83,14 @@ setSetpoint()
 
 The ``setSetpoint()`` method can be used to set the setpoint of the ``PIDSubsystem``.  The subsystem will automatically track to the setpoint using the defined output:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // The subsystem will track to a setpoint of 5.
     examplePIDSubsystem.setSetpoint(5);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // The subsystem will track to a setpoint of 5.
     examplePIDSubsystem.SetSetpoint(5);
@@ -103,9 +107,10 @@ Full PIDSubsystem Example
 
 What does a ``PIDSubsystem`` look like when used in practice? The following examples are taken from the FrisbeeBot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/Frisbeebot>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
       :language: java
@@ -113,7 +118,8 @@ What does a ``PIDSubsystem`` look like when used in practice? The following exam
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
       :language: c++
@@ -121,7 +127,8 @@ What does a ``PIDSubsystem`` look like when used in practice? The following exam
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
       :language: c++
@@ -131,15 +138,17 @@ What does a ``PIDSubsystem`` look like when used in practice? The following exam
 
 Using a ``PIDSubsystem`` with commands can be very simple:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
       :language: java
       :lines: 26-27, 80-87
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h
       :language: c++
@@ -147,7 +156,8 @@ Using a ``PIDSubsystem`` with commands can be very simple:
       :linenos:
       :lineno-start: 45
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
       :language: c++
@@ -169,9 +179,10 @@ A ``PIDCommand`` can be created two ways - by subclassing the ``PIDCommand`` cla
 
 In either case, a ``PIDCommand`` is created by passing the necessary parameters to its constructor (if defining a subclass, this can be done with a `super()` call):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
       :language: java
@@ -179,7 +190,8 @@ In either case, a ``PIDCommand`` is created by passing the necessary parameters
       :linenos:
       :lineno-start: 27
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
       :language: c++
@@ -225,9 +237,10 @@ Full PIDCommand Example
 
 What does a ``PIDCommand`` look like when used in practice? The following examples are from the GyroDriveCommands example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
       :language: java
@@ -235,7 +248,8 @@ What does a ``PIDCommand`` look like when used in practice? The following exampl
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngle.h
       :language: c++
@@ -243,7 +257,8 @@ What does a ``PIDCommand`` look like when used in practice? The following exampl
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
       :language: c++
@@ -253,9 +268,10 @@ What does a ``PIDCommand`` look like when used in practice? The following exampl
 
 And, for an :ref:`inlined <docs/software/commandbased/organizing-command-based:Inline Commands>`  example:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
       :language: java
@@ -263,7 +279,8 @@ And, for an :ref:`inlined <docs/software/commandbased/organizing-command-based:I
       :linenos:
       :lineno-start: 64
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
       :language: c++
diff --git a/source/docs/software/commandbased/profile-subsystems-commands.rst b/source/docs/software/commandbased/profile-subsystems-commands.rst
index 07600a30d7..9a590da33a 100644
--- a/source/docs/software/commandbased/profile-subsystems-commands.rst
+++ b/source/docs/software/commandbased/profile-subsystems-commands.rst
@@ -26,15 +26,17 @@ When subclassing ``TrapezoidProfileSubsystem``, users must override a single abs
 useState()
 ~~~~~~~~~~
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+     :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
          :language: java
          :lines: 105-105
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+     :sync: C++
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
          :language: c++
@@ -66,14 +68,14 @@ setGoal()
 
 The ``setGoal()`` method can be used to set the goal state of the ``TrapezoidProfileSubsystem``.  The subsystem will automatically execute a profile to the goal, passing the current state at each iteration to the provided `useState()`_ method.
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // The subsystem will execute a profile to a position of 5 and a velocity of 3.
     examplePIDSubsystem.setGoal(new TrapezoidProfile.State(5, 3);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // The subsystem will execute a profile to a position of 5 meters and a velocity of 3 mps.
     examplePIDSubsyste.SetGoal({5_m, 3_mps});
@@ -88,9 +90,10 @@ Full TrapezoidProfileSubsystem Example
 
 What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The following examples are taking from the ArmbotOffobard example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
       :language: java
@@ -98,7 +101,8 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h
       :language: c++
@@ -106,7 +110,8 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
       :language: c++
@@ -116,9 +121,10 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The
 
 Using a ``TrapezoidProfileSubsystem`` with commands can be quite simple:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
       :language: java
@@ -126,7 +132,8 @@ Using a ``TrapezoidProfileSubsystem`` with commands can be quite simple:
       :linenos:
       :lineno-start: 52
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
       :language: c++
@@ -150,9 +157,10 @@ A ``TrapezoidProfileCommand`` can be created two ways - by subclassing the ``Tra
 
 In either case, a ``TrapezoidProfileCommand`` is created by passing the necessary parameters to its constructor (if defining a subclass, this can be done with a `super()` call):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
       :language: java
@@ -160,7 +168,8 @@ In either case, a ``TrapezoidProfileCommand`` is created by passing the necessar
       :linenos:
       :lineno-start: 28
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
       :language: c++
@@ -198,9 +207,10 @@ Full TrapezoidProfileCommand Example
 
 What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The following examples are taking from the DriveDistanceOffboard example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java
       :language: java
@@ -208,7 +218,8 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/commands/DriveDistanceProfiled.h
       :language: c++
@@ -216,7 +227,8 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp
       :language: c++
@@ -226,9 +238,10 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice?  The
 
 And, for an :ref:`inlined <docs/software/commandbased/organizing-command-based:Inline Commands>` example:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
       :language: java
@@ -236,7 +249,8 @@ And, for an :ref:`inlined <docs/software/commandbased/organizing-command-based:I
       :linenos:
       :lineno-start: 66
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
       :language: c++
diff --git a/source/docs/software/commandbased/profilepid-subsystems-commands.rst b/source/docs/software/commandbased/profilepid-subsystems-commands.rst
index 2143eb5975..51b1c092a3 100644
--- a/source/docs/software/commandbased/profilepid-subsystems-commands.rst
+++ b/source/docs/software/commandbased/profilepid-subsystems-commands.rst
@@ -24,15 +24,17 @@ When subclassing ``ProfiledPIDSubsystem``, users must override two abstract meth
 getMeasurement()
 ~~~~~~~~~~~~~~~~
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+     :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
          :language: java
          :lines: 85-85
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+     :sync: C++
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
          :language: cpp
@@ -45,15 +47,17 @@ Users should override this method to return whatever sensor reading they wish to
 useOutput()
 ~~~~~~~~~~~
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+     :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
          :language: java
          :lines: 78-78
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+     :sync: C++
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
          :language: cpp
@@ -83,14 +87,14 @@ setGoal()
 
 The ``setGoal()`` method can be used to set the setpoint of the ``PIDSubsystem``.  The subsystem will automatically track to the setpoint using the defined output:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     // The subsystem will track to a goal of 5 meters and velocity of 3 meters per second.
     examplePIDSubsystem.setGoal(5, 3);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     // The subsystem will track to a goal of 5 meters and velocity of 3 meters per second.
     examplePIDSubsystem.SetGoal({5_m, 3_mps});
@@ -107,9 +111,10 @@ Full ProfiledPIDSubsystem Example
 
 What does a PIDSubsystem look like when used in practice? The following examples are taken from the ArmBot example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/ArmBot>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
       :language: java
@@ -117,7 +122,8 @@ What does a PIDSubsystem look like when used in practice? The following examples
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h
       :language: c++
@@ -125,7 +131,8 @@ What does a PIDSubsystem look like when used in practice? The following examples
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
       :language: c++
@@ -135,9 +142,10 @@ What does a PIDSubsystem look like when used in practice? The following examples
 
 Using a ``ProfiledPIDSubsystem`` with commands can be very simple:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
       :language: java
@@ -145,7 +153,8 @@ Using a ``ProfiledPIDSubsystem`` with commands can be very simple:
       :linenos:
       :lineno-start: 55
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
       :language: c++
@@ -169,9 +178,10 @@ A ``ProfiledPIDCommand`` can be created two ways - by subclassing the ``Profiled
 
 In either case, a ``ProfiledPIDCommand`` is created by passing the necessary parameters to its constructor (if defining a subclass, this can be done with a `super()` call):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
       :language: java
@@ -179,7 +189,8 @@ In either case, a ``ProfiledPIDCommand`` is created by passing the necessary par
       :linenos:
       :lineno-start: 29
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
       :language: c++
@@ -225,9 +236,10 @@ Full ProfiledPIDCommand Example
 
 What does a ``ProfiledPIDCommand`` look like when used in practice? The following examples are from the GyroDriveCommands example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
       :language: java
@@ -235,7 +247,8 @@ What does a ``ProfiledPIDCommand`` look like when used in practice? The followin
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngleProfiled.h
       :language: c++
@@ -243,7 +256,8 @@ What does a ``ProfiledPIDCommand`` look like when used in practice? The followin
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngleProfiled.cpp
       :language: c++
diff --git a/source/docs/software/commandbased/structuring-command-based-project.rst b/source/docs/software/commandbased/structuring-command-based-project.rst
index 3f874dc911..79ab7854d6 100644
--- a/source/docs/software/commandbased/structuring-command-based-project.rst
+++ b/source/docs/software/commandbased/structuring-command-based-project.rst
@@ -16,9 +16,10 @@ Robot
 
 As ``Robot`` (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java>`__, `C++ (Header) <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h>`__, `C++ (Source) <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp>`__) is responsible for the program’s control flow, and command-based is an declarative paradigm designed to minimize the amount of attention the user has to pay to explicit program control flow, the ``Robot`` class of a command-based project should be mostly empty. However, there are a few important things that must be included
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
       :language: java
@@ -30,9 +31,10 @@ In Java, an instance of ``RobotContainer`` should be constructed during the ``ro
 
 In C++, this is not needed as RobotContainer is a value member and will be constructed during the construction of ``Robot``.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
       :language: java
@@ -40,7 +42,8 @@ In C++, this is not needed as RobotContainer is a value member and will be const
       :linenos:
       :lineno-start: 33
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
       :language: c++
@@ -50,9 +53,10 @@ In C++, this is not needed as RobotContainer is a value member and will be const
 
 The inclusion of the ``CommandScheduler.getInstance().run()`` call in the ``robotPeriodic()`` method is essential; without this call, the scheduler will not execute any scheduled commands. Since ``TimedRobot`` runs with a default main loop frequency of 50Hz, this is the frequency with which periodic command and subsystem methods will be called. It is not recommended for new users to call this method from anywhere else in their code.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
       :language: java
@@ -60,7 +64,8 @@ The inclusion of the ``CommandScheduler.getInstance().run()`` call in the ``robo
       :linenos:
       :lineno-start: 56
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
       :language: c++
@@ -70,9 +75,10 @@ The inclusion of the ``CommandScheduler.getInstance().run()`` call in the ``robo
 
 The ``autonomousInit()`` method schedules an autonomous command returned by the ``RobotContainer`` instance. The logic for selecting which autonomous command to run can be handled inside of ``RobotContainer``.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
       :language: java
@@ -80,7 +86,8 @@ The ``autonomousInit()`` method schedules an autonomous command returned by the
       :linenos:
       :lineno-start: 71
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
       :language: c++
@@ -97,9 +104,10 @@ RobotContainer
 
 This class (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java>`__, `C++ (Header) <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h>`__, `C++ (Source) <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp>`__) is where most of the setup for your command-based robot will take place. In this class, you will define your robot’s subsystems and commands, bind those commands to triggering events (such as buttons), and specify which command you will run in your autonomous routine. There are a few aspects of this class new users may want explanations for:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
       :language: java
@@ -107,7 +115,8 @@ This class (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExa
       :linenos:
       :lineno-start: 23
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
       :language: c++
@@ -117,9 +126,10 @@ This class (`Java <https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExa
 
 Notice that subsystems are declared as private fields in ``RobotContainer``. This is in stark contrast to the previous incarnation of the command-based framework, but is much more-aligned with agreed-upon object-oriented best-practices. If subsystems are declared as global variables, it allows the user to access them from anywhere in the code. While this can make certain things easier (for example, there would be no need to pass subsystems to commands in order for those commands to access them), it makes the control flow of the program much harder to keep track of as it is not immediately obvious which parts of the code can change or be changed by which other parts of the code. This also circumvents the ability of the resource-management system to do its job, as ease-of-access makes it easy for users to accidentally make conflicting calls to subsystem methods outside of the resource-managed commands.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
       :language: java
@@ -127,7 +137,8 @@ Notice that subsystems are declared as private fields in ``RobotContainer``. Thi
       :linenos:
       :lineno-start: 61
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
       :language: c++
@@ -137,9 +148,10 @@ Notice that subsystems are declared as private fields in ``RobotContainer``. Thi
 
 Since subsystems are declared as private members, they must be explicitly passed to commands (a pattern called "dependency injection") in order for those commands to call methods on them.  This is done here with ``ExampleCommand``, which is passed a pointer to an ``ExampleSubsystem``.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
       :language: java
@@ -147,7 +159,8 @@ Since subsystems are declared as private members, they must be explicitly passed
       :linenos:
       :lineno-start: 35
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
       :language: c++
@@ -157,9 +170,10 @@ Since subsystems are declared as private members, they must be explicitly passed
 
 As mentioned before, the ``RobotContainer()`` constructor is where most of the declarative setup for the robot should take place, including button bindings, configuring autonomous selectors, etc. If the constructor gets too "busy," users are encouraged to migrate code into separate subroutines (such as the ``configureBindings()`` method included by default) which are called from the constructor.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
       :language: java
@@ -167,7 +181,8 @@ As mentioned before, the ``RobotContainer()`` constructor is where most of the d
       :linenos:
       :lineno-start: 54
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
       :language: c++
@@ -193,13 +208,13 @@ For more illustrative examples of what a ``constants`` class should look like in
 
 In Java, it is recommended that the constants be used from other classes by statically importing the necessary inner class. An ``import static`` statement imports the static namespace of a class into the class in which you are working, so that any ``static`` constants can be referenced directly as if they had been defined in that class.  In C++, the same effect can be attained with ``using namespace``:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     import static edu.wpi.first.wpilibj.templates.commandbased.Constants.OIConstants.*;
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     using namespace OIConstants;
 
diff --git a/source/docs/software/commandbased/subsystems.rst b/source/docs/software/commandbased/subsystems.rst
index 486745d71a..372ce70d2e 100644
--- a/source/docs/software/commandbased/subsystems.rst
+++ b/source/docs/software/commandbased/subsystems.rst
@@ -12,9 +12,10 @@ Creating a Subsystem
 
 The recommended method to create a subsystem for most users is to subclass the abstract ``SubsystemBase`` class (`Java <https://github.wpilib.org/allwpilib/docs/development/java/edu/wpi/first/wpilibj2/command/SubsystemBase.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/development/cpp/classfrc2_1_1_subsystem_base.html>`__), as seen in the command-based template (`Java <https://github.com/wpilibsuite/allwpilib/blob/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java>`__, `C++ <https://github.com/wpilibsuite/allwpilib/blob/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
       :language: java
@@ -22,7 +23,8 @@ The recommended method to create a subsystem for most users is to subclass the a
       :linenos:
       :lineno-start: 7
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
       :language: c++
@@ -39,9 +41,10 @@ Simple Subsystem Example
 
 What might a functional subsystem look like in practice? Below is a simple pneumatically-actuated hatch mechanism from the HatchBotTraditional example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
       :language: java
@@ -49,7 +52,8 @@ What might a functional subsystem look like in practice? Below is a simple pneum
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h
       :language: c++
@@ -57,7 +61,8 @@ What might a functional subsystem look like in practice? Below is a simple pneum
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
       :language: c++
@@ -69,9 +74,10 @@ Notice that the subsystem hides the presence of the DoubleSolenoid from outside
 
 Alternatively, instead of writing ``void`` public methods that are called from commands, we can define the public methods as factories that return a command. Consider the following from the HatchBotInlined example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/HatchbotInlined>`__):
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
       :language: java
@@ -79,7 +85,8 @@ Alternatively, instead of writing ``void`` public methods that are called from c
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
       :language: c++
@@ -87,7 +94,8 @@ Alternatively, instead of writing ``void`` public methods that are called from c
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
       :language: c++
@@ -104,9 +112,10 @@ Periodic
 
 Subsystems have a ``periodic`` method that is called once every scheduler iteration (usually, once every 20 ms). This method is typically used for telemetry and other periodic actions that do not interfere with whatever command is requiring the subsystem.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
       :language: java
@@ -114,7 +123,8 @@ Subsystems have a ``periodic`` method that is called once every scheduler iterat
       :linenos:
       :lineno-start: 117
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
       :language: c++
@@ -122,7 +132,8 @@ Subsystems have a ``periodic`` method that is called once every scheduler iterat
       :linenos:
       :lineno-start: 30
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3eb372c25ad6079d6edfbdb4bb099a7bc00e4350/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
       :language: c++
@@ -141,23 +152,23 @@ Default Commands
 
 Setting a default command for a subsystem is very easy; one simply calls ``CommandScheduler.getInstance().setDefaultCommand()``, or, more simply, the ``setDefaultCommand()`` method of the ``Subsystem`` interface:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     CommandScheduler.getInstance().setDefaultCommand(exampleSubsystem, exampleCommand);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     CommandScheduler.GetInstance().SetDefaultCommand(exampleSubsystem, std::move(exampleCommand));
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
     exampleSubsystem.setDefaultCommand(exampleCommand);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
     exampleSubsystem.SetDefaultCommand(std::move(exampleCommand));
 
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 32cd9354a0..cfea75ce9e 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
@@ -15,15 +15,17 @@ Creating SendableChooser Object
 
 In ``Robot.java`` / ``Robot.h``, create a variable to hold a reference to a ``SendableChooser`` object. Two or more auto modes can be added by creating strings to send to the chooser. Using the ``SendableChooser``, one can choose between them. In this example, ``Default`` and ``My Auto`` are shown as options. You will also need a variable to store which auto has been chosen, ``m_autoSelected``.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
       :language: java
       :lines: 18-21
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
       :language: c++
@@ -34,15 +36,17 @@ Setting Up Options
 
 The chooser allows you to pick from a list of defined elements, in this case the strings we defined above. In ``robotInit``, add your options created as strings above using ``setDefaultOption`` or ``addOption``. ``setDefaultOption`` will be the one selected by default when the dashboard starts. The ``putData`` function will push it to the dashboard on your driver station computer.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
       :language: java
       :lines: 28-32
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
       :language: c++
@@ -53,15 +57,17 @@ Running Autonomous Code
 
 Now, in ``autonomousInit`` and ``autonomousPeriodic``, you can use the ``m_autoSelected`` variable to read which option was chosen, and change what happens during the autonomous period.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
       :language: java
       :lines: 54-56, 58-73
 
-  .. group-tab:: C++
+  .. tab-item:: C++
+     :sync: C++
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
       :language: c++
@@ -78,21 +84,24 @@ Creating the SendableChooser Object
 
 In ``RobotContainer``, create a variable to hold a reference to a ``SendableChooser`` object. Two or more commands can be created and stored in new variables. Using the ``SendableChooser``, one can choose between them. In this example, ``SimpleAuto`` and ``ComplexAuto`` are shown as options.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
       :language: java
       :lines: 40-49
 
-  .. group-tab:: C++ (using raw pointers)
+  .. tab-item:: C++ (using raw pointers)
+     :sync: C++ (using raw pointers)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h
       :language: c++
       :lines: 38-44
 
-  .. group-tab:: C++ (using ``CommandPtr``)
+  .. tab-item:: C++ (using ``CommandPtr``)
+     :sync: C++ (using ``CommandPtr``)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
       :language: c++
@@ -105,21 +114,24 @@ Imagine that you have two autonomous programs to choose between and they are enc
 
 In ``RobotContainer``, create a ``SendableChooser`` object and add instances of the two commands to it. There can be any number of commands, and the one added as a default (``setDefaultOption``), becomes the one that is initially selected. Notice that each command is included in an ``setDefaultOption()`` or ``addOption()`` method call on the ``SendableChooser`` instance.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
       :language: java
       :lines: 69-71
 
-  .. group-tab:: C++ (using raw pointers)
+  .. tab-item:: C++ (using raw pointers)
+     :sync: C++ (using raw pointers)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
       :language: c++
       :lines: 18-20
 
-  .. group-tab:: C++ (using ``CommandPtr``)
+  .. tab-item:: C++ (using ``CommandPtr``)
+     :sync: C++ (using ``CommandPtr``)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
       :language: c++
@@ -127,14 +139,14 @@ In ``RobotContainer``, create a ``SendableChooser`` object and add instances of
 
 Then, publish the chooser to the dashboard:
 
-.. tabs::
+.. tab-set-code::
 
-  .. code-tab:: java
+  .. code-block:: java
 
       // Put the chooser on the dashboard
       SmartDashboard.putData(m_chooser);
 
-  .. code-tab:: c++
+  .. code-block:: c++
 
       // Put the chooser on the dashboard
       frc::SmartDashboard::PutData(&m_chooser);
@@ -144,9 +156,10 @@ Starting an Autonomous Command
 
 In ``Robot.java``, when the autonomous period starts, the ``SendableChooser`` object is polled to get the selected command and that command must be scheduled.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
       :language: java
@@ -156,7 +169,8 @@ In ``Robot.java``, when the autonomous period starts, the ``SendableChooser`` ob
       :language: java
       :lines: 67-68,76-81
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
       :language: c++
@@ -173,9 +187,10 @@ In ``Robot.java``, this will run the scheduler every driver station update perio
 
 .. note:: Running the scheduler can occur in the ``autonomousPeriodic()`` function or ``robotPeriodic()``, both will function similarly in autonomous mode.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
       :language: java
@@ -183,7 +198,8 @@ In ``Robot.java``, this will run the scheduler every driver station update perio
       :linenos:
       :lineno-start: 40
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
       :language: c++
@@ -196,9 +212,10 @@ Canceling the Autonomous Command
 
 In ``Robot.java``, when the teleop period begins, the autonomous command will be canceled.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
       :language: java
@@ -206,7 +223,8 @@ In ``Robot.java``, when the teleop period begins, the autonomous command will be
       :linenos:
       :lineno-start: 78
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
       :language: c++
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 7172315274..5ac574760f 100644
--- a/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst
+++ b/source/docs/software/hardware-apis/motors/wpi-drive-classes.rst
@@ -34,9 +34,9 @@ Motor Inversion
 
 As of 2022, the right side of the drivetrain is **no longer** inverted by default. It is the responsibility of the user to manage proper inversions for their drivetrain. Users can invert motors by calling ``setInverted()``/``SetInverted()`` on their motor objects.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       PWMSparkMax m_motorRight = new PWMSparkMax(0);
 
@@ -45,7 +45,7 @@ As of 2022, the right side of the drivetrain is **no longer** inverted by defaul
          m_motorRight.setInverted(true);
       }
 
-   .. code-tab:: cpp
+   .. code-block:: cpp
 
       frc::PWMSparkMax m_motorLeft{0};
 
@@ -54,7 +54,7 @@ As of 2022, the right side of the drivetrain is **no longer** inverted by defaul
          m_motorRight.SetInverted(true);
        }
 
-   .. code-tab:: python
+   .. code-block:: python
 
       def robotInit(self):
           self.motorRight = wpilib.PWMSparkMax(0)
@@ -86,23 +86,23 @@ The Motor Safety feature operates by maintaining a timer that tracks how long it
 
 The Motor Safety interface of motor controllers can be interacted with by the user using the following methods:
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         exampleJaguar.setSafetyEnabled(true);
         exampleJaguar.setSafetyEnabled(false);
         exampleJaguar.setExpiration(.1);
         exampleJaguar.feed()
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         exampleJaguar->SetSafetyEnabled(true);
         exampleJaguar->SetSafetyEnabled(false);
         exampleJaguar->SetExpiration(.1);
         exampleJaguar->Feed();
 
-    .. code-tab:: python
+    .. code-block:: python
 
        exampleJaguar.setSafetyEnabled(True)
        exampleJaguar.setSafetyEnabled(False)
@@ -125,9 +125,10 @@ Using the DifferentialDrive class to control Differential Drive robots
 
 DifferentialDrive is a method provided for the control of "skid-steer" or "West Coast" drivetrains, such as the Kit of Parts chassis. Instantiating a DifferentialDrive is as simple as so:
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+     :sync: Java
 
         .. code-block:: java
 
@@ -140,7 +141,8 @@ DifferentialDrive is a method provided for the control of "skid-steer" or "West
                     m_left.setInverted(true); // if you want to invert motor outputs, you must do so here
                 }
 
-    .. group-tab:: C++ (Header)
+    .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
         .. code-block:: cpp
 
@@ -150,7 +152,8 @@ DifferentialDrive is a method provided for the control of "skid-steer" or "West
                     frc::Spark m_right{2};
                     frc::DifferentialDrive m_drive{m_left, m_right};
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
         .. code-block:: cpp
 
@@ -158,7 +161,9 @@ DifferentialDrive is a method provided for the control of "skid-steer" or "West
                 m_left.SetInverted(true); // if you want to invert motor outputs, you must do so here
             }
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
        .. code-block:: python
 
@@ -174,9 +179,10 @@ Multi-Motor DifferentialDrive with MotorControllerGroups
 
 Many FRC\ |reg| drivetrains have more than 1 motor on each side. In order to use these with DifferentialDrive, the motors on each side have to be collected into a single MotorController, using the MotorControllerGroup class. The examples below show a 4 motor (2 per side) drivetrain. To extend to more motors, simply create the additional controllers and pass them all into the MotorController group constructor (it takes an arbitrary number of inputs).
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+     :sync: Java
 
         .. code-block:: java
 
@@ -194,7 +200,8 @@ Many FRC\ |reg| drivetrains have more than 1 motor on each side. In order to use
                     m_left.setInverted(true); // if you want to invert the entire side you can do so here
                 }
 
-    .. group-tab:: C++ (Header)
+    .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
         .. code-block:: c++
 
@@ -210,7 +217,8 @@ Many FRC\ |reg| drivetrains have more than 1 motor on each side. In order to use
 
                     frc::DifferentialDrive m_drive{m_left, m_right};
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
         .. code-block:: c++
 
@@ -218,7 +226,9 @@ Many FRC\ |reg| drivetrains have more than 1 motor on each side. In order to use
                 m_left.SetInverted(true); // if you want to invert the entire side you can do so here
             }
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
        .. code-block:: python
 
@@ -253,9 +263,9 @@ The Arcade Drive mode is used to control the drivetrain using speed/throttle and
 
 Like Arcade Drive, the Curvature Drive mode is used to control the drivetrain using speed/throttle and rotation rate. The difference is that the rotation control input controls the radius of curvature instead of rate of heading change, much like the steering wheel of a car. This mode also supports turning in place, which is enabled when the third :code:`boolean` parameter is true.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         public void teleopPeriodic() {
             // Tank drive with a given left and right rates
@@ -268,7 +278,7 @@ Like Arcade Drive, the Curvature Drive mode is used to control the drivetrain us
             myDrive.curvatureDrive(-driveStick.getY(), -driveStick.getX(), driveStick.getButton(1));
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         void TeleopPeriodic() override {
             // Tank drive with a given left and right rates
@@ -281,7 +291,7 @@ Like Arcade Drive, the Curvature Drive mode is used to control the drivetrain us
             myDrive.CurvatureDrive(-driveStick.GetY(), -driveStick.GetX(), driveStick.GetButton(1));
         }
 
-    .. code-tab:: python
+    .. code-block:: python
 
        def teleopPeriodic(self):
            # Tank drive with a given left and right rates
@@ -298,31 +308,25 @@ Using the MecanumDrive class to control Mecanum Drive robots
 
 MecanumDrive is a method provided for the control of holonomic drivetrains with Mecanum wheels, such as the Kit of Parts chassis with the mecanum drive upgrade kit, as shown above. Instantiating a MecanumDrive is as simple as so:
 
-.. tabs::
-
-  .. tab:: Java
+.. tab-set-code::
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
-      :language: java
-      :lines: 24-39
-      :linenos:
-      :lineno-start: 24
-
-  .. tab:: C++
+        :language: java
+        :lines: 24-39
+        :linenos:
+        :lineno-start: 24
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
-      :language: cpp
-      :lines: 31-44
-      :linenos:
-      :lineno-start: 31
-
-  .. tab:: Python
+        :language: cpp
+        :lines: 31-44
+        :linenos:
+        :lineno-start: 31
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/2023.1.1.0/mecanum-drive/robot.py
-      :language: python
-      :lines: 21-36
-      :linenos:
-      :lineno-start: 21
+        :language: python
+        :lines: 21-36
+        :linenos:
+        :lineno-start: 21
 
 Mecanum Drive Modes
 ^^^^^^^^^^^^^^^^^^^
@@ -335,9 +339,9 @@ The MecanumDrive class contains two different default modes of driving your robo
 
   - drivePolar: Angles are measured counter-clockwise from straight ahead. The speed at which the robot drives (translation) is independent from its angle or rotation rate.
 
-.. tabs::
+.. tab-set-code::
 
-    .. code-tab:: java
+    .. code-block:: java
 
         public void teleopPeriodic() {
             // Drive using the X, Y, and Z axes of the joystick.
@@ -346,7 +350,7 @@ The MecanumDrive class contains two different default modes of driving your robo
             m_robotDrive.drivePolar(-m_stick.getY(), Rotation2d.fromDegrees(45), 0);
         }
 
-    .. code-tab:: c++
+    .. code-block:: c++
 
         void TeleopPeriodic() override {
             // Drive using the X, Y, and Z axes of the joystick.
@@ -355,7 +359,7 @@ The MecanumDrive class contains two different default modes of driving your robo
             m_robotDrive.drivePolar(-m_stick.GetY(), 45_deg, 0);
         }
 
-    .. code-tab:: python
+    .. code-block:: python
 
        def teleopPeriodic(self):
            // Drive using the X, Y, and Z axes of the joystick.
diff --git a/source/docs/software/hardware-apis/pneumatics/pressure.rst b/source/docs/software/hardware-apis/pneumatics/pressure.rst
index 36c80cf274..db98e0d154 100644
--- a/source/docs/software/hardware-apis/pneumatics/pressure.rst
+++ b/source/docs/software/hardware-apis/pneumatics/pressure.rst
@@ -7,39 +7,55 @@ Pressure is created using a pneumatic compressor and stored in pneumatic tanks.
 
 Construct a ``Compressor`` object:
 
-.. tabs::
-    .. group-tab:: REV Pneumatic Hub (PH)
-        .. tabs::
-            .. group-tab:: Java
+.. tab-set::
+    .. tab-item:: REV Pneumatic Hub (PH)
+      
+        .. tab-set::
+            .. tab-item:: Java
+               :sync: Java
+
                .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
                   :language: java
                   :lines: 39-40
-            .. group-tab:: C++ (Header)
+
+            .. tab-item:: C++ (Header)
+               :sync: C++ (Header)
+
                .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
                   :language: c++
                   :lines: 54-55
-    .. group-tab:: CTRE Pneumatics Control Module (PCM)
-        .. tabs::
-            .. group-tab:: Java
+    .. tab-item:: CTRE Pneumatics Control Module (PCM)
+
+        .. tab-set::
+           .. tab-item:: Java
+               :sync: Java
+
                .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
                   :language: java
                   :lines: 26-27
-            .. group-tab:: C++ (Header)
-               .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
-                  :language: c++
-                  :lines: 41-42
+
+           .. tab-item:: C++ (Header)
+              :sync: C++ (Header)
+
+              .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
+                 :language: c++
+                 :lines: 41-42
 
 
 Querying compressor current and state:
 
-.. tabs::
+.. tab-set::
+
+    .. tab-item:: Java
+       :sync: Java
 
-    .. group-tab:: Java
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 67-68, 73-74, 79-81
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+       :sync: C++ (Source)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 26-28, 31-32, 35-37
@@ -47,28 +63,36 @@ Querying compressor current and state:
 
 Enable/disable digital closed-loop compressor control (enabled by default):
 
-.. tabs::
+.. tab-set::
+
+    .. tab-item:: Java
+       :sync: Java
 
-    .. group-tab:: Java
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
           :language: java
           :lines: 54-55, 58-61
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+       :sync: C++ (Source)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
           :language: c++
           :lines: 12-13, 16-19
 
 The Pneumatic Hub also has methods for enabling compressor control using the REV Analog Pressure Sensor:
 
-.. tabs::
+.. tab-set::
+
+    .. tab-item:: Java
+       :sync: Java
 
-    .. group-tab:: Java
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 120-124, 127-133
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+       :sync: C++ (Source)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 76-81, 84-90
@@ -84,8 +108,10 @@ Pneumatic Hub
 
 The Pneumatic Hub has analog inputs that may be used to read a pressure transducer using the Compressor class.
 
-.. tabs::
-    .. group-tab:: Java
+.. tab-set::
+    .. tab-item:: Java
+       :sync: Java
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 39-40
@@ -93,12 +119,16 @@ The Pneumatic Hub has analog inputs that may be used to read a pressure transduc
           :language: java
           :lines: 59-62
 
-    .. group-tab:: C++ (Header)
+    .. tab-item:: C++ (Header)
+       :sync: C++ (Header)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
           :language: c++
           :lines: 54-55
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+       :sync: C++ (Source)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 19-23
@@ -108,9 +138,11 @@ roboRIO
 
 A pressure transducer can be connected to the Analog Input ports on the roboRIO, and can be read by the ``AnalogInput`` or ``AnalogPotentiometer`` classes in WPILib.
 
-.. tabs::
+.. tab-set::
+
+    .. tab-item:: Java
+       :sync: Java
 
-    .. group-tab:: Java
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
           :language: java
           :lines: 16-24
@@ -118,12 +150,16 @@ A pressure transducer can be connected to the Analog Input ports on the roboRIO,
           :language: java
           :lines: 40-41
 
-    .. group-tab:: C++ (Header)
+    .. tab-item:: C++ (Header)
+       :sync: C++ (Header)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
           :language: c++
           :lines: 30-40
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+       :sync: C++ (Source)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/c2685629ed0a07016d7ebded3bc8e6f84bd9cdca/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp
           :language: c++
           :lines: 24-26
diff --git a/source/docs/software/hardware-apis/pneumatics/solenoids.rst b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
index 0a13751249..b84b2ed554 100644
--- a/source/docs/software/hardware-apis/pneumatics/solenoids.rst
+++ b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
@@ -12,9 +12,11 @@ Single Solenoids in WPILib
 
 Single solenoids in WPILib are controlled using the ``Solenoid`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Solenoid.html>`__ / `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_solenoid.html>`__). To construct a Solenoid object, simply pass the desired port number (assumes default CAN ID) and pneumatics module type or CAN ID, pneumatics module type, and port number to the constructor. To set the value of the solenoid call ``set(true)`` to enable or ``set(false)`` to disable the solenoid output.
 
-.. tabs::
+.. tab-set::
+
+    .. tab-item:: Java
+       :sync: Java
 
-    .. group-tab:: Java
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 30-32
@@ -26,14 +28,18 @@ Single solenoids in WPILib are controlled using the ``Solenoid`` class (`Java <h
           :linenos:
           :lineno-start: 88
 
-    .. group-tab:: C++ (Header)
+    .. tab-item:: C++ (Header)
+       :sync: C++ (Header)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
           :language: c++
           :lines: 44-47
           :linenos:
           :lineno-start: 44
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+       :sync: C++ (Source)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 42-47
@@ -46,9 +52,11 @@ Double Solenoids in WPILib
 
 Double solenoids are controlled by the ``DoubleSolenoid`` class in WPILib (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/DoubleSolenoid.html>`__ / `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_double_solenoid.html>`__). These are constructed similarly to the single solenoid but there are now two port numbers to pass to the constructor, a forward channel (first) and a reverse channel (second). The state of the valve can then be set to ``kOff`` (neither output activated), ``kForward`` (forward channel enabled) or ``kReverse`` (reverse channel enabled). Additionally, the CAN ID can be passed to the DoubleSolenoid if teams have a non-default CAN ID.
 
-.. tabs::
+.. tab-set::
+
+    .. tab-item:: Java
+       :sync: Java
 
-    .. group-tab:: Java
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
           :language: java
           :lines: 34-37
@@ -60,14 +68,18 @@ Double solenoids are controlled by the ``DoubleSolenoid`` class in WPILib (`Java
           :linenos:
           :lineno-start: 100
 
-    .. group-tab:: C++ (Header)
+    .. tab-item:: C++ (Header)
+       :sync: C++ (Header)
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
           :language: c++
           :lines: 49-52
           :linenos:
           :lineno-start: 49
 
-    .. group-tab:: C++ (Source)
+    .. tab-item:: C++ (Source)
+       :sync: C++ (Source)
+      
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 54, 56
@@ -82,9 +94,9 @@ Solenoids can be switched from one output to the other (known as toggling) by us
 .. note::
    Since a DoubleSolenoid defaults to off, you will have to set it before it can be toggled.
 
-.. tabs::
+.. tab-set-code::
 
-   .. code-tab:: java
+   .. code-block:: java
 
       Solenoid exampleSingle = new Solenoid(PneumaticsModuleType.CTREPCM, 0);
       DoubleSolenoid exampleDouble = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 1, 2);
@@ -97,7 +109,7 @@ Solenoids can be switched from one output to the other (known as toggling) by us
          exampleDouble.toggle();
       }
 
-   .. code-tab:: c++
+   .. code-block:: c++
 
       frc::Solenoid exampleSingle{frc::PneumaticsModuleType::CTREPCM, 0};
       frc::DoubleSolenoid exampleDouble{frc::PneumaticsModuleType::CTREPCM, 1, 2};
diff --git a/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst b/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst
index 7047c7355b..eefb2502de 100644
--- a/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst
+++ b/source/docs/software/hardware-apis/sensors/ultrasonics-software.rst
@@ -15,15 +15,17 @@ Ping-response ultrasonics
 
 The :code:`Ultrasonic` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj/Ultrasonic.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc_1_1_ultrasonic.html>`__) provides support for ping-response ultrasonics.  As ping-response ultrasonics (per the name) require separate pins for both sending the ping and measuring the response, users must specify DIO pin numbers for both output and input when constructing an :code:`Ultrasonic` instance:
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+     :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
          :language: java
          :lines: 17-18
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+     :sync: C++
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Ultrasonic/include/Robot.h
          :language: cpp
@@ -31,15 +33,17 @@ The :code:`Ultrasonic` class (`Java <https://github.wpilib.org/allwpilib/docs/be
 
 The measurement can then be retrieved in either inches or millimeters in Java; in C++ the :ref:`units library <docs/software/basic-programming/cpp-units:The C++ Units Library>` is used to automatically convert to any desired length unit:
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+     :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
          :language: java
          :lines: 29-32
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+     :sync: C++
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
          :language: cpp
@@ -60,21 +64,24 @@ Using ultrasonics in code
 
 Ultrasonic sensors are very useful for determining spacing during autonomous routines.  For example, the following code from the UltrasonicPID example project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/UltrasonicPID>`__)will move the robot to 1 meter away from the nearest object the sensor detects:
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+     :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
          :language: java
          :lines: 18-61, 71-71
 
-   .. group-tab:: C++ (Header)
+   .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
          :language: cpp
          :lines: 19-51
 
-   .. group-tab:: C++ (Source)
+   .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
          :language: cpp
@@ -82,15 +89,17 @@ Ultrasonic sensors are very useful for determining spacing during autonomous rou
 
 Additionally, ping-response ultrasonics can be sent to :ref:`Shuffleboard <docs/software/dashboards/shuffleboard/getting-started/shuffleboard-tour:Tour of Shuffleboard>`, where they will be displayed with their own widgets:
 
-.. tabs::
+.. tab-set::
 
-   .. group-tab:: Java
+   .. tab-item:: Java
+     :sync: Java
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
          :language: java
          :lines: 22-24
 
-   .. group-tab:: C++
+   .. tab-item:: C++
+     :sync: C++
 
       .. rli:: https://github.com/wpilibsuite/allwpilib/raw/v2023.4.3/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
          :language: cpp
diff --git a/source/docs/software/networktables/client-side-program.rst b/source/docs/software/networktables/client-side-program.rst
index 3ed73285fc..6349e1dc25 100644
--- a/source/docs/software/networktables/client-side-program.rst
+++ b/source/docs/software/networktables/client-side-program.rst
@@ -7,9 +7,10 @@ If all you need to do is have your robot program communicate with a :term:`COTS`
 
 A basic client program looks like the following example.
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+       :sync: Java
 
         .. code-block:: java
 
@@ -60,7 +61,8 @@ A basic client program looks like the following example.
                }
            }
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -88,7 +90,8 @@ A basic client program looks like the following example.
               }
             }
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
@@ -115,7 +118,8 @@ A basic client program looks like the following example.
               }
             }
 
-    .. group-tab:: C
+    .. tab-item:: C
+       :sync: C
 
         .. code-block:: c
 
@@ -141,7 +145,9 @@ A basic client program looks like the following example.
               }
             }
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
@@ -178,16 +184,18 @@ Building using Gradle
 
 Example build.gradle files are provided in the `StandaloneAppSamples Repository <https://github.com/wpilibsuite/StandaloneAppSamples>`__ Update the GradleRIO version to correspond to the desired WPILib version.
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+     :sync: Java
 
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/3b64aadee717c9f0566497a40fd0be7d0eaed96d/Java/build.gradle
           :language: groovy
           :linenos:
           :emphasize-lines: 5
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
        Uncomment the appropriate platform as highlighted.
 
diff --git a/source/docs/software/networktables/listening-for-change.rst b/source/docs/software/networktables/listening-for-change.rst
index 44a868acc8..1e422e87ea 100644
--- a/source/docs/software/networktables/listening-for-change.rst
+++ b/source/docs/software/networktables/listening-for-change.rst
@@ -5,9 +5,10 @@ A common use case for :term:`NetworkTables` is where a coprocessor generates val
 
 There are a few different ways to detect that a topic's value has changed; the easiest way is to periodically call a subscriber's ``get()``, ``readQueue()``, or ``readQueueValues()`` function from the robot's periodic loop, as shown below:
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+     :sync: Java
 
         .. code-block:: java
 
@@ -54,7 +55,8 @@ There are a few different ways to detect that a topic's value has changed; the e
               }
             }
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -96,7 +98,8 @@ There are a few different ways to detect that a topic's value has changed; the e
               }
             };
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
@@ -129,7 +132,9 @@ There are a few different ways to detect that a topic's value has changed; the e
               }
             };
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
@@ -185,9 +190,10 @@ The below example listens to various kinds of events using ``NetworkTableInstanc
 
 The ``addListener`` functions in NetworkTableInstance return a listener handle. This can be used to remove the listener later.
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+     :sync: Java
 
         .. code-block:: java
 
@@ -263,7 +269,8 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
               }
             }
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -342,7 +349,9 @@ The ``addListener`` functions in NetworkTableInstance return a listener handle.
               }
             };
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
diff --git a/source/docs/software/networktables/multiple-instances.rst b/source/docs/software/networktables/multiple-instances.rst
index 57be38d007..1e35a51c6f 100644
--- a/source/docs/software/networktables/multiple-instances.rst
+++ b/source/docs/software/networktables/multiple-instances.rst
@@ -11,9 +11,10 @@ The ``NetworkTableInstance`` (`Java <https://github.wpilib.org/allwpilib/docs/be
 
 Destroying a NetworkTableInstance frees all resources related to the instance. All classes or handles that reference the instance (e.g. Topics, Publishers, and Subscribers) are invalidated and may result in unexpected behavior if used after the instance is destroyed--in particular, instance handles are reused so it's possible for a handle "left over" from a previously destroyed instance to refer to an unexpected resource in a newly created instance.
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+     :sync: Java
 
         .. code-block:: java
 
@@ -26,7 +27,8 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
             // destroy a NetworkTable instance
             inst.close();
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -39,7 +41,8 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
             // destroy a NetworkTable instance; NetworkTableInstance objects are not RAII
             nt::NetworkTableInstance::Destroy(inst);
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
@@ -52,7 +55,8 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
             // destroy a NetworkTable instance
             nt::DestroyInstance(inst);
 
-    .. group-tab:: C
+    .. tab-item:: C
+       :sync: C
 
         .. code-block:: c
 
@@ -65,7 +69,9 @@ Destroying a NetworkTableInstance frees all resources related to the instance. A
             // destroy a NetworkTable instance
             NT_DestroyInstance(inst);
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
diff --git a/source/docs/software/networktables/networktables-networking.rst b/source/docs/software/networktables/networktables-networking.rst
index fdd29b554f..8170494e0d 100644
--- a/source/docs/software/networktables/networktables-networking.rst
+++ b/source/docs/software/networktables/networktables-networking.rst
@@ -6,37 +6,43 @@ The advantage of the robot program being the server is that it's at a known netw
 Starting a NetworkTables Server
 -------------------------------
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+       :sync: Java
 
         .. code-block:: java
 
             NetworkTableInstance inst = NetworkTableInstance.getDefault();
             inst.startServer();
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
             nt::NetworkTableInstance inst = nt::NetworkTableInstance::GetDefault();
             inst.StartServer();
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
             NT_Inst inst = nt::GetDefaultInstance();
             nt::StartServer(inst, "networktables.json", "", NT_DEFAULT_PORT3, NT_DEFAULT_PORT4);
 
-    .. group-tab:: C
+    .. tab-item:: C
+       :sync: C
 
         .. code-block:: c
 
             NT_Inst inst = NT_GetDefaultInstance();
             NT_StartServer(inst, "networktables.json", "", NT_DEFAULT_PORT3, NT_DEFAULT_PORT4);
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
@@ -49,9 +55,10 @@ Starting a NetworkTables Server
 Starting a NetworkTables Client
 -------------------------------
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+     :sync: Java
 
         .. code-block:: java
 
@@ -69,7 +76,8 @@ Starting a NetworkTables Client
             // connect to a specific host/port
             inst.setServer("host", NetworkTableInstance.kDefaultPort4)
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -87,7 +95,8 @@ Starting a NetworkTables Client
             // connect to a specific host/port
             inst.SetServer("host", NT_DEFAULT_PORT4)
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
@@ -105,7 +114,8 @@ Starting a NetworkTables Client
             // connect to a specific host/port
             nt::SetServer(inst, "host", NT_DEFAULT_PORT4)
 
-    .. group-tab:: C
+    .. tab-item:: C
+       :sync: C
 
         .. code-block:: c
 
@@ -123,7 +133,9 @@ Starting a NetworkTables Client
             // connect to a specific host/port
             NT_SetServer(inst, "host", NT_DEFAULT_PORT4)
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
diff --git a/source/docs/software/networktables/publish-and-subscribe.rst b/source/docs/software/networktables/publish-and-subscribe.rst
index d32ae66c5a..6c81dbbe81 100644
--- a/source/docs/software/networktables/publish-and-subscribe.rst
+++ b/source/docs/software/networktables/publish-and-subscribe.rst
@@ -12,9 +12,10 @@ In the handle-based APIs, there is only the non-type-specific ``NT_Publisher`` h
 
 Publishing values is done via a ``set()`` operation. By default, this operation uses the current time, but a timestamp may optionally be specified. Specifying a timestamp can be useful when multiple values should have the same update timestamp. The timestamp units are integer microseconds (see example code for how to get a current timestamp that is consistent with the library).
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+       :sync: Java
 
         .. code-block:: java
 
@@ -65,7 +66,8 @@ Publishing values is done via a ``set()`` operation. By default, this operation
               }
             }
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -105,7 +107,8 @@ Publishing values is done via a ``set()`` operation. By default, this operation
               }
             };
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
@@ -149,7 +152,8 @@ Publishing values is done via a ``set()`` operation. By default, this operation
               }
             };
 
-    .. group-tab:: C
+    .. tab-item:: C
+       :sync: C
 
         .. code-block:: c
 
@@ -186,7 +190,9 @@ Publishing values is done via a ``set()`` operation. By default, this operation
             // stop publishing
             NT_Unpublish(dblPub);
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
@@ -234,9 +240,10 @@ A :term:`subscriber` receives value updates made to a topic. Similar to publishe
 
 Subscribers have a range of different ways to read received values. It's possible to just read the most recent value using ``get()``, read the most recent value, along with its timestamp, using ``getAtomic()``, or get an array of all value changes since the last call using ``readQueue()`` or ``readQueueValues()``.
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+     :sync: Java
 
         .. code-block:: java
 
@@ -288,7 +295,8 @@ Subscribers have a range of different ways to read received values. It's possibl
               }
             }
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -332,7 +340,8 @@ Subscribers have a range of different ways to read received values. It's possibl
               }
             };
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
@@ -372,7 +381,8 @@ Subscribers have a range of different ways to read received values. It's possibl
                 nt::Unsubscribe(dblSub);
               }
 
-    .. group-tab:: C
+    .. tab-item:: C
+       :sync: C
 
         .. code-block:: c
 
@@ -412,7 +422,9 @@ Subscribers have a range of different ways to read received values. It's possibl
             // stop subscribing
             NT_Unsubscribe(dblSub);
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
@@ -460,9 +472,10 @@ Using Entry to Both Subscribe and Publish
 
 An :term:`entry` is a combined publisher and subscriber. The subscriber is always active, but the publisher is not created until a publish operation is performed (e.g. a value is "set", aka published, on the entry). This may be more convenient than maintaining a separate publisher and subscriber. Similar to publishers and subscribers, NetworkTable entries are represented as type-specific Entry classes (e.g. ``BooleanEntry``: `Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/BooleanEntry.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_boolean_entry.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/BooleanEntry.html>`__) that must be retained to continue subscribing (and publishing).
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+       :sync: Java
 
         .. code-block:: java
 
@@ -517,7 +530,8 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
               }
             }
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -566,7 +580,8 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
               }
             };
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
@@ -613,7 +628,8 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
                 nt::ReleaseEntry(dblEntry);
               }
 
-    .. group-tab:: C
+    .. tab-item:: C
+       :sync: C
 
         .. code-block:: c
 
@@ -661,7 +677,9 @@ An :term:`entry` is a combined publisher and subscriber. The subscriber is alway
             // stop subscribing
             NT_ReleaseEntry(dblEntry);
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
@@ -714,9 +732,10 @@ Using GenericEntry, GenericPublisher, and GenericSubscriber
 
 For the most robust code, using the type-specific Publisher, Subscriber, and Entry classes is recommended, but in some cases it may be easier to write code that uses type-specific get and set function calls instead of having the NetworkTables type be exposed via the class (object) type. The ``GenericPublisher`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/GenericPublisher.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_generic_publisher.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/GenericPublisher.html>`__), ``GenericSubscriber`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/GenericSubscriber.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_generic_subscriber.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/GenericSubscriber.html>`__), and ``GenericEntry`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/GenericEntry.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_generic_entry.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/GenericEntry.html>`__) classes enable this approach.
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+     :sync: Java
 
         .. code-block:: java
 
@@ -792,7 +811,8 @@ For the most robust code, using the type-specific Publisher, Subscriber, and Ent
               }
             }
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -861,7 +881,9 @@ For the most robust code, using the type-specific Publisher, Subscriber, and Ent
               }
             };
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
@@ -938,9 +960,10 @@ Subscribing to Multiple Topics
 
 While in most cases it's only necessary to subscribe to individual topics, it is sometimes useful (e.g. in dashboard applications) to subscribe and get value updates for changes to multiple topics. Listeners (see :ref:`docs/software/networktables/listening-for-change:listening for changes`) can be used directly, but creating a ``MultiSubscriber`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/MultiSubscriber.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_multi_subscriber.html>`__) allows specifying subscription options and reusing the same subscriber for multiple listeners.
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+       :sync: Java
 
         .. code-block:: java
 
@@ -984,7 +1007,8 @@ While in most cases it's only necessary to subscribe to individual topics, it is
               }
             }
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -1020,7 +1044,8 @@ While in most cases it's only necessary to subscribe to individual topics, it is
               }
             };
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
@@ -1062,7 +1087,8 @@ While in most cases it's only necessary to subscribe to individual topics, it is
                 nt::UnsubscribeMultiple(multiSub);
               }
 
-    .. group-tab:: C
+    .. tab-item:: C
+       :sync: C
 
         .. code-block:: c
 
@@ -1104,7 +1130,9 @@ While in most cases it's only necessary to subscribe to individual topics, it is
             // stop subscribing
             NT_UnsubscribeMultiple(multiSub);
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
diff --git a/source/docs/software/networktables/tables-and-topics.rst b/source/docs/software/networktables/tables-and-topics.rst
index 2df4d9692c..c7188b3ff2 100644
--- a/source/docs/software/networktables/tables-and-topics.rst
+++ b/source/docs/software/networktables/tables-and-topics.rst
@@ -13,9 +13,10 @@ A ``Topic`` (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/f
 
 Having a Topic object or handle does not mean the topic exists or is of the correct type. For convenience when creating publishers and subscribers, there are type-specific Topic classes (e.g. ``BooleanTopic``: `Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/networktables/BooleanTopic.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classnt_1_1_boolean_topic.html>`__, `Python <https://robotpy.readthedocs.io/projects/pyntcore/en/stable/ntcore/BooleanTopic.html>`__), but there is no check at the Topic level to ensure that the topic's type actually matches. The preferred method to get a type-specific topic to call the appropriate type-specific getter, but it's also possible to directly convert a generic Topic into a type-specific Topic class. Note: the handle-based API does not have a concept of type-specific classes.
 
-.. tabs::
+.. tab-set::
 
-    .. group-tab:: Java
+    .. tab-item:: Java
+       :sync: Java
 
         .. code-block:: java
 
@@ -35,7 +36,8 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
             Topic genericTopic = inst.getTopic("/datatable/X");
             DoubleTopic dblTopic = new DoubleTopic(genericTopic);
 
-    .. group-tab:: C++
+    .. tab-item:: C++
+     :sync: C++
 
         .. code-block:: cpp
 
@@ -55,7 +57,8 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
             nt::Topic genericTopic = inst.GetTopic("/datatable/X");
             nt::DoubleTopic dblTopic{genericTopic};
 
-    .. group-tab:: C++ (handle-based)
+    .. tab-item:: C++ (Handle-based)
+     :sync: C++ (Handle-based)
 
         .. code-block:: cpp
 
@@ -64,7 +67,8 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
             // get a topic from a NetworkTableInstance
             NT_Topic topic = nt::GetTopic(inst, "/datatable/X");
 
-    .. group-tab:: C
+    .. tab-item:: C
+        :sync: C
 
         .. code-block:: c
 
@@ -73,7 +77,9 @@ Having a Topic object or handle does not mean the topic exists or is of the corr
             // get a topic from a NetworkTableInstance
             NT_Topic topic = NT_GetTopic(inst, "/datatable/X");
 
-    .. group-tab:: Python
+    .. tab-item:: Python
+     :sync: Python
+
 
         .. code-block:: python
 
diff --git a/source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst b/source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst
index 6e475f27a4..543348f237 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/creating-drive-subsystem.rst
@@ -5,9 +5,10 @@ Now that our drive is characterized, it is time to start writing our robot code
 
 The full drive class from the RamseteCommand Example Project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RamseteCommand>`__) can be seen below.  The rest of the article will describe the steps involved in writing this class.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -15,7 +16,8 @@ The full drive class from the RamseteCommand Example Project (`Java <https://git
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
       :language: c++
@@ -23,7 +25,8 @@ The full drive class from the RamseteCommand Example Project (`Java <https://git
       :linenos:
       :lineno-start: 5
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
       :language: c++
@@ -41,9 +44,10 @@ Encoder Ports
 
 The encoder ports are specified in the encoder's constructor, like so:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -51,7 +55,8 @@ The encoder ports are specified in the encoder's constructor, like so:
       :linenos:
       :lineno-start: 35
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
       :language: c++
@@ -64,9 +69,10 @@ Encoder Distance per Pulse
 
 The distance per pulse is specified by calling the encoder's ``setDistancePerPulse`` method.  Note that for the WPILib Encoder class, "pulse" refers to a full encoder cycle (i.e. four edges), and thus will be 1/4 the value that was specified in the SysId config.  Remember, as well, that the distance should be measured in meters!
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -74,7 +80,8 @@ The distance per pulse is specified by calling the encoder's ``setDistancePerPul
       :linenos:
       :lineno-start: 63
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
       :language: c++
@@ -89,9 +96,10 @@ To access the values measured by the encoders, we include the following method:
 
 .. important:: The returned velocities **must** be in meters! Because we configured the distance per pulse on the encoders above, calling ``getRate()`` will automatically apply the conversion factor from encoder units to meters. If you are not using WPILib's ``Encoder`` class, you must perform this conversion either through the respective vendor's API or by manually multiplying by a conversion factor.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -99,7 +107,8 @@ To access the values measured by the encoders, we include the following method:
       :linenos:
       :lineno-start: 88
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
       :language: c++
@@ -114,9 +123,10 @@ Configuring the Gyroscope
 
 The gyroscope measures the rate of change of the robot's heading (which can then be integrated to provide a measurement of the robot's heading relative to when it first turned on).  In our example, we use the `Analog Devices ADXRS450 FRC Gyro Board <https://www.analog.com/en/landing-pages/001/first.html>`__, which has been included in the kit of parts for several years:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -124,7 +134,8 @@ The gyroscope measures the rate of change of the robot's heading (which can then
       :linenos:
       :lineno-start: 50
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
       :language: c++
@@ -137,9 +148,10 @@ Gyroscope Accessor Method
 
 To access the current heading measured by the gyroscope, we include the following method:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -147,7 +159,8 @@ To access the current heading measured by the gyroscope, we include the followin
       :linenos:
       :lineno-start: 177
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
       :language: c++
@@ -162,9 +175,10 @@ Now that we have our encoders and gyroscope configured, it is time to set up our
 
 First, we create a member instance of the ``DifferentialDriveOdometry`` class:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -172,7 +186,8 @@ First, we create a member instance of the ``DifferentialDriveOdometry`` class:
       :linenos:
       :lineno-start: 53
 
-  .. group-tab:: C++ (Header)
+  .. tab-item:: C++ (Header)
+     :sync: C++ (Header)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
       :language: c++
@@ -185,9 +200,10 @@ Updating the Odometry
 
 The odometry class must be regularly updated to incorporate new readings from the encoder and gyroscope.  We accomplish this inside the subsystem's ``periodic`` method, which is automatically called once per main loop iteration:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -195,7 +211,8 @@ The odometry class must be regularly updated to incorporate new readings from th
       :linenos:
       :lineno-start: 70
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
       :language: c++
@@ -208,9 +225,10 @@ Odometry Accessor Method
 
 To access the robot's current computed pose, we include the following method:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -218,7 +236,8 @@ To access the robot's current computed pose, we include the following method:
       :linenos:
       :lineno-start: 79
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
       :language: c++
@@ -233,9 +252,10 @@ Voltage-Based Drive Method
 
 Finally, we must include one additional method - a method that allows us to set the voltage to each side of the drive using the ``setVoltage()`` method of the ``MotorController`` interface.  The default WPILib drive class does not include this functionality, so we must write it ourselves:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+     :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
       :language: java
@@ -243,7 +263,8 @@ Finally, we must include one additional method - a method that allows us to set
       :linenos:
       :lineno-start: 118
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+     :sync: C++ (Source)
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
       :language: c++
diff --git a/source/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.rst b/source/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.rst
index 66df332d64..ec040a6c1f 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/creating-following-trajectory.rst
@@ -5,9 +5,10 @@ With our drive subsystem written, it is now time to generate a trajectory and wr
 
 As per the :ref:`standard command-based project structure <docs/software/commandbased/structuring-command-based-project:Structuring a Command-Based Robot Project>`, we will do this in the ``getAutonomousCommand`` method of the ``RobotContainer`` class.  The full method from the RamseteCommand Example Project (`Java <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand>`__, `C++ <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibcExamples/src/main/cpp/examples/RamseteCommand>`__) can be seen below.  The rest of the article will break down the different parts of the method in more detail.
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+    :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
@@ -15,7 +16,9 @@ As per the :ref:`standard command-based project structure <docs/software/command
       :linenos:
       :lineno-start: 74
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+    :sync: C++ (Source)
+
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
@@ -33,9 +36,10 @@ Creating a Voltage Constraint
 
 The first piece of configuration we will need is a voltage constraint.  This will ensure that the generated trajectory never commands the robot to go faster than it is capable of achieving with the given voltage supply:
 
-.. tabs::
+.. tab-set::
 
-  .. group-tab:: Java
+  .. tab-item:: Java
+    :sync: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
@@ -43,7 +47,9 @@ The first piece of configuration we will need is a voltage constraint.  This wil
       :linenos:
       :lineno-start: 80
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+    :sync: C++ (Source)
+
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
@@ -58,9 +64,11 @@ Creating the Configuration
 
 Now that we have our voltage constraint, we can create our ``TrajectoryConfig`` instance, which wraps together all of our path constraints:
 
-.. tabs::
+.. tab-set::
+
+  .. tab-item:: Java
+    :sync: Java
 
-  .. group-tab:: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
@@ -68,7 +76,9 @@ Now that we have our voltage constraint, we can create our ``TrajectoryConfig``
       :linenos:
       :lineno-start: 90
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+    :sync: C++ (Source)
+
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
@@ -81,9 +91,11 @@ Generating the Trajectory
 
 With our trajectory configuration in hand, we are now ready to generate our trajectory.  For this example, we will be generating a "clamped cubic" trajectory - this means we will specify full robot poses at the endpoints, and positions only for interior waypoints (also known as "knot points").  As elsewhere, all distances are in meters.
 
-.. tabs::
+.. tab-set::
+
+  .. tab-item:: Java
+    :sync: Java
 
-  .. group-tab:: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
@@ -91,7 +103,9 @@ With our trajectory configuration in hand, we are now ready to generate our traj
       :linenos:
       :lineno-start: 100
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+    :sync: C++ (Source)
+
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
@@ -106,9 +120,11 @@ Creating the RamseteCommand
 
 We will first reset our robot's pose to the starting pose of the trajectory. This ensures that the robot's location on the coordinate system and the trajectory's starting position are the same.
 
-.. tabs::
+.. tab-set::
+
+  .. tab-item:: Java
+    :sync: Java
 
-  .. group-tab:: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
@@ -116,7 +132,9 @@ We will first reset our robot's pose to the starting pose of the trajectory. Thi
       :linenos:
       :lineno-start: 128
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+    :sync: C++ (Source)
+
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
@@ -129,9 +147,11 @@ It is very important that the initial robot pose match the first pose in the tra
 
 Now that we have a trajectory, we can create a command that, when executed, will follow that trajectory.  To do this, we use the ``RamseteCommand`` class (`Java <https://github.wpilib.org/allwpilib/docs/beta/java/edu/wpi/first/wpilibj2/command/RamseteCommand.html>`__, `C++ <https://github.wpilib.org/allwpilib/docs/beta/cpp/classfrc2_1_1_ramsete_command.html>`__)
 
-.. tabs::
+.. tab-set::
+
+  .. tab-item:: Java
+    :sync: Java
 
-  .. group-tab:: Java
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
       :language: java
@@ -139,7 +159,9 @@ Now that we have a trajectory, we can create a command that, when executed, will
       :linenos:
       :lineno-start: 112
 
-  .. group-tab:: C++ (Source)
+  .. tab-item:: C++ (Source)
+    :sync: C++ (Source)
+
 
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
       :language: c++
diff --git a/source/docs/software/pathplanning/trajectory-tutorial/entering-constants.rst b/source/docs/software/pathplanning/trajectory-tutorial/entering-constants.rst
index 29c2109760..9e63ac8b95 100644
--- a/source/docs/software/pathplanning/trajectory-tutorial/entering-constants.rst
+++ b/source/docs/software/pathplanning/trajectory-tutorial/entering-constants.rst
@@ -14,46 +14,40 @@ Firstly, we must enter the feedforward and feedback gains which we obtained from
 
 .. note:: Feedforward and feedback gains do *not*, in general, transfer across robots.  Do *not* use the gains from this tutorial for your own robot.
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
+    :language: java
+    :lines: 39-49
+    :linenos:
+    :lineno-start: 39
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
-      :language: java
-      :lines: 39-49
-      :linenos:
-      :lineno-start: 39
-
-  .. group-tab:: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
-      :language: c++
-      :lines: 47-57
-      :linenos:
-      :lineno-start: 47
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+    :language: c++
+    :lines: 47-57
+    :linenos:
+    :lineno-start: 47
 
 DifferentialDriveKinematics
 ---------------------------
 
 Additionally, we must create an instance of the ``DifferentialDriveKinematics`` class, which allows us to use the trackwidth (i.e. horizontal distance between the wheels) of the robot to convert from chassis speeds to wheel speeds.  As elsewhere, we keep our units in meters.
 
-.. tabs::
+.. tab-set-code::
 
-  .. group-tab:: Java
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
-      :language: java
-      :lines: 29-31
-      :linenos:
-      :lineno-start: 29
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
+    :language: java
+    :lines: 29-31
+    :linenos:
+    :lineno-start: 29
 
-  .. group-tab:: C++ (Header)
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
-      :language: c++
-      :lines: 38-39
-      :linenos:
-      :lineno-start: 38
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+    :language: c++
+    :lines: 38-39
+    :linenos:
+    :lineno-start: 38
 
 Max Trajectory Velocity/Acceleration
 ------------------------------------
@@ -62,43 +56,35 @@ We must also decide on a nominal max acceleration and max velocity for the robot
 
 .. warning:: Max velocity and acceleration, as defined here, are applied only during trajectory generation.  They do not limit the ``RamseteCommand`` itself, which may give values to the ``DriveSubsystem`` that can cause the robot to greatly exceed these velocities and accelerations.
 
-.. tabs::
-
-  .. group-tab:: Java
+.. tab-set-code::
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
-      :language: java
-      :lines: 57-58
-      :linenos:
-      :lineno-start: 57
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
+    :language: java
+    :lines: 57-58
+    :linenos:
+    :lineno-start: 57
 
-  .. group-tab:: C++ (Header)
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
-      :language: c++
-      :lines: 61-62
-      :linenos:
-      :lineno-start: 61
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+    :language: c++
+    :lines: 61-62
+    :linenos:
+    :lineno-start: 61
 
 Ramsete Parameters
 ------------------
 
 Finally, we must include a pair of parameters for the RAMSETE controller.  The values shown below should work well for most robots, provided distances have been correctly measured in meters - for more information on tuning these values (if it is required), see :ref:`docs/software/advanced-controls/trajectories/ramsete:Constructing the Ramsete Controller Object`.
 
-.. tabs::
-
-  .. group-tab:: Java
-
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
-      :language: java
-      :lines: 60-62
-      :linenos:
-      :lineno-start: 60
+.. tab-set-code::
 
-  .. group-tab:: C++ (Header)
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
+    :language: java
+    :lines: 60-62
+    :linenos:
+    :lineno-start: 60
 
-    .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
-      :language: c++
-      :lines: 64-67
-      :linenos:
-      :lineno-start: 64
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+    :language: c++
+    :lines: 64-67
+    :linenos:
+    :lineno-start: 64

From a6ed635fc18b259edb05847b2f9d27f96bccd52f Mon Sep 17 00:00:00 2001
From: GrahamSH <grahamshllk@gmail.com>
Date: Wed, 25 Oct 2023 18:22:02 -0400
Subject: [PATCH 7/9] remove sphinx tabs from config

---
 source/conf.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/source/conf.py b/source/conf.py
index 1225936e8d..2849c393c4 100644
--- a/source/conf.py
+++ b/source/conf.py
@@ -35,7 +35,6 @@
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-    "sphinx_tabs.tabs",
     "sphinx_design",
     "sphinx.ext.mathjax",
     "sphinx.ext.todo",
@@ -54,7 +53,6 @@
     "notfound.extension",
     "versionwarning.extension",
     "sphinx.ext.viewcode",
-    "sphinx_tabs.tabs",
     "sphinx-prompt",
     "sphinx_toolbox.collapse",
 ]
@@ -276,7 +274,6 @@ def setup(app):
 
 suppress_warnings = ["epub.unknown_project_files"]
 
-sphinx_tabs_valid_builders = ["epub", "linkcheck"]
 
 
 # Options for translation support -------------------------------------------

From 183d1b194cf1c6ee13785bce1593dbfd422fd666 Mon Sep 17 00:00:00 2001
From: GrahamSH <grahamshllk@gmail.com>
Date: Thu, 26 Oct 2023 07:19:04 -0400
Subject: [PATCH 8/9] Format and lint

---
 source/conf.py                                                | 1 -
 .../state-space/state-space-flywheel-walkthrough.rst          | 4 ++--
 .../advanced-controls/state-space/state-space-observers.rst   | 2 +-
 .../docs/software/basic-programming/reading-stacktraces.rst   | 2 +-
 source/docs/software/commandbased/command-scheduler.rst       | 4 ++--
 source/docs/software/hardware-apis/pneumatics/pressure.rst    | 2 +-
 source/docs/software/hardware-apis/pneumatics/solenoids.rst   | 2 +-
 .../reading-array-values-published-by-networktables.rst       | 2 +-
 .../robotbuilder/writing-code/robotbuilder-drive-tank.rst     | 2 +-
 .../writing-code/robotbuilder-writing-subsystem-code.rst      | 2 +-
 .../step-4/creating-test-drivetrain-program-cpp-java.rst      | 2 +-
 11 files changed, 12 insertions(+), 13 deletions(-)

diff --git a/source/conf.py b/source/conf.py
index 2849c393c4..4c04727305 100644
--- a/source/conf.py
+++ b/source/conf.py
@@ -275,7 +275,6 @@ def setup(app):
 suppress_warnings = ["epub.unknown_project_files"]
 
 
-
 # Options for translation support -------------------------------------------
 
 gettext_compact = False
diff --git a/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst b/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
index 6ad88d9a5f..8846929d27 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
@@ -82,13 +82,13 @@ The ``LinearSystem`` class contains methods for easily creating state-space syst
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
          :lines: 17
-         :linenos: 
+         :linenos:
          :lineno-start: 17
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
          :language: cpp
          :lines: 30-46
-         :linenos: 
+         :linenos:
          :lineno-start: 30
 
 
diff --git a/source/docs/software/advanced-controls/state-space/state-space-observers.rst b/source/docs/software/advanced-controls/state-space/state-space-observers.rst
index 8edeb056e5..dc6fc87413 100644
--- a/source/docs/software/advanced-controls/state-space/state-space-observers.rst
+++ b/source/docs/software/advanced-controls/state-space/state-space-observers.rst
@@ -97,7 +97,7 @@ Tuning Kalman Filters
 WPILib's Kalman Filter classes' constructors take a linear system, a vector of process noise standard deviations and measurement noise standard deviations. These are converted to :math:`\mathbf{Q}` and :math:`\mathbf{R}` matrices by filling the diagonals with the square of the standard deviations, or variances, of each state or measurement. By decreasing a state's standard deviation (and therefore its corresponding entry in :math:`\mathbf{Q}`), the filter will distrust incoming measurements more. Similarly, increasing a state's standard deviation will trust incoming measurements more. The same holds for the measurement standard deviations -- decreasing an entry will make the filter more highly trust the incoming measurement for the corresponding state, while increasing it will decrease trust in the measurement.
 
 .. tab-set::
-   .. tab-item:: Java 
+   .. tab-item:: Java
 
       .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
          :language: java
diff --git a/source/docs/software/basic-programming/reading-stacktraces.rst b/source/docs/software/basic-programming/reading-stacktraces.rst
index 42119aa2a1..46991a814e 100644
--- a/source/docs/software/basic-programming/reading-stacktraces.rst
+++ b/source/docs/software/basic-programming/reading-stacktraces.rst
@@ -330,7 +330,7 @@ When run, you'll see output that looks like this:
       :sync: tabcode-java
 
       .. code-block:: text
-      
+
 
          ********** Robot program starting **********
          Error at frc.robot.Robot.robotInit(Robot.java:24): Unhandled exception: java.lang.ArithmeticException: / by zero
diff --git a/source/docs/software/commandbased/command-scheduler.rst b/source/docs/software/commandbased/command-scheduler.rst
index 343dc5a5f9..6950d3b88b 100644
--- a/source/docs/software/commandbased/command-scheduler.rst
+++ b/source/docs/software/commandbased/command-scheduler.rst
@@ -53,7 +53,7 @@ This method walks through the following steps:
       :lines: 114-159
       :linenos:
       :lineno-start: 114
-      
+
 
 The Scheduler Run Sequence
 --------------------------
@@ -98,7 +98,7 @@ Secondly, the scheduler polls the state of all registered triggers to see if any
 
   .. tab-item:: Java
     :sync: tabcode-java
-    
+
     .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
       :language: java
       :lines: 290-292
diff --git a/source/docs/software/hardware-apis/pneumatics/pressure.rst b/source/docs/software/hardware-apis/pneumatics/pressure.rst
index db98e0d154..aff6f0d21f 100644
--- a/source/docs/software/hardware-apis/pneumatics/pressure.rst
+++ b/source/docs/software/hardware-apis/pneumatics/pressure.rst
@@ -9,7 +9,7 @@ Construct a ``Compressor`` object:
 
 .. tab-set::
     .. tab-item:: REV Pneumatic Hub (PH)
-      
+
         .. tab-set::
             .. tab-item:: Java
                :sync: Java
diff --git a/source/docs/software/hardware-apis/pneumatics/solenoids.rst b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
index b84b2ed554..79822098ff 100644
--- a/source/docs/software/hardware-apis/pneumatics/solenoids.rst
+++ b/source/docs/software/hardware-apis/pneumatics/solenoids.rst
@@ -79,7 +79,7 @@ Double solenoids are controlled by the ``DoubleSolenoid`` class in WPILib (`Java
 
     .. tab-item:: C++ (Source)
        :sync: C++ (Source)
-      
+
        .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/e9858c10e900d322c3c03eb170ec76c3bcc3a7e0/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
           :language: c++
           :lines: 54, 56
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 b7e5a37b5a..9a10bc8327 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
@@ -20,7 +20,7 @@ Writing a Program to Access the Topics
 --------------------------------------
 
 .. tab-set-code::
-  
+
    .. code-block:: java
 
       DoubleArraySubscriber areasSub;
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 823b972348..c4832f6bd7 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
@@ -45,7 +45,7 @@ Create a Method to Write the Motors on the Subsystem
 
    .. tab-item:: java
       :sync: java
-    
+
       .. code-block:: java
          :linenos:
          :lineno-start: 11
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 1fe35a782e..be71fd4cdc 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
@@ -230,4 +230,4 @@ Adding the Method Declarations to the Header File (C++ Only)
 
 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.
 
-To add the behavior to the claw subsystem to handle opening and closing you need to :doc:`define commands <../introduction/robotbuilder-creating-command>`.
\ No newline at end of file
+To add the behavior to the claw subsystem to handle opening and closing you need to :doc:`define commands <../introduction/robotbuilder-creating-command>`.
diff --git a/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java.rst b/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java.rst
index 3be8ca3492..bc1dcce5de 100644
--- a/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java.rst
+++ b/source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java.rst
@@ -80,7 +80,7 @@ Imports/Includes
 
          .. tab-item:: C++
             :sync: cpp
-            
+
             .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
                :language: c++
                :lines: 5-10

From a8adcaf032462d00866913df3dac0cef8520ec6b Mon Sep 17 00:00:00 2001
From: GrahamSH <grahamshllk@gmail.com>
Date: Mon, 30 Oct 2023 11:57:45 -0400
Subject: [PATCH 9/9] add to style guide

---
 .../contributing/frc-docs/style-guide.rst     | 46 ++++++++++++++++++-
 1 file changed, 45 insertions(+), 1 deletion(-)

diff --git a/source/docs/contributing/frc-docs/style-guide.rst b/source/docs/contributing/frc-docs/style-guide.rst
index 5a3fa0d539..bc5308490c 100644
--- a/source/docs/contributing/frc-docs/style-guide.rst
+++ b/source/docs/contributing/frc-docs/style-guide.rst
@@ -107,7 +107,6 @@ When possible, instead of using code blocks, an RLI should be used.  This pulls
 
 .. code-block:: ReST
 
-
    .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
       :language: java
       :lines: 44-61
@@ -123,6 +122,51 @@ When possible, instead of using code blocks, an RLI should be used.  This pulls
 
 Make sure to link to the raw version of the file on GitHub. There is a handy ``Raw`` button in the top right corner of the page.
 
+Tabs
+----
+To create code tabs in an article, you can use the ``.. tab-set-code::`` directive.  You can use ``code-block`` and ``rli`` directives inside. The format is:
+
+.. code-block:: ReST
+
+   .. tab-set-code::
+
+            .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
+               :language: java
+               :lines: 44-61
+               :linenos:
+               :lineno-start: 44
+
+
+            .. code-block:: cpp
+               // Start the timer.
+               m_timer.Start();
+
+               // Send Field2d to SmartDashboard.
+               frc::SmartDashboard::PutData(&m_field);
+
+               // Reset the drivetrain's odometry to the starting pose of the trajectory.
+               m_drive.ResetOdometry(m_trajectory.InitialPose());
+
+               // Send our generated trajectory to Field2d.
+               m_field.GetObject("traj")->SetTrajectory(m_trajectory);
+            }
+
+
+If you need to use more than one tab per language, multiple RLIs per language, or text tabs, you can use the ``.. tab-set::`` and ``.. tab-item::`` directive.  The format is:
+
+.. code-block:: ReST
+
+   .. tab-set::
+
+      ..tab-item:: Title
+        :sync: sync-id
+
+            Content
+
+This example uses the sync argument to allow all of the tabs with the same key to be synced together.  This means that when you click on a tab, all of the tabs with the same key will open.
+
+If you have a mix of ``tab-set`` and ``tab-set-code`` directives on a page, you can sync them by setting the sync id on the ``tab-item`` directives to ``tabcode-LANGUAGE``. For example, a java tab would have a sync id of ``tabcode-java``.
+
 Admonitions
 -----------