Update docs links to release (wpilibsuite#1594)

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

@@ -6,7 +6,7 @@ This class provides an easy way to forward local ports to another host/port. Thi
 Forwarding a Remote Port
 ------------------------
 
-Often teams may wish to connect directly to the roboRIO for controlling their robot. The PortForwarding class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/util/net/PortForwarder.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classwpi_1_1_port_forwarder.html>`__) can be used to forward the Raspberry Pi connection for usage during these times. The PortForwarding class establishes a bridge between the remote and the client. To forward a port in Java, simply do ``PortForwarder.add(int port, String remoteName, int remotePort)``.
+Often teams may wish to connect directly to the roboRIO for controlling their robot. The PortForwarding class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/util/net/PortForwarder.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classwpi_1_1_port_forwarder.html>`__) can be used to forward the Raspberry Pi connection for usage during these times. The PortForwarding class establishes a bridge between the remote and the client. To forward a port in Java, simply do ``PortForwarder.add(int port, String remoteName, int remotePort)``.
 
 .. tabs::
 

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

@@ -31,7 +31,7 @@ Moreover, feedforward is a separate feature entirely from feedback, and thus has
 Using Feedforward Components with PID
 -------------------------------------
 
-.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_speed_controller.html#a8252b1dbd027218c7966b15d0f9faff7>`__) method when applying them to motors to compensate for "voltage sag" from the battery.
+.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_speed_controller.html#a8252b1dbd027218c7966b15d0f9faff7>`__) method when applying them to motors to compensate for "voltage sag" from the battery.
 
 What might a more complete example of combined feedforward/PID control look like?  Consider the :ref:`drive example <docs/software/advanced-controls/controllers/feedforward:Using Feedforward to Control Mechanisms>` from the feedforward page.  We can easily modify this to include feedback control (with a ``SimpleMotorFeedforward`` component):
 

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

@@ -15,9 +15,9 @@ WPILib provides a number of classes to help users implement accurate feedforward
 
 WPILib currently provides the following three helper classes for feedforward control:
 
-* `SimpleMotorFeedforward`_ (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_simple_motor_feedforward.html>`__)
-* `ArmFeedforward`_ (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/controller/ArmFeedforward.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_arm_feedforward.html>`__)
-* `ElevatorFeedforward`_ (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/controller/ElevatorFeedforward.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_elevator_feedforward.html>`__)
+* `SimpleMotorFeedforward`_ (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_simple_motor_feedforward.html>`__)
+* `ArmFeedforward`_ (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/controller/ArmFeedforward.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_arm_feedforward.html>`__)
+* `ElevatorFeedforward`_ (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/controller/ElevatorFeedforward.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_elevator_feedforward.html>`__)
 
 SimpleMotorFeedforward
 ----------------------
@@ -157,7 +157,7 @@ To calculate the feedforward, simply call the ``calculate()`` method with the de
 Using Feedforward to Control Mechanisms
 ---------------------------------------
 
-.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_speed_controller.html#a8252b1dbd027218c7966b15d0f9faff7>`__) method when applying them to motors to compensate for "voltage sag" from the battery.
+.. note:: Since feedforward voltages are physically meaningful, it is best to use the ``setVoltage()`` (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_speed_controller.html#a8252b1dbd027218c7966b15d0f9faff7>`__) method when applying them to motors to compensate for "voltage sag" from the battery.
 
 Feedforward control can be used entirely on its own, without a feedback controller.  This is known as "open-loop" control, and for many mechanisms (especially robot drives) can be perfectly satisfactory.  A ``SimpleMotorFeedforward`` might be employed to control a robot drive as follows:
 

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

@@ -7,7 +7,7 @@ PID Control in WPILib
 
 .. note:: For a guide on implementing PID control through the :ref:`command-based framework <docs/software/commandbased/what-is-command-based:What Is "Command-Based" Programming?>`, see :ref:`docs/software/commandbased/pid-subsystems-commands:PID Control through PIDSubsystems and PIDCommands`.
 
-WPILib supports PID control of mechanisms through the ``PIDController`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/controller/PIDController.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc2_1_1_p_i_d_controller.html>`__).  This class handles the feedback loop calculation for the user, as well as offering methods for returning the error, setting tolerances, and checking if the control loop has reached its setpoint within the specified tolerances.
+WPILib supports PID control of mechanisms through the ``PIDController`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/controller/PIDController.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc2_1_1_p_i_d_controller.html>`__).  This class handles the feedback loop calculation for the user, as well as offering methods for returning the error, setting tolerances, and checking if the control loop has reached its setpoint within the specified tolerances.
 
 Using the PIDController Class
 -----------------------------

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

@@ -5,7 +5,7 @@ Combining Motion Profiling and PID Control with ProfiledPIDController
 
 In the previous article, we saw how to use the ``TrapezoidProfile`` class to create and use a trapezoidal motion profile.  The example code from that article demonstrates manually composing the ``TrapezoidProfile`` class with the external PID control feature of a "smart" motor controller.
 
-This combination of functionality (a motion profile for generating setpoints combined with a PID controller for following them) is extremely common.  To facilitate this, WPILib comes with a ``ProfiledPIDController`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/controller/ProfiledPIDController.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_profiled_p_i_d_controller.html>`__) that does most of the work of combining these two functionalities.  The API of the ``ProfiledPIDController`` is very similar to that of the ``PIDController``, allowing users to add motion profiling to a PID-controlled mechanism with very few changes to their code.
+This combination of functionality (a motion profile for generating setpoints combined with a PID controller for following them) is extremely common.  To facilitate this, WPILib comes with a ``ProfiledPIDController`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/controller/ProfiledPIDController.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_profiled_p_i_d_controller.html>`__) that does most of the work of combining these two functionalities.  The API of the ``ProfiledPIDController`` is very similar to that of the ``PIDController``, allowing users to add motion profiling to a PID-controlled mechanism with very few changes to their code.
 
 Using the ProfiledPIDController class
 -------------------------------------

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

@@ -11,7 +11,7 @@ Trapezoidal Motion Profiles in WPILib
 
 While feedforward and feedback control offer convenient ways to achieve a given setpoint, we are often still faced with the problem of generating setpoints for our mechanisms.  While the naive approach of immediately commanding a mechanism to its desired state may work, it is often suboptimal.  To improve the handling of our mechanisms, we often wish to command mechanisms to a *sequence* of setpoints that smoothly interpolate between its current state, and its desired goal state.
 
-To help users do this, WPILib provides a ``TrapezoidProfile`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile.html>`__).
+To help users do this, WPILib provides a ``TrapezoidProfile`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/trajectory/TrapezoidProfile.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_trapezoid_profile.html>`__).
 
 Creating a TrapezoidProfile
 ---------------------------
@@ -23,7 +23,7 @@ Constraints
 
 .. note:: The various :ref:`feedforward helper classes <docs/software/advanced-controls/controllers/feedforward:Feedforward Control in WPILib>` provide methods for calculating the maximum simultaneously-achievable velocity and acceleration of a mechanism.  These can be very useful for calculating appropriate motion constraints for your ``TrapezoidProfile``.
 
-In order to create a trapezoidal motion profile, we must first impose some constraints on the desired motion.  Namely, we must specify a maximum velocity and acceleration that the mechanism will be expected to achieve during the motion.  To do this, we create an instance of the ``TrapezoidProfile.Constraints`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.Constraints.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile_1_1_constraints.html>`__):
+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://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/trajectory/TrapezoidProfile.Constraints.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_trapezoid_profile_1_1_constraints.html>`__):
 
 .. tabs::
 
@@ -44,7 +44,7 @@ In order to create a trapezoidal motion profile, we must first impose some const
 Start and End States
 ^^^^^^^^^^^^^^^^^^^^
 
-Next, we must specify the desired starting and ending states for our mechanisms using the ``TrapezoidProfile.State`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/trajectory/TrapezoidProfile.State.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_trapezoid_profile_1_1_state.html>`__).  Each state has a position and a velocity:
+Next, we must specify the desired starting and ending states for our mechanisms using the ``TrapezoidProfile.State`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/trajectory/TrapezoidProfile.State.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_trapezoid_profile_1_1_state.html>`__).  Each state has a position and a velocity:
 
 .. tabs::
 

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

@@ -3,7 +3,7 @@ Debouncer
 
 A debouncer is a filter used to eliminate unwanted quick on/off cycles (termed "bounces," originally from the physical vibrations of a switch as it is thrown). These cycles are usually due to a sensor error like noise or reflections and not the actual event the sensor is trying to record.
 
-Debouncing is implemented in WPILib by the ``Debouncer`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/filter/Debouncer.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_debouncer.html>`__), which filters a boolean stream so that the output only changes if the input sustains a change for some nominal time period.
+Debouncing is implemented in WPILib by the ``Debouncer`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/filter/Debouncer.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_debouncer.html>`__), which filters a boolean stream so that the output only changes if the input sustains a change for some nominal time period.
 
 Modes
 -----

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

@@ -11,7 +11,7 @@ Infinite impulse responses have infinite "support" - that is, they are nonzero o
 
 Finite impulse responses have finite "support" - that is, they are nonzero on a bounded region.  The "archetypical" FIR filter is a flat moving average - that is, simply setting the output equal to the average of the past n inputs.  FIR filters tend to have more-desirable properties than IIR filters, but are more costly to compute.
 
-Linear filters are supported in WPILib through the ``LinearFilter`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/filter/LinearFilter.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_linear_filter.html>`__).
+Linear filters are supported in WPILib through the ``LinearFilter`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/filter/LinearFilter.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_linear_filter.html>`__).
 
 Creating a LinearFilter
 -----------------------

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

@@ -8,7 +8,7 @@ A `robust <https://en.wikipedia.org/wiki/Robust_statistics>`__ alternative to th
 
 The median filter is most-useful for removing occasional outliers from an input stream.  This makes it particularly well-suited to filtering inputs from distance sensors, which are prone to occasional interference.  Unlike a moving average, the median filter will remain completely unaffected by small numbers of outliers, no matter how extreme.
 
-The median filter is supported in WPILib through the ``MedianFilter`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/filter/MedianFilter.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_median_filter.html>`__).
+The median filter is supported in WPILib through the ``MedianFilter`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/filter/MedianFilter.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_median_filter.html>`__).
 
 Creating a MedianFilter
 -----------------------

source/docs/software/advanced-controls/filters/slew-rate-limiter.rst

@@ -7,7 +7,7 @@ A common use for filters in FRC\ |reg| is to soften the behavior of control inpu
 
 A slew rate limiter can be thought of as a sort of primitive motion profile.  In fact, the slew rate limiter is the first-order equivalent of the :ref:`Trapezoidal Motion Profile <docs/software/advanced-controls/controllers/trapezoidal-profiles:Trapezoidal Motion Profiles in WPILib>` supported by WPILib - it is precisely the limiting case of trapezoidal motion when the acceleration constraint is allowed to tend to infinity.  Accordingly, the slew rate limiter is a good choice for applying a de-facto motion profile to a stream of velocity setpoints (or voltages, which are usually approximately proportional to velocity).  For input streams that control positions, it is usually better to use a proper trapezoidal profile.
 
-Slew rate limiting is supported in WPILib through the ``SlewRateLimiter`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/development/java/edu/wpi/first/math/filter/SlewRateLimiter.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/classfrc_1_1_slew_rate_limiter.html>`__).
+Slew rate limiting is supported in WPILib through the ``SlewRateLimiter`` class (`Java <https://first.wpi.edu/wpilib/allwpilib/docs/release/java/edu/wpi/first/math/filter/SlewRateLimiter.html>`__, `C++ <https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1_slew_rate_limiter.html>`__).
 
 Creating a SlewRateLimiter
 --------------------------