diff --git a/azure-pipelines.yml b/azure-pipelines.yml
index fbf415e9..f6302bfb 100644
--- a/azure-pipelines.yml
+++ b/azure-pipelines.yml
@@ -28,6 +28,8 @@ jobs:
       onlyAddExtraIndex: true
   - bash: pip install pros-cli
     displayName: Install CLI
+  - bash: python check_example_code.py
+    displayName: Check example code in headers
   - bash: |
       make template
       mkdir -p artifacts
diff --git a/check_example_code.py b/check_example_code.py
new file mode 100644
index 00000000..e80bee37
--- /dev/null
+++ b/check_example_code.py
@@ -0,0 +1,120 @@
+import asyncio
+import os
+import re
+import subprocess
+import sys
+import tempfile
+
+include_directory = "include/pros"
+precompiled_include_directory = ""
+error_count = 0
+gcc_semaphore = asyncio.Semaphore(value=os.cpu_count())
+
+def print_and_exit(message):
+    print(f"Failed to check example code in pros headers:\n{message}", file=sys.stderr)
+    sys.exit(1)
+
+def precompile_header():
+    flags = [
+        "-x", "c++-header",
+        "include/main.h",
+        "-std=c++23",
+        "-I", "include",
+        "-D", "_PROS_KERNEL_SUPPRESS_LLEMU_WARNING",
+        "-Wfatal-errors",
+        "-o", os.path.join(precompiled_include_directory, "main.h.gch")
+    ]
+    subprocess.run(["arm-none-eabi-gcc", *flags], check=True)
+
+async def compile_code(code_text, filename, is_cpp):
+    """
+    Compiles the given code, discarding the output file.
+    
+    Args:
+        code_text (str): The C/C++ source code to compile.
+        is_cpp (bool): Whether the code is C++ or not.
+        
+    Returns:
+        success (bool): Whether the compilation succeeded or not.
+    """
+    flags = [
+        "-x", "c++" if is_cpp else "c",
+        "-std=c++23" if is_cpp else "-std=c2x",
+        # Only need precompiled headers for C++
+        *(("-I", precompiled_include_directory) if is_cpp else ()),
+        "-I", "include",
+        # Prevent spurious warnings
+        "-D", "_PROS_KERNEL_SUPPRESS_LLEMU_WARNING",
+        # Stop compilation on first error
+        "-Wfatal-errors",
+        # Read input from stdin
+        "-",
+        # Generate assembly (avoids linker errors)
+        "-S",
+        # Discard the output file
+        "-o", os.devnull
+    ]
+    async with gcc_semaphore:
+        process = await asyncio.create_subprocess_exec(
+            "arm-none-eabi-gcc",
+            *flags,
+            stdin=asyncio.subprocess.PIPE,
+            stdout=asyncio.subprocess.PIPE,
+            stderr=asyncio.subprocess.PIPE
+        )
+        stdout, stderr = await process.communicate(input=code_text.encode("utf-8"))
+        success = (process.returncode == 0)
+
+        if not success:
+            global error_count
+            error_count += 1
+            print(f"=== example code from {filename} failed to compile ===")
+            print(code_text)
+            print("=== compiler output below: ===")
+            print(stderr.decode())
+            print("========")
+        
+        return success
+
+def example_code_generator():
+    try:
+        files = os.listdir(include_directory)
+    except:
+        print_and_exit(f"Error accessing directory '{include_directory}': {e}")
+    try:
+        for filename in files:
+            file_path = os.path.join(include_directory, filename)
+            if os.path.isfile(file_path):
+                try:
+                    with open(file_path, "r") as f:
+                        header_text = f.read()
+                        is_cpp = filename.endswith(".hpp")
+                        # This pattern matches all lines between the \code and \endcode markers
+                        pattern = r"(^.+\\code\n)((.*\n)+?)(^.+\\endcode)"
+                        for match in re.finditer(pattern, header_text, re.MULTILINE):
+                            code_block = match.group(2)
+                            lines = code_block.splitlines()
+                            # Remove the leading * from each line
+                            cleaned_lines = [re.sub(r"^\s*\* ?", "", line) for line in lines]
+                            include_apix = "#include \"pros/apix.h\"" if filename == "apix.h" else ""
+                            code_snippet = f"#include \"main.h\"\n{include_apix}\n"+"\n".join(cleaned_lines)
+                            yield code_snippet, filename, is_cpp
+                except Exception as e:
+                    print_and_exit(f"Error reading file '{filename}': {e}")
+    except Exception as e:
+        print_and_exit(f"Error accessing directory '{include_directory}': {e}")
+
+async def main():
+    with tempfile.TemporaryDirectory() as tmpdirname:
+        global precompiled_include_directory
+        precompiled_include_directory = tmpdirname
+        precompile_header()
+        async with asyncio.TaskGroup() as tg:
+            tasks = [tg.create_task(compile_code(*item)) for item in example_code_generator()]
+    results = [task.result() for task in tasks]
+    global error_count
+    if error_count > 0:
+        print_and_exit(f"{error_count} compile errors encountered")
+
+if __name__ == "__main__":
+    asyncio.run(main())
\ No newline at end of file
diff --git a/include/api.h b/include/api.h
index 5ba908b3..f4c712cb 100644
--- a/include/api.h
+++ b/include/api.h
@@ -56,6 +56,7 @@
 #include "pros/rotation.h"
 #include "pros/rtos.h"
 #include "pros/screen.h"
+#include "pros/serial.h"
 #include "pros/vision.h"
 
 #ifdef __cplusplus
@@ -75,6 +76,7 @@
 #include "pros/rotation.hpp"
 #include "pros/rtos.hpp"
 #include "pros/screen.hpp"
+#include "pros/serial.hpp"
 #include "pros/vision.hpp"
 #endif
 
diff --git a/include/pros/abstract_motor.hpp b/include/pros/abstract_motor.hpp
index fd8e8034..2c3489ba 100644
--- a/include/pros/abstract_motor.hpp
+++ b/include/pros/abstract_motor.hpp
@@ -41,6 +41,9 @@ enum class MotorBrake {
 	invalid = INT32_MAX ///< Invalid brake mode
 };
 
+// TODO: implement
+std::ostream& operator<<(std::ostream& os, MotorBrake brake_mode);
+
 /**
  * \enum MotorEncoderUnits
  * Indicates the units used by the motor encoders.
@@ -53,6 +56,9 @@ enum class MotorEncoderUnits {
 	invalid = INT32_MAX ///< Invalid motor encoder units
 };
 
+// TODO: implement
+std::ostream& operator<<(std::ostream& os, MotorEncoderUnits brake_mode);
+
 // Alias for MotorEncoderUnits
 using MotorUnits = MotorEncoderUnits;
 
@@ -69,6 +75,9 @@ enum class MotorGears {
 	invalid = INT32_MAX ///< Error return code
 };
 
+// TODO: implement
+std::ostream& operator<<(std::ostream& os, MotorGears brake_mode);
+
 /**
  * \enum MotorType
  * Indicates the type of a motor
@@ -79,6 +88,8 @@ enum class MotorType {
 	invalid = INT32_MAX ///< Error return code
 };
 
+// TODO: implement
+std::ostream& operator<<(std::ostream& os, MotorType brake_mode);
 
 // Provide Aliases for MotorGears
 using MotorGearset = MotorGears;
@@ -172,8 +183,8 @@ class AbstractMotor {
 	 *
 	 * This velocity corresponds to different actual speeds depending on the
 	 * gearset used for the motor. This results in a range of +-100 for
-	 * E_MOTOR_GEARSET_36, +-200 for E_MOTOR_GEARSET_18, and +-600 for
-	 * E_MOTOR_GEARSET_6. The velocity is held with PID to ensure consistent
+	 * pros::E_MOTOR_GEARSET_36, +-200 for pros::E_MOTOR_GEARSET_18, and +-600 for
+	 * pros::E_MOTOR_GEARSET_6. The velocity is held with PID to ensure consistent
 	 * speed, as opposed to setting the motor's voltage.
 	 *
 	 * This function uses the following values of errno when an error state is
@@ -770,7 +781,7 @@ class AbstractMotor {
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
 	 * \return One of MotorBrake, according to what was set for the
-	 * motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
+	 * motor, or pros::E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
 	 */
 	virtual MotorBrake get_brake_mode(const std::uint8_t index = 0) const = 0;
 
@@ -786,7 +797,7 @@ class AbstractMotor {
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
 	 * \return A vector containing MotorBrake(s), according to what was set for the
-	 * motor(s), or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
+	 * motor(s), or pros::E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
 	 */
 	virtual std::vector<MotorBrake> get_brake_mode_all(void) const = 0;
 
@@ -838,7 +849,7 @@ class AbstractMotor {
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
 	 * \return One of MotorUnits according to what is set for the
-	 * motor or E_MOTOR_ENCODER_INVALID if the operation failed.
+	 * motor or pros::E_MOTOR_ENCODER_INVALID if the operation failed.
 	 */
 	virtual MotorUnits get_encoder_units(const std::uint8_t index = 0) const = 0;
 
@@ -854,7 +865,7 @@ class AbstractMotor {
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
 	 * \return A vector of MotorUnits according to what is set for the
-	 * motor(s) or E_MOTOR_ENCODER_INVALID if the operation failed.
+	 * motor(s) or pros::E_MOTOR_ENCODER_INVALID if the operation failed.
 	 */
 	virtual std::vector<MotorUnits> get_encoder_units_all(void) const = 0;
 
diff --git a/include/pros/adi.h b/include/pros/adi.h
index 0b45e57d..8be95575 100644
--- a/include/pros/adi.h
+++ b/include/pros/adi.h
@@ -196,7 +196,7 @@ adi_port_config_e_t adi_port_get_config(uint8_t port);
  * 
  * void opcontrol() {
  *   adi_port_set_config(ANALOG_SENSOR_PORT, E_ADI_ANALOG_IN);
- *   printf("Port Value: %d\n", adi_get_value(ANALOG_SENSOR_PORT));
+ *   printf("Port Value: %d\n", adi_port_get_value(ANALOG_SENSOR_PORT));
  * }
  * \endcode
  */
@@ -253,7 +253,7 @@ int32_t adi_port_set_config(uint8_t port, adi_port_config_e_t type);
  * 
  * void initialize() {
  *   adi_port_set_config(DIGITAL_SENSOR_PORT, E_ADI_DIGITAL_OUT);
- *   adi_set_value(DIGITAL_SENSOR_PORT, HIGH);
+ *   adi_port_set_value(DIGITAL_SENSOR_PORT, HIGH);
  * }
  * \endcode
  */
@@ -495,7 +495,7 @@ int32_t adi_digital_get_new_press(uint8_t port);
  * 
  * \b Example
  * \code
- * #define DIGITAL_SENSOR_PORT
+ * #define DIGITAL_SENSOR_PORT 1
  * 
  * void opcontrol() {
  *   bool state = LOW;
@@ -1114,9 +1114,9 @@ adi_potentiometer_t adi_potentiometer_type_init(uint8_t port, adi_potentiometer_
  * #define POTENTIOMETER_PORT 1
  * 
  * void opcontrol() {
- *   adi_potentiometer_t potentiometer = adi_potentiometer_t(POTENTIOMETER_PORT);
+ *   adi_potentiometer_t potentiometer = POTENTIOMETER_PORT;
  *   while (true) {
- *     // Print the potnetiometer's angle
+ *     // Print the potentiometer's angle
  *     printf("Angle: %lf\n", adi_potentiometer_get_angle(potentiometer));
  *     delay(5);
  *   }
@@ -1192,7 +1192,7 @@ adi_led_t adi_led_init(uint8_t port);
  *     delay(5);
  * 
  *     // Clear the led strip
- *     adi_led_clear(led);
+ *     adi_led_clear_all(led, buffer, 10);
  *     delay(5);
  *   }
  * }
diff --git a/include/pros/adi.hpp b/include/pros/adi.hpp
index f01615d7..6020144f 100644
--- a/include/pros/adi.hpp
+++ b/include/pros/adi.hpp
@@ -72,13 +72,13 @@ class Port {
 	 *   pros::ADIPotentiometer potentiometer (POTENTIOMETER_PORT, POTENTIOMETER_TYPE);
 	 *   while (true) {
 	 *     // Get the potentiometer angle
-	 *     std::cout << "Angle: " << potnetiometer.get_angle();
+	 *     std::cout << "Angle: " << potentiometer.get_angle();
 	 *     pros::delay(10);
 	 *   }
 	 * }
 	 * \endcode
 	 */
-	explicit Port(std::uint8_t adi_port, adi_port_config_e_t type = E_ADI_TYPE_UNDEFINED);
+	explicit Port(std::uint8_t adi_port, adi_port_config_e_t type = pros::E_ADI_TYPE_UNDEFINED);
 
 	/**
 	 * Configures an ADI port on an adi expander to act as a given sensor type.
@@ -100,13 +100,13 @@ class Port {
 	 * #define EXT_ADI_SMART_PORT 1
 	 *
 	 * void initialize() {
-	 *   pros::adi::Port sensor ({EXT_ADI_SMART_PORT, ANALOG_SENSOR_PORT}, E_ADI_ANALOG_IN);
-	 *   // Displays the value of E_ADI_ANALOG_IN
+	 *   pros::adi::Port sensor ({EXT_ADI_SMART_PORT, ANALOG_SENSOR_PORT}, pros::E_ADI_ANALOG_IN);
+	 *   // Displays the value of pros::E_ADI_ANALOG_IN
 	 *   std::cout << "Port Type: " << sensor.get_config();
 	 * }
 	 * \endcode
 	 */
-	explicit Port(ext_adi_port_pair_t port_pair, adi_port_config_e_t type = E_ADI_TYPE_UNDEFINED);
+	explicit Port(ext_adi_port_pair_t port_pair, adi_port_config_e_t type = pros::E_ADI_TYPE_UNDEFINED);
 
 	/**
 	 * Gets the configuration for the given ADI port.
@@ -117,9 +117,9 @@ class Port {
 	 * \code
 	 * #define ANALOG_SENSOR_PORT 1
 	 *   void initialize() {
-	 *     adi_port_set_config(ANALOG_SENSOR_PORT, E_ADI_ANALOG_IN);
-	 *     // Displays the value of E_ADI_ANALOG_IN
-	 *     printf("Port Type: %d\n", adi_port_get_config(ANALOG_SENSOR_PORT));
+	 *     pros::c::adi_port_set_config(ANALOG_SENSOR_PORT, pros::E_ADI_ANALOG_IN);
+	 *     // Displays the value of pros::E_ADI_ANALOG_IN
+	 *     printf("Port Type: %d\n", pros::c::adi_port_get_config(ANALOG_SENSOR_PORT));
 	 *   }
 	 * \endcode
 	 */
@@ -135,7 +135,7 @@ class Port {
 	 * #define ANALOG_SENSOR_PORT 1
 	 *
 	 * void opcontrol() {
-	 *   pros::adi::Port sensor (ANALOG_SENSOR_PORT, E_ADI_ANALOG_IN);
+	 *   pros::adi::Port sensor (ANALOG_SENSOR_PORT, pros::E_ADI_ANALOG_IN);
 	 *   std::cout << "Port Value: " << sensor.get_value();
 	 * }
 	 * \endcode
@@ -156,10 +156,10 @@ class Port {
 	 * #define ANALOG_SENSOR_PORT 1
 	 *
 	 * void initialize() {
-	 *   pros::adi::Port sensor (ANALOG_SENSOR_PORT, E_ADI_DIGITAL_IN);
+	 *   pros::adi::Port sensor (ANALOG_SENSOR_PORT, pros::E_ADI_DIGITAL_IN);
 	 *   // Do things as a digital sensor
 	 *   // Digital is unplugged and an analog is plugged in
-	 *   sensor.set_config(E_ADI_ANALOG_IN);
+	 *   sensor.set_config(pros::E_ADI_ANALOG_IN);
 	 * }
 	 * \endcode
 	 */
@@ -182,8 +182,8 @@ class Port {
 	 * #define DIGITAL_SENSOR_PORT 1
 	 *
 	 * void initialize() {
-	 *   pros::adi::Port sensor (DIGITAL_SENSOR_PORT, E_ADI_DIGITAL_OUT);
-	 *   sensor.set_value(DIGITAL_SENSOR_PORT, HIGH);
+	 *   pros::adi::Port sensor (DIGITAL_SENSOR_PORT, pros::E_ADI_DIGITAL_OUT);
+	 *   sensor.set_value(HIGH);
 	 * }
 	 * \endcode
 	 */
@@ -272,7 +272,7 @@ class AnalogIn : protected Port {
 	 *
 	 * \b Example
 	 * \code
-	 * #define EXT_ADI_SENSOR_PORT 1
+	 * #define EXT_ADI_SMART_PORT 1
 	 * #define ADI_PORT 'a'
 	 *
 	 * void opcontrol() {
@@ -316,7 +316,7 @@ class AnalogIn : protected Port {
 	 *
 	 * void initialize() {
 	 *   pros::adi::AnalogIn sensor (ANALOG_SENSOR_PORT);
-	 *   sensor.calibrate(ANALOG_SENSOR_PORT);
+	 *   sensor.calibrate();
 	 *   std::cout << "Calibrated Reading:" << sensor.get_value_calibrated();
 	 *   // All readings from then on will be calibrated
 	 * }
@@ -345,7 +345,7 @@ class AnalogIn : protected Port {
 	 *
 	 * void initialize() {
 	 *   pros::adi::AnalogIn sensor (ANALOG_SENSOR_PORT);
-	 *   sensor.calibrate(ANALOG_SENSOR_PORT);
+	 *   sensor.calibrate();
 	 *   std::cout << "Calibrated Reading:" << sensor.get_value_calibrated();
 	 *   // All readings from then on will be calibrated
 	 * }
@@ -379,7 +379,7 @@ class AnalogIn : protected Port {
 	 *
 	 * void initialize() {
 	 *   pros::adi::AnalogIn sensor (ANALOG_SENSOR_PORT);
-	 *   sensor.calibrate(ANALOG_SENSOR_PORT);
+	 *   sensor.calibrate();
 	 *   std::cout << "Calibrated Reading:" << sensor.get_value_calibrated();
 	 *   // All readings from then on will be calibrated
 	 * }
@@ -456,10 +456,10 @@ class AnalogOut : private Port {
 	 * #define ANALOG_SENSOR_PORT 1
 	 *
 	 * void opcontrol() {
-	 *   pros::AnalogOut sensor (ANALOG_SENSOR_PORT);
+	 *   pros::adi::AnalogOut sensor (ANALOG_SENSOR_PORT);
 	 *   // Use the sensor
 	 * }
-	 * @endcode
+	 * \endcode
 	 */
 	explicit AnalogOut(std::uint8_t adi_port);
 
@@ -481,7 +481,7 @@ class AnalogOut : private Port {
 	 * #define ADI_PORT 'a'
 	 *
 	 * void opcontrol() {
-	 *   pros::AnalogOut sensor ({EXT_ADI_SMART_PORT, ADI_PORT});
+	 *   pros::adi::AnalogOut sensor ({EXT_ADI_SMART_PORT, ADI_PORT});
 	 *   // Use the sensor
 	 * }
 	 * \endcode
@@ -507,7 +507,7 @@ class AnalogOut : private Port {
 	 * #define ANALOG_SENSOR_PORT 1
 	 *
 	 * void opcontrol() {
-	 *   pros::AnalogOut sensor (ANALOG_SENSOR_PORT);
+	 *   pros::adi::AnalogOut sensor (ANALOG_SENSOR_PORT);
 	 *   sensor.set_value(4095); // Set the port to 5V
 	 * }
 	 * \endcode
@@ -661,7 +661,7 @@ class DigitalIn : private Port {
 	 * #define DIGITAL_SENSOR_PORT 1
 	 *
 	 * void opcontrol() {
-	 *   pros::adi::DigitalIn sensor (ANALOG_SENSOR_PORT);
+	 *   pros::adi::DigitalIn sensor (DIGITAL_SENSOR_PORT);
 	 *   // Use the sensor
 	 * }
 	 * \endcode
@@ -798,7 +798,7 @@ class Motor : private Port {
 	 *   pros::adi::Motor motor (MOTOR_PORT);
 	 *   motor.set_value(127); // Go full speed forward
 	 *   std::cout << "Commanded Motor Power: " << motor.get_value(); // Will display 127
-	 *   delay(1000);
+	 *   pros::delay(1000);
 	 *   motor.set_value(0); // Stop the motor
 	 * }
 	 * \endcode
@@ -826,7 +826,7 @@ class Motor : private Port {
 	 *   pros::adi::Motor motor ({EXT_ADI_SMART_PORT, ADI_MOTOR_PORT});
 	 *   motor.set_value(127); // Go full speed forward
 	 *   std::cout << "Commanded Motor Power: " << motor.get_value(); // Will display 127
-	 *   delay(1000);
+	 *   pros::delay(1000);
 	 *   motor.set_value(0); // Stop the motor
 	 * }
 	 * \endcode
@@ -851,7 +851,7 @@ class Motor : private Port {
 	 *   pros::adi::Motor motor (MOTOR_PORT);
 	 *   motor.set_value(127); // Go full speed forward
 	 *   std::cout << "Commanded Motor Power: " << motor.get_value(); // Will display 127
-	 *   delay(1000);
+	 *   pros::delay(1000);
 	 *   motor.stop(); // Stop the motor
 	 * }
 	 * \endcode
@@ -880,7 +880,7 @@ class Motor : private Port {
 	 *   pros::adi::Motor motor (MOTOR_PORT);
 	 *   motor.set_value(127); // Go full speed forward
 	 *   std::cout << "Commanded Motor Power: " << motor.get_value(); // Will display 127
-	 *   delay(1000);
+	 *   pros::delay(1000);
 	 *   motor.set_value(0); // Stop the motor
 	 * }
 	 * \endcode
@@ -904,7 +904,7 @@ class Motor : private Port {
 	 *   pros::adi::Motor motor (MOTOR_PORT);
 	 *   motor.set_value(127); // Go full speed forward
 	 *   std::cout << "Commanded Motor Power: " << motor.get_value(); // Will display 127
-	 *   delay(1000);
+	 *   pros::delay(1000);
 	 *   motor.set_value(0); // Stop the motor
 	 * }
 	 * \endcode
@@ -999,7 +999,7 @@ class Encoder : private Port {
 	 *
 	 * void opcontrol() {
 	 *   pros::adi::Encoder sensor (PORT_TOP, PORT_BOTTOM, false);
-	 *   delay(1000); // Move the encoder around in this time
+	 *   pros::delay(1000); // Move the encoder around in this time
 	 *   sensor.reset(); // The encoder is now zero again
 	 * }
 	 * \endcode
@@ -1108,7 +1108,7 @@ class Ultrasonic : private Port {
 	 * #define SMART_PORT 1
 	 *
 	 * void opcontrol() {
-	 *   pros::adi::Ultrasonic sensor ( {{ SMART_PORT, PORT_PING, PORT_ECHO }} );
+	 *   pros::adi::Ultrasonic sensor ( { SMART_PORT, PORT_PING, PORT_ECHO } );
 	 *   while (true) {
 	 *     // Print the distance read by the ultrasonic
 	 *     std::cout << "Distance: " << sensor.get_value();
@@ -1342,7 +1342,7 @@ class Potentiometer : public AnalogIn {
 	 * }
 	 * \endcode
 	 */
-	explicit Potentiometer(std::uint8_t adi_port, adi_potentiometer_type_e_t potentiometer_type = E_ADI_POT_EDR);
+	explicit Potentiometer(std::uint8_t adi_port, adi_potentiometer_type_e_t potentiometer_type = pros::E_ADI_POT_EDR);
 
 	/**
 	 * Configures an ADI port on an adi_expander to act as a Potentiometer.
@@ -1373,7 +1373,7 @@ class Potentiometer : public AnalogIn {
 	 * }
 	 * \endcode
 	 */
-	explicit Potentiometer(ext_adi_port_pair_t port_pair, adi_potentiometer_type_e_t potentiometer_type = E_ADI_POT_EDR);
+	explicit Potentiometer(ext_adi_port_pair_t port_pair, adi_potentiometer_type_e_t potentiometer_type = pros::E_ADI_POT_EDR);
 
 	/**
 	 * Gets the current potentiometer angle in tenths of a degree.
@@ -1394,7 +1394,7 @@ class Potentiometer : public AnalogIn {
 	 * #define SMART_PORT 1
 	 *
 	 * void opcontrol() {
-	 *   pros::adi::Potentiometer potentiometer ({{ SMART_PORT , ADI_POTENTIOMETER_PORT }});
+	 *   pros::adi::Potentiometer potentiometer ({ SMART_PORT , ADI_POTENTIOMETER_PORT });
 	 *   while (true) {
 	 *     // Get the potentiometer angle
 	 *     std::cout << "Angle: " << potentiometer.get_angle();
@@ -1495,7 +1495,7 @@ class Led : protected Port {
 	 * #define LED_LENGTH 3
 	 *
 	 * void opcontrol() {
-	 *   pros::Led led (LED_PORT, LED_LENGTH);
+	 *   pros::adi::Led led (LED_PORT, LED_LENGTH);
 	 *   while (true) {
 	 * 	   // Set entire LED strip to red
 	 *     led.set_all(0xFF0000);
@@ -1528,7 +1528,7 @@ class Led : protected Port {
 	 * #define LED_LENGTH 3
 	 *
 	 * void opcontrol() {
-	 *   pros::Led led ({SMART_PORT, LED_PORT}, LED_LENGTH);
+	 *   pros::adi::Led led ({SMART_PORT, LED_PORT}, LED_LENGTH);
 	 *   while (true) {
 	 *     // Set entire LED strip to red
 	 *     led.set_all(0xFF0000);
@@ -1552,7 +1552,7 @@ class Led : protected Port {
 	 * #define LED_LENGTH 3
 	 *
 	 * void opcontrol() {
-	 *   pros::Led led (LED_PORT, LED_LENGTH);
+	 *   pros::adi::Led led (LED_PORT, LED_LENGTH);
 	 *   while (true) {
 	 * 	   // Set the first 3 pixels to red, green, and blue
 	 * 	   led.set_pixel(0xFF0000, 0);
@@ -1566,6 +1566,7 @@ class Led : protected Port {
 	 * 	   pros::delay(20);
 	 *   }
 	 * }
+	 * \endcode
 	 */
 	std::uint32_t& operator[](size_t i);
 
@@ -1586,7 +1587,7 @@ class Led : protected Port {
 	 * #define LED_LENGTH 3
 	 *
 	 * void opcontrol() {
-	 *   pros::Led led (LED_PORT, LED_LENGTH);
+	 *   pros::adi::Led led (LED_PORT, LED_LENGTH);
 	 *   while (true) {
 	 * 	   // Set the first 3 pixels to red, green, and blue
 	 * 	   led.set_pixel(0xFF0000, 0);
@@ -1621,7 +1622,7 @@ class Led : protected Port {
 	 * #define LED_LENGTH 3
 	 *
 	 * void opcontrol() {
-	 *   pros::Led led (LED_PORT, LED_LENGTH);
+	 *   pros::adi::Led led (LED_PORT, LED_LENGTH);
 	 *   while (true) {
 	 * 	   // Set the first 3 pixels to red, green, and blue
 	 * 	   led.set_pixel(0xFF0000, 0);
@@ -1657,7 +1658,7 @@ class Led : protected Port {
 	 * #define LED_LENGTH 3
 	 *
 	 * void opcontrol() {
-	 *   pros::Led led (LED_PORT, LED_LENGTH);
+	 *   pros::adi::Led led (LED_PORT, LED_LENGTH);
 	 *   while (true) {
 	 * 	   // Set the entire led strip to blue
 	 * 	   led.set_all(0x0000FF);
@@ -1686,7 +1687,7 @@ class Led : protected Port {
 	 * #define LED_LENGTH 3
 	 *
 	 * void opcontrol() {
-	 *   pros::Led led (LED_PORT, LED_LENGTH);
+	 *   pros::adi::Led led (LED_PORT, LED_LENGTH);
 	 *   while (true) {
 	 * 	   // Set the first pixel to blue
 	 * 	   led.set_pixel(0x0000FF, 0);
@@ -1714,7 +1715,7 @@ class Led : protected Port {
 	 * #define LED_LENGTH 3
 	 *
 	 * void opcontrol() {
-	 *   pros::Led led (LED_PORT, LED_LENGTH);
+	 *   pros::adi::Led led (LED_PORT, LED_LENGTH);
 	 *   while (true) {
 	 * 	   // Set the first pixel to blue
 	 * 	   led.set_pixel(0x0000FF, 0);
@@ -1745,7 +1746,7 @@ class Led : protected Port {
 	 * #define LED_LENGTH 3
 	 *
 	 * void opcontrol() {
-	 *   pros::Led led (LED_PORT, LED_LENGTH);
+	 *   pros::adi::Led led (LED_PORT, LED_LENGTH);
 	 *   while (true) {
 	 * 	   // Get the length of the led strip
 	 * 	   int length = led.length();
@@ -1810,13 +1811,13 @@ class Pneumatics : public DigitalOut {
 	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
 	 *       left_piston.extend();
 	 *     }
-	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_2)) {
+	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_R2)) {
 	 *       left_piston.retract();
 	 *     }
 	 *
 	 *     pros::delay(10);
 	 *   }
-	 *
+	 * }
 	 * \endcode
 	 */
 	explicit Pneumatics(std::uint8_t adi_port, bool start_extended, bool extended_is_low = false);
@@ -1844,8 +1845,7 @@ class Pneumatics : public DigitalOut {
 	 * \code
 	 * void opcontrol() {
 	 * 	 pros::adi::Pneumatics left_piston({1, 'a'}, false);			// Starts retracted, extends when the ADI port is high
-	 *   pros::adi::Pneumatics right_piston({1, 'b'}, false, true);	    // Starts retracted, extends when the ADI port is
-	 *low
+	 *   pros::adi::Pneumatics right_piston({1, 'b'}, false, true);	    // Starts retracted, extends when the ADI port is low
 	 *
 	 *   pros::Controller master(pros::E_CONTROLLER_MASTER);
 	 *
@@ -1886,13 +1886,13 @@ class Pneumatics : public DigitalOut {
 	 *
 	 *   while (true) {
 	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
-	 *       left_piston.extend();
+	 *       piston.extend();
 	 *     }
 	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_B)) {
-	 *       left_piston.retract();
+	 *       piston.retract();
 	 *     }
-	 *     if(mastetr.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
-	 *       left_piston.toggle();
+	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
+	 *       piston.toggle();
 	 *     }
 	 *
 	 *     pros::delay(10);
@@ -1917,13 +1917,13 @@ class Pneumatics : public DigitalOut {
 	 *
 	 *   while (true) {
 	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
-	 *       left_piston.extend();
+	 *       piston.extend();
 	 *     }
 	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_B)) {
-	 *       left_piston.retract();
+	 *       piston.retract();
 	 *     }
-	 *     if(mastetr.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
-	 *       left_piston.toggle();
+	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
+	 *       piston.toggle();
 	 *     }
 	 *
 	 *     pros::delay(10);
@@ -1952,13 +1952,13 @@ class Pneumatics : public DigitalOut {
 	 *
 	 *   while (true) {
 	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
-	 *       left_piston.extend();
+	 *       piston.extend();
 	 *     }
 	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_B)) {
-	 *       left_piston.retract();
+	 *       piston.retract();
 	 *     }
-	 *     if(mastetr.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
-	 *       left_piston.toggle();
+	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
+	 *       piston.toggle();
 	 *     }
 	 *
 	 *     pros::delay(10);
@@ -1978,7 +1978,7 @@ class Pneumatics : public DigitalOut {
 	 * #define ADI_PNEUMATICS_PORT 'a'
 	 *
 	 * void opcontrol() {
-	 *   pros::adi::Pneumatics pneumatics (ADI_PNEUMATICS_PORT);
+	 *   pros::adi::Pneumatics pneumatics(ADI_PNEUMATICS_PORT, false);
 	 *   while (true) {
 	 *     // Check if the piston is extended
 	 *     if (pneumatics.is_extended()) {
diff --git a/include/pros/ai_vision.h b/include/pros/ai_vision.h
index 5deea418..beeff784 100644
--- a/include/pros/ai_vision.h
+++ b/include/pros/ai_vision.h
@@ -266,7 +266,7 @@ int32_t aivision_set_enabled_detection_types(uint8_t port, uint8_t bits, uint8_t
  * #define AIVISION_PORT 1
  * void initialize() {
  *   // start or continue looking for AI model objects
- * 	 aivision_enable_detection_types(AIVISION_PORT, aivision_mode_type_e_t::E_AIVISION_MODE_OBJECTS);
+ * 	 aivision_enable_detection_types(AIVISION_PORT, E_AIVISION_MODE_OBJECTS);
  * }
  * \endcode
  *
@@ -291,7 +291,7 @@ int32_t aivision_enable_detection_types(uint8_t port, uint8_t types_mask);
  * #define AIVISION_PORT 1
  * void initialize() {
  *   // stop looking for AI model objects (competition elements, for example)
- * 	 aivision_disable_detection_types(AIVISION_PORT, aivision_mode_type_e_t::E_AIVISION_MODE_OBJECTS);
+ * 	 aivision_disable_detection_types(AIVISION_PORT, E_AIVISION_MODE_OBJECTS);
  * }
  * \endcode
  *
diff --git a/include/pros/ai_vision.hpp b/include/pros/ai_vision.hpp
index 30863d55..f645dcfc 100644
--- a/include/pros/ai_vision.hpp
+++ b/include/pros/ai_vision.hpp
@@ -107,8 +107,7 @@ class AIVision : public Device {
 	 * \b Example
 	 * \code
 	 * void opcontrol() {
-	 *   std::vector<AIVision> aivision_all = pros::AIVision::get_all_devices();  // All AI vision sensors that are
-	 * connected
+	 *   std::vector<pros::AIVision> aivision_all = pros::AIVision::get_all_devices(); // All AI vision sensors that are connected
 	 * }
 	 * \endcode
 	 */
@@ -124,13 +123,13 @@ class AIVision : public Device {
 	 * void opcontrol() {
 	 *   pros::AIVision aivision(1);
 	 *   pros::AIVision::Object object = aivision.get_object(0);
-	 *   if (AIVision::is_type(AivisionDetectType::color, object)) {
+	 *   if (object.is_type(pros::AivisionDetectType::color, object)) {
 	 *       printf("is color\n");
-	 *   } else if (AIVision::is_type(AivisionDetectType::object, object)) {
+	 *   } else if (object.is_type(pros::AivisionDetectType::object, object)) {
 	 *       printf("is object\n");
-	 *   } else if (AIVision::is_type(AivisionDetectType::code, object)) {
+	 *   } else if (object.is_type(pros::AivisionDetectType::code, object)) {
 	 *       printf("is code\n");
-	 *   } else if (AIVision::is_type(AivisionDetectType::tag, object)) {
+	 *   } else if (object.is_type(pros::AivisionDetectType::tag, object)) {
 	 *       printf("is tag\n");
 	 *   } else {
 	 *       printf("unknown\n");
@@ -183,7 +182,7 @@ class AIVision : public Device {
 	 * void initialize() {
 	 *   pros::AIVision aivision(AIVISION_PORT);
 	 *   int32_t enabled_types = aivision.get_enabled_detection_types();
-	 *   printf("is tag: %d\n", enabled_types | AivisionModeType::tags);
+	 *   printf("is tag: %d\n", enabled_types | pros::AivisionModeType::tags);
 	 * }
 	 * \endcode
 	 */
@@ -208,7 +207,7 @@ class AIVision : public Device {
 	 *   pros::AIVision aivision(AIVISION_PORT);
 	 *   // start or continue looking for AI model objects
 	 *   // enable aivision to look for tags and objects
-	 * 	 aivision.enable_detection_types(AivisionModeType::tags | AivisionModeType::objects);
+	 * 	 aivision.enable_detection_types(pros::AivisionModeType::tags | pros::AivisionModeType::objects);
 	 * }
 	 * \endcode
 	 *
@@ -237,7 +236,7 @@ class AIVision : public Device {
 	 *   pros::AIVision aivision(AIVISION_PORT);
 	 *   // start or continue looking for AI model objects
 	 *   // enable aivision to look for tags and objects
-	 * 	 aivision.enable_detection_types(AivisionModeType::tags, AivisionModeType::objects);
+	 * 	 aivision.enable_detection_types(pros::AivisionModeType::tags, pros::AivisionModeType::objects);
 	 * }
 	 * \endcode
 	 *
@@ -270,7 +269,7 @@ class AIVision : public Device {
 	 *   pros::AIVision aivision(AIVISION_PORT);
 	 *   // stop looking for AI model objects (competition elements, for example)
 	 *   // disable aivision to look for tags and objects
-	 * 	 aivision.disable_detection_types(AivisionModeType::tags | AivisionModeType::objects);
+	 * 	 aivision.disable_detection_types(pros::AivisionModeType::tags | pros::AivisionModeType::objects);
 	 * }
 	 * \endcode
 	 *
@@ -298,7 +297,7 @@ class AIVision : public Device {
 	 *   pros::AIVision aivision(AIVISION_PORT);
 	 *   // stop looking for AI model objects (competition elements, for example)
 	 *   // disable aivision to look for tags and objects
-	 * 	 aivision.disable_detection_types(AivisionModeType::tags | AivisionModeType::objects);
+	 * 	 aivision.disable_detection_types(pros::AivisionModeType::tags | pros::AivisionModeType::objects);
 	 * }
 	 * \endcode
 	 *
@@ -328,11 +327,11 @@ class AIVision : public Device {
 	 * void initialize() {
 	 *   pros::AIVision aivision(AIVISION_PORT);
 	 *   // set the only tag family to look for to 21H7
-	 *   aivision.set_tag_family(AivisionTagFamily::tag_21H7);
+	 *   aivision.set_tag_family(pros::AivisionTagFamily::tag_21H7);
 	 *   // add 16H5 to the list of enabled tag families
-	 *   aivision.set_tag_family(AivisionTagFamily::tag_16H5);
+	 *   aivision.set_tag_family(pros::AivisionTagFamily::tag_16H5);
 	 *   // set the only tag family to look for to 25H9
-	 *   aivision.set_tag_family(AivisionTagFamily::tag_25H9, true);
+	 *   aivision.set_tag_family(pros::AivisionTagFamily::tag_25H9, true);
 	 * }
 	 * \endcode
 	 *
@@ -357,7 +356,7 @@ class AIVision : public Device {
 	 * #define AIVISION_PORT 1
 	 * void opcontrol() {
 	 *   pros::AIVision aivision(AIVISION_PORT);
-	 *   AIVision::Color color = {1, 207, 19, 25, 10.00, 0.20};
+	 *   pros::AIVision::Color color = {1, 207, 19, 25, 10.00, 0.20};
 	 *   aivision.set_color(color);
 	 * }
 	 * \endcode
@@ -382,7 +381,7 @@ class AIVision : public Device {
 	 * #define AIVISION_PORT 1
 	 * void opcontrol() {
 	 *  pros::AIVision aivision(AIVISION_PORT);
-	 *  AIVision::Code color = aivision.get_color(0);
+	 *  pros::AIVision::Code color = aivision.get_color(0);
 	 *  printf("id: %d, red: %d, green: %d, blue: %d, hue_range: %f, saturation_range: %f\n",
 	 *  color.id, color.red, color.green, color.blue, color.hue_range, color.saturation_range);
 	 * }
@@ -408,7 +407,7 @@ class AIVision : public Device {
 	 * #define AIVISION_PORT 1
 	 * void opcontrol() {
 	 *  pros::AIVision aivision(AIVISION_PORT);
-	 *  AIVision::Code code = {1, 207, 19, 25, 10.00, 0.20};
+	 *  pros::AIVision::Code code = {1, 207, 19, 25, 10, 0};
 	 *  aivision.set_code(code);
 	 * }
 	 *
@@ -434,10 +433,9 @@ class AIVision : public Device {
 	 * #define AIVISION_PORT 1
 	 * void opcontrol() {
 	 *  pros::AIVision aivision(AIVISION_PORT);
-	 *  AIVision::Code code = aivision.get_code(0);
+	 *  pros::AIVision::Code code = aivision.get_code(0);
 	 *  printf("id: %d, length: %d, c1: %d, c2: %d, c3: %d, c4: %d, c5: %d\n",
 	 *  code.id, code.length, code.c1, code.c2, code.c3, code.c4, code.c5);
-	 *  )
 	 * }
 	 *
 	 * \endcode
diff --git a/include/pros/apix.h b/include/pros/apix.h
index dc6c5b00..89ce0e80 100644
--- a/include/pros/apix.h
+++ b/include/pros/apix.h
@@ -386,6 +386,7 @@ queue_t queue_create(uint32_t length, uint32_t item_size);
  *   queue_append(queue, item, 1000);
  *   printf("queue length: %d", queue_get_length(queue));
  * }
+ * \endcode
  */
 bool queue_prepend(queue_t queue, const void* item, uint32_t timeout);
 
@@ -720,6 +721,7 @@ void enable_banner(bool enabled);
  * void opcontrol(void) {
  *   serctl(SERCTL_SET_BAUDRATE, (void*) 9600);
  * }
+ * \endcode
  */
 int32_t serctl(const uint32_t action, void* const extra_arg);
 
diff --git a/include/pros/device.hpp b/include/pros/device.hpp
index 560e03fd..e4f294d3 100644
--- a/include/pros/device.hpp
+++ b/include/pros/device.hpp
@@ -68,7 +68,7 @@ class Device {
 	 * #define DEVICE_PORT 1
 	 *
 	 * void opcontrol() {
-	 *   Device device(DEVICE_PORT);
+	 *   pros::Device device(DEVICE_PORT);
 	 * }
 	 * \endcode
 	 */
@@ -84,9 +84,9 @@ class Device {
  	 * void opcontrol() {
 	 * #define DEVICE_PORT 1
  	 *   while (true) {
-	 *	Device device(DEVICE_PORT);
+	 *	   pros::Device device(DEVICE_PORT);
  	 *     printf("device plugged type: {port: %d}\n", device.get_port());
- 	 *     delay(20);
+ 	 *     pros::delay(20);
  	 *   }
  	 * }
  	 * \endcode
@@ -103,10 +103,10 @@ class Device {
 	 * #define DEVICE_PORT 1
 	 *
 	 * void opcontrol() {
-	 *	Device device(DEVICE_PORT);
+	 *	 pros::Device device(DEVICE_PORT);
 	 *   while (true) {
 	 *     printf("device plugged type: {is_installed: %d}\n", device.is_installed());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -127,11 +127,11 @@ class Device {
 	 * #define DEVICE_PORT 1
 	 *
 	 * void opcontrol() {
-		Device device(DEVICE_PORT);
+	 *   pros::Device device(DEVICE_PORT);
 	 *   while (true) { 
-	 *     DeviceType dt = device.get_plugged_type();
+	 *     pros::DeviceType dt = device.get_plugged_type();
 	 *     printf("device plugged type: {plugged type: %d}\n", dt);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
  	 * \endcode
@@ -156,9 +156,9 @@ class Device {
 	 *
 	 * void opcontrol() {
 	 *   while (true) { 
-	 *     DeviceType dt = pros::Device::get_plugged_type(DEVICE_PORT);
+	 *     pros::DeviceType dt = pros::Device::get_plugged_type(DEVICE_PORT);
 	 *     printf("device plugged type: {plugged type: %d}\n", dt);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
  	 * \endcode
@@ -175,7 +175,7 @@ class Device {
 	 * \b Example
  	 * \code
 	 * void opcontrol() {
-	 *   std::vector<Device> motor_devices = pros::Device::get_all_devices(pros::DeviceType::motor);  // All Device objects are motors
+	 *   std::vector<pros::Device> motor_devices = pros::Device::get_all_devices(pros::DeviceType::motor);  // All Device objects are motors
 	 * }
  	 * \endcode
 	 */
diff --git a/include/pros/distance.hpp b/include/pros/distance.hpp
index 17df3d1e..f861c965 100644
--- a/include/pros/distance.hpp
+++ b/include/pros/distance.hpp
@@ -52,7 +52,7 @@ class Distance : public Device {
 	 * #define DISTANCE_PORT 1
 	 *
 	 * void opcontrol() {
-	 *   Distance distance(DISTANCE_PORT);
+	 *   pros::Distance distance(DISTANCE_PORT);
 	 * }
 	 * \endcode
 	 */
@@ -75,10 +75,10 @@ class Distance : public Device {
 	 * #define DISTANCE_PORT 1
 	 *
 	 * void opcontrol() {
-	  Distance distance(DISTANCE_PORT);
+	 *   pros::Distance distance(DISTANCE_PORT);
 	 *   while (true) {
 	 *     printf("Distance: %d\n", distance.get());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -102,10 +102,10 @@ class Distance : public Device {
 	 * #define DISTANCE_PORT 1
 	 *
 	 * void opcontrol() {
-	  Distance distance(DISTANCE_PORT);
+	 *   pros::Distance distance(DISTANCE_PORT);
 	 *   while (true) {
 	 *     printf("Distance: %d\n", distance.get_distance());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -120,8 +120,7 @@ class Distance : public Device {
 	 * \b Example
 	 * \code
 	 * void opcontrol() {
-	 *   std::vector<Distance> distance_all = pros::Distance::get_all_devices();  // All distance sensors that are
-	 * connected
+	 *   std::vector<pros::Distance> distance_all = pros::Distance::get_all_devices(); // All distance sensors that are connected
 	 * }
 	 * \endcode
 	 */
@@ -147,10 +146,10 @@ class Distance : public Device {
 	 * #define DISTANCE_PORT 1
 	 *
 	 * void opcontrol() {
-	  Distance distance(DISTANCE_PORT);
+	 *   pros::Distance distance(DISTANCE_PORT);
 	 *   while (true) {
 	 *     printf("Distance confidence: %d\n", distance.get_confidence());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -177,10 +176,10 @@ class Distance : public Device {
 	 * #define DISTANCE_PORT 1
 	 *
 	 * void opcontrol() {
-	  Distance distance(DISTANCE_PORT);
+	 *   pros::Distance distance(DISTANCE_PORT);
 	 *   while (true) {
 	 *     printf("Distance object size: %d\n", distance.get_object_size());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -202,10 +201,10 @@ class Distance : public Device {
 	 * \code
 	 *
 	 * void opcontrol() {
-	 *	Distance distance(DISTANCE_PORT);
+	 *	 pros::Distance distance(DISTANCE_PORT);
 	 *   while (true) {
 	 *     printf("Distance object velocity: %f\n", distance.get_object_velocity());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
diff --git a/include/pros/ext_adi.h b/include/pros/ext_adi.h
index 18fde003..c853a482 100644
--- a/include/pros/ext_adi.h
+++ b/include/pros/ext_adi.h
@@ -108,7 +108,7 @@ adi_port_config_e_t ext_adi_port_get_config(uint8_t smart_port, uint8_t adi_port
  * 
  * void opcontrol() {
  *   ext_adi_port_set_config(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT, E_ADI_ANALOG_IN);
- *   printf("Port Value: %d\n", ext_adi_get_value(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT));
+ *   printf("Port Value: %d\n", ext_adi_port_get_value(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT));
  * }
  * \endcode
  */
@@ -175,7 +175,7 @@ int32_t ext_adi_port_set_config(uint8_t smart_port, uint8_t adi_port, adi_port_c
  * 
  * void initialize() {
  *   ext_adi_port_set_config(ADI_EXPANDER_PORT, DIGITAL_SENSOR_PORT, E_ADI_DIGITAL_OUT);
- *   ext_adi_set_value(ADI_EXPANDER_PORT, DIGITAL_SENSOR_PORT, HIGH);
+ *   ext_adi_port_set_value(ADI_EXPANDER_PORT, DIGITAL_SENSOR_PORT, HIGH);
  * }
  * \endcode
  */
@@ -374,7 +374,7 @@ int32_t ext_adi_analog_read_calibrated_HR(uint8_t smart_port, uint8_t adi_port);
  * 
  * void opcontrol() {
  *   while (true) {
- *     printf(“Sensor Value: %dn”, 
+ *     printf("Sensor Value: %dn", 
  *       ext_adi_digital_read(ADI_EXPANDER_PORT, DIGITAL_SENSOR_PORT)); 
  *     delay(5);
  *   }
@@ -552,13 +552,13 @@ int32_t ext_adi_motor_set(uint8_t smart_port, uint8_t adi_port, int8_t speed);
  * \b Example
  * \code
  * 
- * #define ADI_EXPANDER_PORT 20 #
- * define MOTOR_PORT 1
+ * #define ADI_EXPANDER_PORT 20
+ * #define MOTOR_PORT 1
  * 
  * void opcontrol() {
  *   ext_adi_motor_set(ADI_EXPANDER_PORT,
  *     MOTOR_PORT, 127); // Go full speed forward 
- *   printf(“Commanded Motor Power: %dn”,
+ *   printf("Commanded Motor Power: %dn",
  *     ext_adi_motor_get(ADI_EXPANDER_PORT, MOTOR_PORT)); // Will display 127
  *   delay(1000); 
  *   ext_adi_motor_set(ADI_EXPANDER_PORT, MOTOR_PORT, 0); // Stop the motor
@@ -628,13 +628,14 @@ typedef int32_t ext_adi_encoder_t;
  * \code
  * 
  * #define ADI_EXPANDER_PORT 20 
- * #define PORT_TOP 1 #define PORT_BOTTOM 2
+ * #define PORT_TOP 1
+ * #define PORT_BOTTOM 2
  * 
  * void opcontrol() {
  *   ext_adi_encoder_t enc = ext_adi_encoder_init(ADI_EXPANDER_PORT,
  *     PORT_TOP, PORT_BOTTOM, false); 
  *   while (true) {
- *     printf(“Encoder Value: %dn”,
+ *     printf("Encoder Value: %dn",
  *       ext_adi_encoder_get(enc));
  *     delay(5);
  *   }
diff --git a/include/pros/gps.h b/include/pros/gps.h
index 5cc5eef3..277e162c 100644
--- a/include/pros/gps.h
+++ b/include/pros/gps.h
@@ -648,7 +648,7 @@ double gps_get_heading_raw(uint8_t port);
  *   gps_gyro_s_t gyro;
  *
  *   while (true) {
- *     gyro = gps_get_gyro(GPS_PORT);
+ *     gyro = gps_get_gyro_rate(GPS_PORT);
  *     printf("Gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z);
  *     delay(20);
  *   }
@@ -679,7 +679,7 @@ gps_gyro_s_t gps_get_gyro_rate(uint8_t port);
  *   double gyro_x;
  *
  *   while (true) {
- *     gyro_x = gps_get_gyro_x(GPS_PORT);
+ *     gyro_x = gps_get_gyro_rate_x(GPS_PORT);
  *     printf("gyro_x: %f\n", gyro_x);
  *     delay(20);
  *   }
@@ -710,7 +710,7 @@ double gps_get_gyro_rate_x(uint8_t port);
  *   double gyro_y;
  *
  *   while (true) {
- *     gyro_y = gps_get_gyro_y(GPS_PORT);
+ *     gyro_y = gps_get_gyro_rate_y(GPS_PORT);
  *     printf("gyro_y: %f\n", gyro_y);
  *     delay(20);
  *   }
@@ -741,7 +741,7 @@ double gps_get_gyro_rate_y(uint8_t port);
  *   double gyro_z;
  *
  *   while (true) {
- *     gyro_z = gps_get_gyro_z(GPS_PORT);
+ *     gyro_z = gps_get_gyro_rate_z(GPS_PORT);
  *     printf("gyro_z: %f\n", gyro_z);
  *     delay(20);
  *   }
diff --git a/include/pros/gps.hpp b/include/pros/gps.hpp
index b9fc7b5a..a3b56d92 100644
--- a/include/pros/gps.hpp
+++ b/include/pros/gps.hpp
@@ -179,11 +179,11 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT, 1.1, 1.2, 180, .4, .4);
+	 * 	pros::Gps gps(GPS_PORT, 1.1, 1.2, 180, .4, .4);
 	 *  // this is equivalent to the above line
 	 *  gps.initialize_full(1.1, 1.2, 180, .4, .4);
 	 *   while (true) {
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -212,11 +212,11 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT, 1.1, 1.2, 180, .4, .4);
+	 * 	pros::Gps gps(GPS_PORT, 1.1, 1.2, 180, .4, .4);
 	 *  // this is equivalent to the above line
 	 *  gps.set_offset(.4, .4);
 	 *   while (true) {
-	 *	 	delay(20);
+	 *	 	pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -232,7 +232,7 @@ class Gps : public Device {
 	 * \b Example
 	 * \code
 	 * void opcontrol() {
-	 *   std::vector<Gps> gps_all = pros::Gps::get_all_devices();  // All GPS sensors that are connected
+	 *   std::vector<pros::Gps> gps_all = pros::Gps::get_all_devices();  // All GPS sensors that are connected
 	 * }
 	 * \endcode
 	 */
@@ -257,12 +257,12 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 *   gps_position_s_t pos;
-	 * 	Gps gps(GPS_PORT);
+	 *   pros::gps_position_s_t pos;
+	 * 	 pros::Gps gps(GPS_PORT);
 	 *   while (true) {
-	 *     pos = gps.get_offset();
-	 *     screen_print(TEXT_MEDIUM, 1, "X Offset: %4d, Y Offset: %4d", pos.x, pos.y);
-	 *     delay(20);
+	 *     pros::gps_position_s_t pos = gps.get_offset();
+	 *     pros::c::screen_print(TEXT_MEDIUM, 1, "X Offset: %4d, Y Offset: %4d", pos.x, pos.y);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -292,12 +292,12 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  gps.set_position(1.3, 1.4, 180);
 	 *   while (true) {
 	 *     printf("X: %f, Y: %f, Heading: %f\n", gps.get_position().x,
-	 * 	   gps.get_position().y, gps.get_position().heading);
-	 *     delay(20);
+	 * 	   gps.get_position().y, gps.get_heading());
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -323,12 +323,12 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  gps.set_data_rate(10);
 	 *   while (true) {
 	 *	 	printf("X: %f, Y: %f, Heading: %f\n", gps.get_position().x,
-	 * 	   gps.get_position().y, gps.get_position().heading);
-	 *	 	delay(10);
+	 * 	   gps.get_position().y, gps.get_heading());
+	 *	 	pros::delay(10);
 	 *   }
 	 * }
 	 * \endcode
@@ -352,7 +352,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  double error = gps.get_error();
 	 *	printf("Error: %f\n", error);
 	 *  pros::delay(20);
@@ -380,13 +380,13 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
-	 *  gps_status_s_t status;
+	 * 	pros::Gps gps(GPS_PORT);
+	 *  pros::gps_status_s_t status;
 	 *   while (true) {
 	 *     status = gps.get_position_and_orientation();
 	 *     printf("X: %f, Y: %f, Roll: %f, Pitch: %f, Yaw: %f\n",
 	 * 	   status.x, status.y, status.roll, status.pitch, status.yaw);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -411,12 +411,12 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
-	 *  gps_position_s_t position;
+	 * 	pros::Gps gps(GPS_PORT);
+	 *  pros::gps_position_s_t position;
 	 *   while (true) {
 	 *	 position = gps.get_position();
 	 *     printf("X: %f, Y: %f\n", position.x, position.y);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -440,7 +440,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double pos_x = gps.get_position_x();
 	 *		printf("X: %f\n", pos_x);
@@ -468,7 +468,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double pos_y = gps.get_position_y();
 	 *		printf("Y: %f\n", pos_y);
@@ -497,13 +497,13 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
-	 *  gps_orientation_s_t orientation;
+	 * 	pros::Gps gps(GPS_PORT);
+	 *  pros::gps_orientation_s_t orientation;
 	 *   while (true) {
 	 *	 orientation = gps.get_orientation();
 	 *     printf("pitch: %f, roll: %f, yaw: %f\n", orientation.pitch,
 	 *         orientation.roll, orientation.yaw);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -527,7 +527,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double pitch = gps.get_pitch();
 	 *		printf("pitch: %f\n", pitch);
@@ -555,7 +555,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double roll = gps.get_roll();
 	 *		printf("roll: %f\n", roll);
@@ -583,7 +583,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double yaw = gps.get_yaw();
 	 *		printf("yaw: %f\n", yaw);
@@ -612,7 +612,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double heading = gps.get_heading();
 	 *		printf("Heading: %f\n", heading);
@@ -640,7 +640,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double heading = gps.get_heading_raw();
 	 *		printf("Heading: %f\n", heading);
@@ -668,10 +668,10 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
-	 *		double gyro_z = gps.get_gyro_z();
-	 *		printf("gyro_z: %f\n", gyro_z);
+	 *		pros::gps_gyro_s_t gyro = gps.get_gyro_rate();
+	 *		printf("gyro: (%f, %f, %f)\n", gyro.x, gyro.y, gyro.z);
 	 *  	pros::delay(20);
 	 *  }
 	 * }
@@ -696,9 +696,9 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
-	 *		double gyro_x = gps.get_gyro_x();
+	 *		double gyro_x = gps.get_gyro_rate_x();
 	 *		printf("gyro_x: %f\n", gyro_x);
 	 *  	pros::delay(20);
 	 *  }
@@ -724,9 +724,9 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
-	 *		double gyro_y = gps.get_gyro_y();
+	 *		double gyro_y = gps.get_gyro_rate_y();
 	 *		printf("gyro_y: %f\n", gyro_y);
 	 *  	pros::delay(20);
 	 *  }
@@ -752,9 +752,9 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
-	 *		double gyro_z = gps.get_gyro_z();
+	 *		double gyro_z = gps.get_gyro_rate_z();
 	 *		printf("gyro_z: %f\n", gyro_z);
 	 *  	pros::delay(20);
 	 *  }
@@ -794,7 +794,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double accel_x = gps.get_accel_x();
 	 *		printf("accel_x: %f\n", accel_x);
@@ -822,7 +822,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double accel_y = gps.get_accel_y();
 	 *		printf("accel_y: %f\n", accel_y);
@@ -850,7 +850,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		double accel_z = gps.get_accel_z();
 	 *		printf("accel_z: %f\n", accel_z);
@@ -872,7 +872,7 @@ class Gps : public Device {
 	 * #define GPS_PORT 1
 	 *
 	 * void opcontrol() {
-	 * 	Gps gps(GPS_PORT);
+	 * 	pros::Gps gps(GPS_PORT);
 	 *  while(true) {
 	 *		std::cout << gps << std::endl;
 	 *  	pros::delay(20);
@@ -912,14 +912,14 @@ namespace literals {
  *
  * \b Example
  * \code
- * using namespace literals;
+ * using namespace pros::literals;
  *
  * void opcontrol() {
  * 	 pros::Gps gps = 1_gps;
  *   while (true) {
- *     pos = gps.get_position();
- *     screen_print(TEXT_MEDIUM, 1, "X Position: %4d, Y Position: %4d", pos.x, pos.y);
- *     delay(20);
+ *     pros::gps_position_s_t pos = gps.get_position();
+ *     pros::c::screen_print(TEXT_MEDIUM, 1, "X Position: %4d, Y Position: %4d", pos.x, pos.y);
+ *     pros::delay(20);
  *   }
  * }
  * \endcode
diff --git a/include/pros/imu.h b/include/pros/imu.h
index 00ed1647..54c998fa 100644
--- a/include/pros/imu.h
+++ b/include/pros/imu.h
@@ -439,7 +439,7 @@ imu_status_e_t imu_get_status(uint8_t port);
  *
  * void opcontrol() {
  *   while (true) {
- *     int32_t val = imu_set_euler(IMU_PORT, {45, 60, 90});
+ *     int32_t val = imu_set_euler(IMU_PORT, (euler_s_t){45, 60, 90});
  *     printf("IMU : {gyro vals: %d}\n", val);
  *     delay(20);
  *   }
@@ -558,7 +558,7 @@ double imu_get_yaw(uint8_t port);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_tare_heading(IMU_PORT);
  *     }
- *   pros::delay(20);
+ *   delay(20);
  *   }
  * }
  * \endcode
@@ -588,7 +588,7 @@ int32_t imu_tare_heading(uint8_t port);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_tare_rotation(IMU_PORT);
  *     }
- *   pros::delay(20);
+ *   delay(20);
  *   }
  * }
  * \endcode
@@ -611,12 +611,13 @@ int32_t imu_tare_rotation(uint8_t port);
  *
  * \b Example
  * \code
- * #define IMU_PORT 1void opcontrol() {
+ * #define IMU_PORT 1
+ * void opcontrol() {
  *   while (true) {
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_tare_pitch(IMU_PORT);
  *     }
- *   pros::delay(20);
+ *   delay(20);
  *   }
  * }
  * \endcode
@@ -646,7 +647,7 @@ int32_t imu_tare_pitch(uint8_t port);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_tare_roll(IMU_PORT);
  *     }
- *   pros::delay(20);
+ *   delay(20);
  *   }
  * }
  * \endcode
@@ -676,7 +677,7 @@ int32_t imu_tare_roll(uint8_t port);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_tare_yaw(IMU_PORT);
  *     }
- *   pros::delay(20);
+ *   delay(20);
  *   }
  * }
  * \endcode
@@ -706,7 +707,7 @@ int32_t imu_tare_yaw(uint8_t port);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_tare_euler(IMU_PORT);
  *     }
- *   pros::delay(20);
+ *   delay(20);
  *   }
  * }
  * \endcode
@@ -736,7 +737,7 @@ int32_t imu_tare_euler(uint8_t port);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_tare(IMU_PORT);
  *     }
- *   pros::delay(20);
+ *   delay(20);
  *   }
  * }
  * \endcode
@@ -774,9 +775,9 @@ int32_t imu_tare(uint8_t port);
  * void opcontrol() {
  *   while (true) {
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
- *       imu_set_euler(IMU_PORT, {45,45,45});
+ *       imu_set_euler(IMU_PORT, (euler_s_t){45,45,45});
  *     }
- *     pros::delay(20);
+ *     delay(20);
  *   }
  * }
  * \endcode
@@ -808,7 +809,7 @@ int32_t imu_set_euler(uint8_t port, euler_s_t target);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_set_rotation(IMU_PORT, 45);
  *     }
- *     pros::delay(20);
+ *     delay(20);
  *   }
  * }
  * \endcode
@@ -841,7 +842,7 @@ int32_t imu_set_rotation(uint8_t port, double target);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_set_heading(IMU_PORT, 45);
  *     }
- *     pros::delay(20);
+ *     delay(20);
  *   }
  * }
  * \endcode
@@ -874,7 +875,7 @@ int32_t imu_set_heading(uint8_t port, double target);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_set_pitch(IMU_PORT, 45);
  *     }
- *     pros::delay(20);
+ *     delay(20);
  *   }
  * }
  * \endcode
@@ -907,7 +908,7 @@ int32_t imu_set_pitch(uint8_t port, double target);
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       imu_set_roll(IMU_PORT, 45);
  *     }
- *     pros::delay(20);
+ *     delay(20);
  *   }
  * }
  * \endcode
@@ -933,13 +934,13 @@ int32_t imu_set_roll(uint8_t port, double target);
  *
  * \b Example
  * \code
- * #define IMU_PORT 1void opcontrol() {
- *
- * while (true) {
- *   if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
- *     imu_set_yaw(IMU_PORT, 45);
- *   }
- *   pros::delay(20);
+ * #define IMU_PORT 1
+ * void opcontrol() {
+ *   while (true) {
+ *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)) {
+ *       imu_set_yaw(IMU_PORT, 45);
+ *     }
+ *     delay(20);
  *   }
  * }
  * \endcode
diff --git a/include/pros/imu.hpp b/include/pros/imu.hpp
index 4163d857..b9b09f91 100644
--- a/include/pros/imu.hpp
+++ b/include/pros/imu.hpp
@@ -115,7 +115,7 @@ class Imu : public Device {
 	 * Calibration takes approximately 2 seconds and blocks during this period if
 	 * the blocking param is true, with a timeout for this operation being set a 3
 	 * seconds as a safety margin. This function also blocks until the IMU
-	 * status flag is set properly to E_IMU_STATUS_CALIBRATING, with a minimum
+	 * status flag is set properly to pros::E_IMU_STATUS_CALIBRATING, with a minimum
 	 * blocking time of 5ms and a timeout of 1 second if it's never set.
 	 *
 	 * This function uses the following values of errno when an error state is
@@ -176,7 +176,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the refresh rate to 5ms
 	 *     std::int32_t status = imu.set_data_rate(5);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Check if the operation was successful
 	 *     if (status == PROS_ERR) {
@@ -199,7 +199,7 @@ class Imu : public Device {
 	 * \b Example
  	 * \code
 	 * void opcontrol() {
-	 *   std::vector<Imu> imu_all = pros::Imu::get_all_devices();  // All IMU sensors that are connected
+	 *   std::vector<pros::Imu> imu_all = pros::Imu::get_all_devices();  // All IMU sensors that are connected
 	 * }
  	 * \endcode
 	 */
@@ -235,7 +235,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *    // Get the total number of degrees the sensor has spun
 	 *    printf("Total rotation: %f\n", imu.get_rotation());
-	 *    delay(20);
+	 *    pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -271,7 +271,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Get the sensor's heading
 	 *     printf("Heading: %f\n", imu.get_heading());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -303,8 +303,8 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Get the sensor's quaternion
 	 *     pros::quaternion_s_t quat = imu.get_quaternion();
-	 *     cout << "Quaternion: " << quat.w << ", " << quat.x << ", " << quat.y << ", " << quat.z << endl;
-	 *     delay(20);
+	 *     std::cout << "Quaternion: " << quat.w << ", " << quat.x << ", " << quat.y << ", " << quat.z << std::endl;
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -336,8 +336,8 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Get the sensor's Euler angles
 	 *     pros::euler_s_t euler = imu.get_euler();
-	 *     cout << "Euler: " << euler.roll << ", " << euler.pitch << ", " << euler.yaw << endl;
-	 *     delay(20);
+	 *     std::cout << "Euler: " << euler.roll << ", " << euler.pitch << ", " << euler.yaw << std::endl;
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -368,7 +368,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Get the sensor's pitch
 	 *     printf("Pitch: %f\n", imu.get_pitch());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -398,7 +398,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Get the sensor's roll
 	 *     printf("Roll: %f\n", imu.get_roll());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -428,7 +428,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Get the sensor's yaw
 	 *     printf("Yaw: %f\n", imu.get_yaw());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -459,8 +459,8 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Get the sensor's raw gyroscope values
 	 *     pros::imu_gyro_s_t gyro = imu.get_gyro_rate();
-	 *     cout << "Gyro: " << gyro.x << ", " << gyro.y << ", " << gyro.z << endl;
-	 *     delay(20);
+	 *     std::cout << "Gyro: " << gyro.x << ", " << gyro.y << ", " << gyro.z << std::endl;
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -491,13 +491,13 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's rotation value to 10
 	 *     imu.set_rotation(10);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *
 	 *     // Reset the sensor's rotation value to 0
 	 *     imu.tare_rotation();
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -528,13 +528,13 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's heading value to 10
 	 *     imu.set_heading(10);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *
 	 *     // Reset the sensor's heading value to 0
 	 *     imu.tare_heading();
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -565,13 +565,13 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's pitch value to 10
 	 *     imu.set_pitch(10);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *
 	 *     // Reset the sensor's pitch value to 0
 	 *     imu.tare_pitch();
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -602,13 +602,13 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's yaw value to 10
 	 *     imu.set_yaw(10);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *
 	 *     // Reset the sensor's yaw value to 0
 	 *     imu.tare_yaw();
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -639,13 +639,13 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's roll value to 10
 	 *     imu.set_roll(10);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *
 	 *     // Reset the sensor's roll value to 0
 	 *     imu.tare_roll();
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -676,7 +676,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Reset all values of the sensor to 0
 	 *     imu.tare();
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -707,7 +707,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Reset all euler values of the sensor to 0
 	 *     imu.tare_euler();
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -741,7 +741,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's heading value to 10
 	 *     imu.set_heading(10);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *   }
@@ -776,7 +776,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's rotation value to 10
 	 *     imu.set_rotation(10);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *   }
@@ -812,7 +812,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's yaw value to 10
 	 *     imu.set_yaw(10);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *   }
@@ -847,7 +847,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's pitch value to 10
 	 *     imu.set_pitch(10);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *   }
@@ -883,7 +883,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Set the sensor's roll value to 100
 	 *     imu.set_roll(100);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *   }
@@ -918,8 +918,8 @@ class Imu : public Device {
 	 *
 	 *   while (true) {
 	 *     // Set the sensor's euler values to 50
-	 *     imu.set_euler(50);
-	 *     delay(20);
+	 *     imu.set_euler({50, 50, 50});
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *   }
@@ -953,7 +953,7 @@ class Imu : public Device {
 	 *     // Get the sensor's raw accelerometer values
 	 *     pros::imu_accel_s_t accel = imu.get_accel();
 	 *     printf("x: %f, y: %f, z: %f\n", accel.x, accel.y, accel.z);
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *   }
@@ -986,8 +986,8 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Get the sensor's status
 	 *     pros::ImuStatus status = imu.get_status();
-	 *     cout << "Status: " << status << endl;
-	 *     delay(20);
+	 *     std::cout << "Status: " << status << std::endl;
+	 *     pros::delay(20);
 	 *
 	 *     // Do something with sensor
 	 *   }
@@ -1012,7 +1012,7 @@ class Imu : public Device {
 	 *   while (true) {
 	 *     // Calibrate the sensor
 	 *     imu.reset();
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *
 	 *     // Check if the sensor is calibrating
 	 *     if (imu.is_calibrating()) {
diff --git a/include/pros/link.hpp b/include/pros/link.hpp
index 995d433b..4d7f9369 100644
--- a/include/pros/link.hpp
+++ b/include/pros/link.hpp
@@ -80,9 +80,11 @@ class Link : public Device {
 	 * 
 	 * \b Example:
 	 * \code
-	 * pros::Link link(1, "my_link", pros::E_LINK_TX);
-	 * if (link.connected()) {
-	 * 	// do something
+	 * void initialize() {
+	 *   pros::Link link(1, "my_link", pros::E_LINK_TX);
+	 *   if (link.connected()) {
+	 * 	  // do something
+	 *   }
 	 * }
 	 * \endcode
 	 */
@@ -104,7 +106,7 @@ class Link : public Device {
 	 * \code
 	 * void opcontrol() {
 	 * 	pros::Link link(1, "my_link", pros::E_LINK_TX);
-	 * 	printf("Bytes available to read: %d", link.receivable_size());
+	 * 	printf("Bytes available to read: %d", link.raw_receivable_size());
 	 * }
 	 * \endcode
 	 */
@@ -126,8 +128,9 @@ class Link : public Device {
 	 * \code
 	 * void opcontrol() {
 	 * 	pros::Link link(1, "my_link", pros::E_LINK_TX);
-	 * 	printf("Bytes available to transmit: %d", link.transmittable_size());
+	 * 	printf("Bytes available to transmit: %d", link.raw_transmittable_size());
 	 * }
+	 * \endcode
 	 */
 	std::uint32_t raw_transmittable_size();
 
diff --git a/include/pros/misc.h b/include/pros/misc.h
index 8123fbfd..c754174a 100644
--- a/include/pros/misc.h
+++ b/include/pros/misc.h
@@ -88,7 +88,7 @@ uint8_t competition_get_status(void);
  * }
  *
  * void initialize() {
- *   task_t my_task = task_create(my_task_fn, NULL, TASK_PRIO_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "My Task");
+ *   task_t my_task = task_create(my_task_fn, NULL, TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "My Task");
  * }
  * \endcode
  */
@@ -125,7 +125,7 @@ uint8_t competition_is_connected(void);
  * }
  *
  * void initialize() {
- *   task_t my_task = task_create(my_task_fn, NULL, TASK_PRIO_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "My Task");
+ *   task_t my_task = task_create(my_task_fn, NULL, TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "My Task");
  * }
  * \endcode
  */
@@ -155,6 +155,7 @@ uint8_t competition_is_field(void);
  *     // connected to VEXnet Competition Switch
  *   }
  * }
+ * \endcode
  */
 uint8_t competition_is_switch(void);
 
@@ -429,10 +430,10 @@ int32_t controller_get_battery_level(controller_id_e_t id);
  * void opcontrol() {
  *   while (true) {
  *   if (controller_get_digital(E_CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_A)) {
- *     motor_set(1, 100);
+ *     motor_move(1, 100);
  *   }
  *   else {
- *     motor_set(1, 0);
+ *     motor_move(1, 0);
  *   }
  *     delay(2);
  *   }
@@ -510,9 +511,8 @@ int32_t controller_get_digital_new_press(controller_id_e_t id, controller_digita
  * \b Example
  * \code
  * void opcontrol() {
- * 	pros::Controller master(pros::E_CONTROLLER_MASTER);
  * 	while (true) {
- *   if (master.get_digital_new_release(pros::E_CONTROLLER_DIGITAL_A)) {
+ *   if (controller_get_digital_new_release(E_CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_A)) {
  *     // Toggle pneumatics or other similar actions
  *   }
  *
@@ -830,14 +830,14 @@ int32_t usd_is_installed(void);
  * \code
  * void opcontrol() {
  * 	char* test = (char*) malloc(128);
- *	pros::c::usd_list_files("/", test, 128);
- *	pros::delay(200);
- *	printf("%s\n", test); //Prints the file names in the root directory seperated by newlines
- *  pros::delay(100);
- *  pros::c::usd_list_files("/test", test, 128);
- *	pros::delay(200);
- *	printf("%s\n", test); //Prints the names of files in the folder named test seperated by newlines
- *  pros::delay(100);
+ *	usd_list_files("/", test, 128);
+ *	delay(200);
+ *	printf("%s\n", test); // Prints the file names in the root directory seperated by newlines
+ *  delay(100);
+ *  usd_list_files("/test", test, 128);
+ *	delay(200);
+ *	printf("%s\n", test); // Prints the names of files in the folder named test seperated by newlines
+ *  delay(100);
  * }
  * \endcode
  */
diff --git a/include/pros/misc.hpp b/include/pros/misc.hpp
index b0a115e4..316eb6a8 100644
--- a/include/pros/misc.hpp
+++ b/include/pros/misc.hpp
@@ -90,8 +90,8 @@ class Controller {
 	 * void opcontrol() {
 	 *   pros::Controller master(pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor_move(1, master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
-	 *     delay(2);
+	 *     pros::c::motor_move(1, master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -160,12 +160,12 @@ class Controller {
 	 *   pros::Controller master(pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
 	 *   if (master.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
-	 *     motor_set(1, 100);
+	 *     pros::c::motor_move(1, 100);
 	 *   }
 	 *   else {
-	 *     motor_set(1, 0);
+	 *     pros::c::motor_move(1, 0);
 	 *   }
-	 *     delay(2);
+	 *     pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -204,7 +204,7 @@ class Controller {
 	 *     // Toggle pneumatics or other similar actions
 	 *   }
 	 *
-	 *   delay(2);
+	 *   pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -243,7 +243,7 @@ class Controller {
 	 *     // Toggle pneumatics or other similar actions
 	 *   }
 	 *
-	 *   delay(2);
+	 *   pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -295,7 +295,7 @@ class Controller {
 	 *     master.print(0, 0, "Counter: %d", count);
 	 *   }
 	 *     count++;
-	 *     delay(2);
+	 *     pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -337,7 +337,7 @@ class Controller {
 	 *       master.set_text(0, 0, "Example text");
 	 *     }
 	 *   count++;
-	 *   delay(2);
+	 *   pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -367,7 +367,7 @@ class Controller {
 	 * void opcontrol() {
 	 *   pros::Controller master(pros::E_CONTROLLER_MASTER);
 	 *   master.set_text(0, 0, "Example");
-	 *   delay(100);
+	 *   pros::delay(100);
 	 *   master.clear_line(0);
 	 * }
 	 * \endcode
@@ -404,7 +404,7 @@ class Controller {
 	 *     master.rumble(". - . -");
 	 *   }
 	 *   count++;
-	 *   delay(2);
+	 *   pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -431,7 +431,7 @@ class Controller {
 	 * void opcontrol() {
 	 * 	 pros::Controller master(pros::E_CONTROLLER_MASTER);
 	 *   master.set_text(0, 0, "Example");
-	 *   delay(100);
+	 *   pros::delay(100);
 	 *   master.clear();
 	 * }
 	 * \endcode
@@ -461,7 +461,7 @@ namespace battery {
  * \b Example
  * \code
  * void initialize() {
- *   printf("Battery Level: %.2f\n", get_capacity());
+ *   printf("Battery Level: %.2f\n", pros::battery::get_capacity());
  * }
  * \endcode
  */
@@ -479,7 +479,7 @@ double get_capacity(void);
  * \b Example
  * \code
  * void initialize() {
- *   printf("Battery Current: %d\n", get_current());
+ *   printf("Battery Current: %d\n", pros::battery::get_current());
  * }
  * \endcode
  */
@@ -497,7 +497,7 @@ int32_t get_current(void);
  * \b Example
  * \code
  * void initialize() {
- *   printf("Battery's Temperature: %.2f\n", get_temperature());
+ *   printf("Battery's Temperature: %.2f\n", pros::battery::get_temperature());
  * }
  * \endcode
  */
@@ -515,7 +515,7 @@ double get_temperature(void);
  * \b Example
  * \code
  * void initialize() {
- *   printf("Battery's Voltage: %d\n", get_voltage());
+ *   printf("Battery's Voltage: %d\n", pros::battery::get_voltage());
  * }
  * \endcode
  */
@@ -532,16 +532,17 @@ namespace competition {
  *
  * \b Example
  * \code
- * void status_display_task(){
- * 	if(!is_connected()) {
- * 	 pros::lcd::print(0, "V5 Brain is not connected!");
- *  }
- *  if(is_autonomous()) {
- * 	 pros::lcd::print(0, "V5 Brain is in autonomous mode!");
- *  }
- *  if(!is_disabled()) {
- * 	 pros::lcd::print(0, "V5 Brain is disabled!");
- *  }
+ * void status_display_task() {
+ * 	 if(!pros::competition::is_connected()) {
+ * 	   pros::lcd::print(0, "V5 Brain is not connected!");
+ *   }
+ *   if(pros::competition::is_autonomous()) {
+ * 	   pros::lcd::print(0, "V5 Brain is in autonomous mode!");
+ *   }
+ *   if(pros::competition::is_disabled()) {
+ * 	   pros::lcd::print(0, "V5 Brain is disabled!");
+ *   }
+ * }
  * \endcode
  */
 std::uint8_t get_status(void);
@@ -561,7 +562,7 @@ namespace usd {
  * \b Example
  * \code
  * void opcontrol() {
- *   printf("%i", is_installed());
+ *   printf("%i", pros::usd::is_installed());
  * }
  * \endcode
  */
@@ -600,7 +601,7 @@ std::int32_t is_installed(void);
  *	pros::delay(200);
  *	printf("%s\n", test); //Prints the file names in the root directory seperated by newlines
  *  pros::delay(100);
- *  pros::list_files("/test", test, 128);
+ *  pros::usd::list_files("/test", test, 128);
  *	pros::delay(200);
  *	printf("%s\n", test); //Prints the names of files in the folder named test seperated by newlines
  *  pros::delay(100);
diff --git a/include/pros/motor_group.hpp b/include/pros/motor_group.hpp
index c9a4a1a0..9bb3ba8d 100644
--- a/include/pros/motor_group.hpp
+++ b/include/pros/motor_group.hpp
@@ -65,8 +65,8 @@ class MotorGroup : public virtual AbstractMotor {
 	 *  \b Example
 	 * \code
 	 * void opcontrol() {
-	 * 	MotorGroup first_mg({1, -2}); //Creates a motor on port 1 and a reversed motor on port 2
-	 *  MotorGroup rotations_mg({4, 5}, pros::v5::MotorGears::blue, pros::v5::MotorUnits::rotations);
+	 * 	pros::MotorGroup first_mg({1, -2}); //Creates a motor on port 1 and a reversed motor on port 2
+	 *  pros::MotorGroup rotations_mg({4, 5}, pros::v5::MotorGears::blue, pros::v5::MotorUnits::rotations);
 	 *  //Creates a motor group on ports 4 and 5 with blue motors using rotaions as the encoder units
 	 * }
 	 * \endcode
@@ -103,10 +103,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 *  \b Example
 	 * \code
 	 * void opcontrol() {
-	 * 	MotorGroup first_mg({1, -2}); //Creates a motor on port 1 and a reversed motor on port 2 with
-	 *  with both motors using the green gearset and degrees as the encoder units
-	 *  MotorGroup rotations_mg({4, 5}, pros::v5::MotorGears::blue, pros::v5::MotorUnits::rotations);
-	 *  //Creates a motor group on ports 4 and 5 with blue motors using rotaions as the encoder units
+	 * 	pros::MotorGroup first_mg({1, -2}); //Creates a motor on port 1 and a reversed motor on port 2 with
+	 *  // both motors using the green gearset and degrees as the encoder units
+	 *  pros::MotorGroup rotations_mg({4, 5}, pros::v5::MotorGears::blue, pros::v5::MotorUnits::rotations);
+	 *  // Creates a motor group on ports 4 and 5 with blue motors using rotaions as the encoder units
 	 * }
 	 * \endcode
 	 */
@@ -133,10 +133,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 *  \b Example
 	 * \code
 	 * void opcontrol() {
-	 * 	MotorGroup first_mg({1, -2}); //Creates a motor on port 1 and a reversed motor on port 2 with
-	 *  with both motors using the green gearset and degrees as the encoder units
-	 * 	AbstractMotor abs_mtr_group = first_mg;
-	 * 	MotorGroup new_mg = (MotorGroup) abs_mtr_group;
+	 * 	pros::MotorGroup first_mg({1, -2}); // Creates a motor on port 1 and a reversed motor on port 2 with
+	 *  // both motors using the green gearset and degrees as the encoder units
+	 * 	pros::AbstractMotor& abs_mtr_group = first_mg;
+	 * 	pros::MotorGroup new_mg(abs_mtr_group);
 	 * }
 	 * \endcode
 	 */
@@ -168,10 +168,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \b Example
 	 * \code
 	 * void opcontrol() {
-	 *   pros::MotorGroup MotorGroup ({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::MotorGroup mg ({1,3});
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg.move(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -272,8 +272,8 @@ class MotorGroup : public virtual AbstractMotor {
 	 *
 	 * This velocity corresponds to different actual speeds depending on the
 	 * gearset used for the motor. This results in a range of +-100 for
-	 * E_MOTOR_GEARSET_36, +-200 for E_MOTOR_GEARSET_18, and +-600 for
-	 * E_MOTOR_GEARSET_6. The velocity is held with PID to ensure consistent
+	 * pros::E_MOTOR_GEARSET_36, +-200 for pros::E_MOTOR_GEARSET_18, and +-600 for
+	 * pros::E_MOTOR_GEARSET_6. The velocity is held with PID to ensure consistent
 	 * speed, as opposed to setting the motor's voltage.
 	 *
 	 * This function uses the following values of errno when an error state is
@@ -316,6 +316,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \b Example
 	 * \code
 	 * void autonomous() {
+	 *   pros::MotorGroup mg({1,3});
 	 *   mg.move_voltage(12000);
 	 *   pros::delay(1000); // Move at max voltage for 1 second
 	 *   mg.move_voltage(0);
@@ -344,10 +345,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \b Example
 	 * \code
 	 *  void autonomous() {
-	 *	Motor motor(1);
+	 *	 pros::MotorGroup mg({1,3});
 	 *   mg.move_voltage(12000);
 	 *   pros::delay(1000); // Move at max voltage for 1 second
-	 *   motor.brake();
+	 *   mg.brake();
 	 * }
 	 * \endcode
 	 */
@@ -454,9 +455,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg ({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     mg.move_velocity(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 * 		// get the target velocity from motor at index 1. (port 3)
 	 *     std::cout << "Motor Velocity: " << mg.get_target_velocity(1);
 	 *     pros::delay(2);
@@ -481,10 +482,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg ({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
-	 *     std::cout << "Motor Velocity: " << mg.get_target_velocity_all();
+	 *     mg.move_velocity(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     std::cout << "Motor Velocity: " << mg.get_target_velocity_all()[0];
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -520,7 +521,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
 	 *   while (true) {
-	 *     mg = controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(pros::c::controller_get_analog(pros::E_CONTROLLER_MASTER, pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *	   // get the actual velocity from motor at index 1. (port 3)
 	 *     printf("Actual velocity: %lf\n", mg.get_actual_velocity(1));
 	 *     pros::delay(2);
@@ -547,7 +548,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
 	 *   while (true) {
-	 *     mg = controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(pros::c::controller_get_analog(pros::E_CONTROLLER_MASTER, pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *	   // get the target velocity from motor at index 1. (port 3)
 	 *     printf("Actual velocity: %lf\n", mg.get_actual_velocity(1));
 	 *     pros::delay(2);
@@ -578,9 +579,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 * 	   //Print the current draw for the motor at index 1. (port 3)
 	 *     std::cout << "Motor Current Draw: " << mg.get_current_draw(1);
 	 *     pros::delay(2);
@@ -606,10 +607,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
-	 *     std::cout << "Motor Current Draw: " << mg.get_current_draw_all();
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     std::cout << "Motor Current Draw: " << mg.get_current_draw_all()[0];
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -638,9 +639,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 * 	   //Print the motor direction for the motor at index 1. (port 3)
 	 *     std::cout << "Motor Direction: " << mg.get_direction();
 	 *     pros::delay(2);
@@ -665,9 +666,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Direction: " << mg.get_direction_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -702,9 +703,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     //Prints the efficiency of the motor at index 1 (port 3)
 	 *     std::cout << "Motor Efficiency: " << mg.get_efficiency(1);
 	 *     pros::delay(2);
@@ -733,9 +734,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Efficiency: " << mg.get_efficiency_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -766,9 +767,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Faults: " << mg.get_faults();
 	 * pros::delay(2);
 	 *   }
@@ -794,10 +795,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
-	 *     std::cout << "Motor Faults: " << mg.get_faults_all();
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     std::cout << "Motor Faults: " << mg.get_faults_all()[0];
 	 * pros::delay(2);
 	 *   }
 	 * }
@@ -824,9 +825,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Faults: " << mg.get_faults(1);
 	 *     pros::delay(2);
 	 *   }
@@ -851,9 +852,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Faults: " << mg.get_faults_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -881,9 +882,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Position: " << mg.get_position(1);
 	 *     pros::delay(2);
 	 *   }
@@ -906,10 +907,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
-	 *     std::cout << "Motor Position: " << mg.get_position_all();
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     std::cout << "Motor Position: " << mg.get_position_all()[0];
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -936,9 +937,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Power: " << mg.get_power();
 	 *     pros::delay(2);
 	 *   }
@@ -961,9 +962,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Power: " << mg.get_power_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -997,9 +998,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * void opcontrol() {
 	 *   std::uint32_t now = pros::millis();
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Position: " << mg.get_raw_position(&now);
 	 *     pros::delay(2);
 	 *   }
@@ -1027,9 +1028,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * void opcontrol() {
 	 *   std::uint32_t now = pros::millis();
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Position: " << mg.get_raw_position_all(&now)[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1057,9 +1058,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Temperature: " << mg.get_temperature();
 	 *     pros::delay(2);
 	 *   }
@@ -1082,9 +1083,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Temperature: " << mg.get_temperature_all()[1];
 	 *     pros::delay(2);
 	 *   }
@@ -1111,9 +1112,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Torque: " << mg.get_torque();
 	 *     pros::delay(2);
 	 *   }
@@ -1136,9 +1137,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Torque: " << mg.get_torque();
 	 *     pros::delay(2);
 	 *   }
@@ -1165,9 +1166,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Voltage: " << mg.get_voltage();
 	 *     pros::delay(2);
 	 *   }
@@ -1190,9 +1191,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Voltage: " << mg.get_voltage_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1221,9 +1222,9 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Is the motor over its current limit?: " << mg.is_over_current();
 	 *     pros::delay(2);
 	 *   }
@@ -1246,10 +1247,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
-	 *     std::cout << "Is the motor over its current limit?: " << motor.is_over_current_all()[0];
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     std::cout << "Is the motor over its current limit?: " << mg.is_over_current_all()[0];
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -1276,10 +1277,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
-	 *     std::cout << "Is the motor over its temperature limit?: " << motor.is_over_temp();
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     std::cout << "Is the motor over its temperature limit?: " << mg.is_over_temp();
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -1301,10 +1302,10 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
-	 *     std::cout << "Is the motor over its temperature limit?: " << motor.is_over_temp();
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     std::cout << "Is the motor over its temperature limit?: " << mg.is_over_temp();
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -1331,7 +1332,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * 				The zero indexed index of the motor in the motor group
 	 *
 	 * \return One of MotorBrake, according to what was set for the
-	 * motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
+	 * motor, or pros::E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
 	 *
 	 * \b Example
 	 * \code
@@ -1352,7 +1353,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * EDOM - The motor group is empty
 	 *
 	 * \return A vector with one of MotorBrake for each motor in the motor group, according to what was set for the
-	 * motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
+	 * motor, or pros::E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
 	 *
 	 * \b Example
 	 * \code
@@ -1434,12 +1435,12 @@ class MotorGroup : public virtual AbstractMotor {
 	 * 				The zero indexed index of the motor in the motor group
 	 *
 	 * \return One of MotorUnits according to what is set for the
-	 * motor or E_MOTOR_ENCODER_INVALID if the operation failed.
+	 * motor or pros::E_MOTOR_ENCODER_INVALID if the operation failed.
 	 *
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::MotorGroup mg ({1,3}, E_MOTOR_GEARSET_06, false, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::MotorGroup mg ({1,3}, pros::E_MOTOR_GEARSET_06, false, pros::E_MOTOR_ENCODER_COUNTS);
 	 *   std::cout << "Motor Encoder Units: " << mg.get_encoder_units();
 	 * }
 	 * \endcode
@@ -1455,12 +1456,12 @@ class MotorGroup : public virtual AbstractMotor {
 	 * EDOM - The motor group is empty
 	 *
 	 * \return A vector with the following for each motor, One of MotorUnits according to what is set for the
-	 * motor or E_MOTOR_ENCODER_INVALID if the operation failed.
+	 * motor or pros::E_MOTOR_ENCODER_INVALID if the operation failed.
 	 *
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::MotorGroup mg ({1,3}, E_MOTOR_GEARSET_06, false, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::MotorGroup mg ({1,3}, pros::E_MOTOR_GEARSET_06, false, pros::E_MOTOR_ENCODER_COUNTS);
 	 *   std::cout << "Motor Encoder Units: " << mg.get_encoder_units_all()[0];
 	 * }
 	 * \endcode
@@ -1485,7 +1486,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::MotorGroup mg ({1,3}, E_MOTOR_GEARSET_06, false, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::MotorGroup mg ({1,3}, pros::E_MOTOR_GEARSET_06, false, pros::E_MOTOR_ENCODER_COUNTS);
 	 *   std::cout << "Motor Gearing: " << mg.get_gearing();
 	 * }
 	 * \endcode
@@ -1506,7 +1507,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::MotorGroup mg ({1,3}, E_MOTOR_GEARSET_06, false, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::MotorGroup mg ({1,3}, pros::E_MOTOR_GEARSET_06, false, pros::E_MOTOR_ENCODER_COUNTS);
 	 *   std::cout << "Motor Gearing: " << mg.get_gearing_all()[0];
 	 * }
 	 * \endcode
@@ -1592,7 +1593,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   std::cout << "Is the motor reversed? " << motor.is_reversed();
+	 *   std::cout << "Is the first motor reversed? " << mg.is_reversed();
 	 *   // Prints "0"
 	 * }
 	 * \endcode
@@ -1612,7 +1613,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   std::cout << "Is the motor reversed? " << motor.is_reversed_all()[0];
+	 *   std::cout << "Is the motor reversed? " << mg.is_reversed_all()[0];
 	 *   // Prints "0"
 	 * }
 	 * \endcode
@@ -1637,7 +1638,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::MotorGroup mg ({1,3}, E_MOTOR_GEARSET_06, false, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::MotorGroup mg ({1,3}, pros::E_MOTOR_GEARSET_06, false, pros::E_MOTOR_ENCODER_COUNTS);
 	 *   std::cout << "Motor Type: " << mg.get_type();
 	 * }
 	 * \endcode
@@ -1657,7 +1658,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::MotorGroup mg ({1,3}, E_MOTOR_GEARSET_06, false, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::MotorGroup mg ({1,3}, pros::E_MOTOR_GEARSET_06, false, pros::E_MOTOR_ENCODER_COUNTS);
 	 *   std::cout << "Motor Type: " << mg.get_type_all()[0];
 	 * }
 	 * \endcode
@@ -1799,11 +1800,11 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *
 	 * mg.set_current_limit(1000);
 	 * while (true) {
-	 *   mg = controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *   mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *   // The motor will reduce its output at 1000 mA instead of the default 2500 mA
 	 *   pros::delay(2);
 	 *   }
@@ -1829,11 +1830,11 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *
 	 * mg.set_current_limit_all(1000);
 	 * while (true) {
-	 *   mg = controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *   mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *   // The motor will reduce its output at 1000 mA instead of the default 2500 mA
 	 *   pros::delay(2);
 	 *   }
@@ -1863,7 +1864,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   mg.set_encoder_units(E_MOTOR_ENCODER_DEGREES, 1);
+	 *   mg.set_encoder_units(pros::E_MOTOR_ENCODER_DEGREES, 1);
 	 *   std::cout << "Encoder Units: " << mg.get_encoder_units();
 	 * }
 	 * \endcode
@@ -1891,7 +1892,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   mg.set_encoder_units(E_MOTOR_ENCODER_DEGREES, 1);
+	 *   mg.set_encoder_units(pros::E_MOTOR_ENCODER_DEGREES, 1);
 	 *   std::cout << "Encoder Units: " << mg.get_encoder_units();
 	 * }
 	 * \endcode
@@ -1916,7 +1917,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   mg.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES);
+	 *   mg.set_encoder_units_all(pros::E_MOTOR_ENCODER_DEGREES);
 	 *   std::cout << "Encoder Units: " << mg.get_encoder_units();
 	 * }
 	 * \endcode
@@ -1941,7 +1942,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   mg.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES);
+	 *   mg.set_encoder_units_all(pros::E_MOTOR_ENCODER_DEGREES);
 	 *   std::cout << "Encoder Units: " << mg.get_encoder_units();
 	 * }
 	 * \endcode
@@ -2006,7 +2007,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   mg.set_gearing(E_MOTOR_GEARSET_06, 1);
+	 *   mg.set_gearing(pros::E_MOTOR_GEARSET_06, 1);
 	 *   std::cout << "Gearset: " << mg.get_gearing();
 	 * }
 	 * \endcode
@@ -2068,7 +2069,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   mg.set_gearing(E_MOTOR_GEARSET_06, 1);
+	 *   mg.set_gearing(pros::E_MOTOR_GEARSET_06, 1);
 	 *   std::cout << "Gearset: " << mg.get_gearing();
 	 * }
 	 * \endcode
@@ -2093,7 +2094,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   mg.set_gearing_all(E_MOTOR_GEARSET_06);
+	 *   mg.set_gearing_all(pros::E_MOTOR_GEARSET_06);
 	 *   std::cout << "Gearset: " << mg.get_gearing();
 	 * }
 	 * \endcode
@@ -2118,7 +2119,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   mg.set_gearing_all(E_MOTOR_GEARSET_06);
+	 *   mg.set_gearing_all(pros::E_MOTOR_GEARSET_06);
 	 *   std::cout << "Gearset: " << mg.get_gearing();
 	 * }
 	 * \endcode
@@ -2147,11 +2148,11 @@ class MotorGroup : public virtual AbstractMotor {
 	 *   pros::MotorGroup mg({1,3});
 	 * 		//reverse the motor at index 1 (port 3)
 	 *   mg.set_reversed(true, 1);
-	 *   std::cout << "Is this motor reversed? " << motor.is_reversed(1);
+	 *   std::cout << "Is this motor reversed? " << mg.is_reversed(1);
 	 * pros::delay(100);
 	 * 	// unreverse the motor at index 1 (port 3)
 	 *   mg.set_reversed(false, 1);
-	 *   std::cout << "Is this motor reversed? " << motor.is_reversed(1);
+	 *   std::cout << "Is this motor reversed? " << mg.is_reversed(1);
 	 * }
 	 * \endcode
 	 */
@@ -2176,7 +2177,7 @@ class MotorGroup : public virtual AbstractMotor {
 	 * void initialize() {
 	 *   pros::MotorGroup mg({1,3});
 	 *   mg.set_reversed_all(true);
-	 *   std::cout << "Is this motor reversed? " << motor.is_reversed();
+	 *   std::cout << "Is this motor reversed? " << mg.is_reversed();
 	 * }
 	 * \endcode
 	 */
@@ -2204,11 +2205,11 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void autonomous() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *
 	 *   mg.set_voltage_limit(10000, 1);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     // The motor on at index 1 (port 3) will not output more than 10 V
 	 *     pros::delay(2);
 	 *   }
@@ -2235,11 +2236,11 @@ class MotorGroup : public virtual AbstractMotor {
 	 * \code
 	 * void autonomous() {
 	 *   pros::MotorGroup mg({1,3});
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *
 	 *   mg.set_voltage_limit_all(10000);
 	 *   while (true) {
-	 *     mg = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     mg.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     // The motor will not output more than 10 V
 	 *     pros::delay(2);
 	 *   }
diff --git a/include/pros/motors.hpp b/include/pros/motors.hpp
index 6556aada..38ed8ccd 100644
--- a/include/pros/motors.hpp
+++ b/include/pros/motors.hpp
@@ -62,10 +62,10 @@ class Motor : public AbstractMotor, public Device {
 	 * \b Example
 	 * \code
 	 * void opcontrol() {
-	 * 	Motor first_motor(1); //Creates a motor on port 1 without altering gearset or encoder units
-	 *  Motor reversed_motor(-2); //Creates a reversed motor on port 1 port 1 without altering gearset or encoder units
-	 *  Motor blue_motor(3, pros::v5::MotorGears::blue); //Creates a motor on port 3 with blue gear set
-	 *  Motor rotations_motor(4, pros::v5::MotorGears::green, pros::v5::MotorUnits::rotations); //port 4 w/ rotations
+	 * 	pros::Motor first_motor(1); //Creates a motor on port 1 without altering gearset or encoder units
+	 *  pros::Motor reversed_motor(-2); //Creates a reversed motor on port 1 port 1 without altering gearset or encoder units
+	 *  pros::Motor blue_motor(3, pros::v5::MotorGears::blue); //Creates a motor on port 3 with blue gear set
+	 *  pros::Motor rotations_motor(4, pros::v5::MotorGears::green, pros::v5::MotorUnits::rotations); //port 4 w/ rotations
 	 *
 	 * }
 	 * \endcode
@@ -100,10 +100,10 @@ class Motor : public AbstractMotor, public Device {
 	 * \b Example
 	 * \code
 	 * void opcontrol() {
-	 *   pros::Motor Motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Motor motor (1);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor.move(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -203,8 +203,8 @@ class Motor : public AbstractMotor, public Device {
 	 *
 	 * This velocity corresponds to different actual speeds depending on the
 	 * gearset used for the motor. This results in a range of +-100 for
-	 * E_MOTOR_GEARSET_36, +-200 for E_MOTOR_GEARSET_18, and +-600 for
-	 * E_MOTOR_GEARSET_6. The velocity is held with PID to ensure consistent
+	 * pros::E_MOTOR_GEARSET_36, +-200 for pros::E_MOTOR_GEARSET_18, and +-600 for
+	 * pros::E_MOTOR_GEARSET_6. The velocity is held with PID to ensure consistent
 	 * speed, as opposed to setting the motor's voltage.
 	 *
 	 * This function uses the following values of errno when an error state is
@@ -274,7 +274,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \b Example
 	 * \code
 	 *  void autonomous() {
-	 *  Motor motor(1);
+	 *  pros::Motor motor(1);
 	 *   motor.move_voltage(12000);
 	 *   pros::delay(1000); // Move at max voltage for 1 second
 	 *   motor.brake();
@@ -371,11 +371,11 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     motor.move_velocity(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Velocity: " << motor.get_target_velocity();
-	 *     // Prints the value of E_CONTROLLER_ANALOG_LEFT_Y
+	 *     // Prints the value of pros::E_CONTROLLER_ANALOG_LEFT_Y
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -407,7 +407,7 @@ class Motor : public AbstractMotor, public Device {
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
 	 *   while (true) {
-	 *     motor = controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(pros::c::controller_get_analog(pros::E_CONTROLLER_MASTER, pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     printf("Actual velocity: %lf\n", motor.get_actual_velocity());
 	 *     pros::delay(2);
 	 *   }
@@ -441,9 +441,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Current Draw: " << motor.get_current_draw();
 	 *     pros::delay(2);
 	 *   }
@@ -477,9 +477,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Direction: " << motor.get_direction();
 	 *     pros::delay(2);
 	 *   }
@@ -518,9 +518,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Efficiency: " << motor.get_efficiency();
 	 *     pros::delay(2);
 	 *   }
@@ -556,9 +556,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Faults: " << motor.get_faults();pros::delay(2);
 	 *   }
 	 * }
@@ -592,9 +592,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Faults: " << motor.get_faults();
 	 *     pros::delay(2);
 	 *   }
@@ -628,9 +628,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Position: " << motor.get_position();
 	 *     pros::delay(2);
 	 *   }
@@ -664,9 +664,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Power: " << motor.get_power();
 	 *     pros::delay(2);
 	 *   }
@@ -709,9 +709,9 @@ class Motor : public AbstractMotor, public Device {
 	 * void opcontrol() {
 	 *   std::uint32_t now = pros::millis();
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Position: " << motor.get_raw_position(&now);
 	 *     pros::delay(2);
 	 *   }
@@ -745,9 +745,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Temperature: " << motor.get_temperature();
 	 *     pros::delay(2);
 	 *   }
@@ -781,9 +781,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Torque: " << motor.get_torque();
 	 *     pros::delay(2);
 	 *   }
@@ -817,9 +817,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Voltage: " << motor.get_voltage();
 	 *     pros::delay(2);
 	 *   }
@@ -854,9 +854,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Is the motor over its current limit?: " << motor.is_over_current();
 	 *     pros::delay(2);
 	 *   }
@@ -890,9 +890,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Is the motor over its temperature limit?: " << motor.is_over_temp();
 	 *     pros::delay(2);
 	 *   }
@@ -926,7 +926,7 @@ class Motor : public AbstractMotor, public Device {
 	 * 		  By default index is 0, and will return an error for a non-zero index
 	 *
 	 * \return One of MotorBrake, according to what was set for the
-	 * motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
+	 * motor, or pros::E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
 	 *
 	 * \b Example
 	 * \code
@@ -992,12 +992,12 @@ class Motor : public AbstractMotor, public Device {
 	 * 		  By default index is 0, and will return an error for a non-zero index
 	 *
 	 * \return One of MotorUnits according to what is set for the
-	 * motor or E_MOTOR_ENCODER_INVALID if the operation failed.
+	 * motor or pros::E_MOTOR_ENCODER_INVALID if the operation failed.
 	 *
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::Motor motor (1, pros::MotorGears::blue, pros::MotorUnits::counts);
 	 *   std::cout << "Motor Encoder Units: " << motor.get_encoder_units();
 	 * }
 	 * \endcode
@@ -1028,7 +1028,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::Motor motor (1, pros::MotorGears::blue, pros::MotorUnits::counts);
 	 *   std::cout << "Motor Gearing: " << motor.get_gearing();
 	 * }
 	 * \endcode
@@ -1120,7 +1120,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::Motor motor (1, pros::MotorGears::blue, pros::MotorUnits::counts);
 	 *   std::cout << "Motor Type: " << motor.get_type();
 	 * }
 	 * \endcode
@@ -1223,11 +1223,11 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *
 	 * motor.set_current_limit(1000);
 	 * while (true) {
-	 *   motor = controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *   motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *   // The motor will reduce its output at 1000 mA instead of the default 2500 mA
 	 *   pros::delay(2);
 	 *   }
@@ -1254,7 +1254,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void initialize() {
 	 *   pros::Motor motor (1);
-	 *   motor.set_encoder_units(E_MOTOR_ENCODER_DEGREES);
+	 *   motor.set_encoder_units(pros::E_MOTOR_ENCODER_DEGREES);
 	 *   std::cout << "Encoder Units: " << motor.get_encoder_units();
 	 * }
 	 * \endcode
@@ -1289,7 +1289,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void initialize() {
 	 *   pros::Motor motor (1);
-	 *   motor.set_encoder_units(E_MOTOR_ENCODER_DEGREES);
+	 *   motor.set_encoder_units(pros::E_MOTOR_ENCODER_DEGREES);
 	 *   std::cout << "Encoder Units: " << motor.get_encoder_units();
 	 * }
 	 * \endcode
@@ -1323,7 +1323,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void initialize() {
 	 *   pros::Motor motor (1);
-	 *   motor.set_gearing(E_MOTOR_GEARSET_06);
+	 *   motor.set_gearing(pros::E_MOTOR_GEARSET_06);
 	 *   std::cout << "Gearset: " << motor.get_gearing();
 	 * }
 	 * \endcode
@@ -1360,7 +1360,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void initialize() {
 	 *   pros::Motor motor (1);
-	 *   motor.set_gearing(E_MOTOR_GEARSET_06);
+	 *   motor.set_gearing(pros::E_MOTOR_GEARSET_06);
 	 *   std::cout << "Gearset: " << motor.get_gearing();
 	 * }
 	 * \endcode
@@ -1419,11 +1419,11 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void autonomous() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *
 	 *   motor.set_voltage_limit(10000);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     // The motor will not output more than 10 V
 	 *     pros::delay(2);
 	 *   }
@@ -1526,7 +1526,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \b Example
 	 * \code
 	 * void opcontrol() {
-	 *   std::vector<Motor> motor_all = pros::Motor::get_all_devices();  // All motors that are connected
+	 *   std::vector<pros::Motor> motor_all = pros::Motor::get_all_devices();  // All motors that are connected
 	 * }
 	 * \endcode
 	 */
@@ -1582,11 +1582,11 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     motor.move_velocity(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Velocity: " << motor.get_target_velocity_all()[0];
-	 *     // Prints the value of E_CONTROLLER_ANALOG_LEFT_Y
+	 *     // Prints the value of pros::E_CONTROLLER_ANALOG_LEFT_Y
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -1608,11 +1608,11 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor.move_velocity(master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y));
+	 *     motor.move_velocity(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Velocity: " << motor.get_actual_velocity_all()[0];
-	 *     // Prints the value of E_CONTROLLER_ANALOG_LEFT_Y
+	 *     // Prints the value of pros::E_CONTROLLER_ANALOG_LEFT_Y
 	 *     pros::delay(2);
 	 *   }
 	 * }
@@ -1636,9 +1636,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Current Draw: " << motor.get_current_draw_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1664,9 +1664,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Direction: " << motor.get_direction_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1695,9 +1695,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Efficiency: " << motor.get_efficiency();
 	 *     pros::delay(2);
 	 *   }
@@ -1722,9 +1722,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Faults: " << motor.get_faults_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1750,9 +1750,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Faults: " << motor.get_faults_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1777,9 +1777,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Position: " << motor.get_position_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1803,9 +1803,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Power: " << motor.get_power_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1836,9 +1836,9 @@ class Motor : public AbstractMotor, public Device {
 	 * void opcontrol() {
 	 *   std::uint32_t now = pros::millis();
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Position: " << motor.get_raw_position(&now);
 	 *     pros::delay(2);
 	 *   }
@@ -1861,9 +1861,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Temperature: " << motor.get_temperature_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1886,9 +1886,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Torque: " << motor.get_torque();
 	 *     pros::delay(2);
 	 *   }
@@ -1912,9 +1912,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Motor Voltage: " << motor.get_voltage_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1938,9 +1938,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Is the motor over its current limit?: " << motor.is_over_current_all()[0];
 	 *     pros::delay(2);
 	 *   }
@@ -1963,9 +1963,9 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     std::cout << "Is the motor over its temperature limit?: " << motor.is_over_temp_all();
 	 *     pros::delay(2);
 	 *   }
@@ -1982,7 +1982,7 @@ class Motor : public AbstractMotor, public Device {
 	 * ENODEV - The port cannot be configured as a motor
 	 *
 	 * \return One of Motor_Brake, according to what was set for the
-	 * motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
+	 * motor, or pros::E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
 	 *
 	 * \b Example
 	 * \code
@@ -2028,12 +2028,12 @@ class Motor : public AbstractMotor, public Device {
 	 * ENODEV - The port cannot be configured as a motor
 	 *
 	 * \return A vector containing One of Motor_Units according to what is set for the
-	 * motor or E_MOTOR_ENCODER_INVALID if the operation failed.
+	 * motor or pros::E_MOTOR_ENCODER_INVALID if the operation failed.
 	 *
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::Motor motor (1, pros::MotorGears::blue, pros::MotorUnits::counts);
 	 *   std::cout << "Motor Encoder Units: " << motor.get_encoder_units_all()[0];
 	 * }
 	 * \endcode
@@ -2053,7 +2053,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::Motor motor (1, pros::MotorGears::blue, pros::MotorUnits::counts);
 	 *   std::cout << "Motor Gearing: " << motor.get_gearing_all()[0];
 	 * }
 	 * \endcode
@@ -2120,7 +2120,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \b Example
 	 * \code
 	 * void initialize() {
-	 *   pros::Motor motor (1, E_MOTOR_GEARSET_06, E_MOTOR_ENCODER_COUNTS);
+	 *   pros::Motor motor (1, pros::MotorGears::blue, pros::MotorUnits::counts);
 	 *   std::cout << "Motor Type: " << motor.get_type_all()[0];
 	 * }
 	 * \endcode
@@ -2192,11 +2192,11 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *
 	 * motor.set_current_limit_all(1000);
 	 * while (true) {
-	 *   motor = controller_get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *   motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *   // The motor will reduce its output at 1000 mA instead of the default 2500 mA
 	 *   pros::delay(2);
 	 *   }
@@ -2234,7 +2234,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void initialize() {
 	 *   pros::Motor motor (1);
-	 *   motor.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES);
+	 *   motor.set_encoder_units_all(pros::E_MOTOR_ENCODER_DEGREES);
 	 *   std::cout << "Encoder Units: " << motor.get_encoder_units();
 	 * }
 	 * \endcode
@@ -2259,7 +2259,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void initialize() {
 	 *   pros::Motor motor (1);
-	 *   motor.set_encoder_units_all(E_MOTOR_ENCODER_DEGREES);
+	 *   motor.set_encoder_units_all(pros::E_MOTOR_ENCODER_DEGREES);
 	 *   std::cout << "Encoder Units: " << motor.get_encoder_units();
 	 * }
 	 * \endcode
@@ -2284,7 +2284,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void initialize() {
 	 *   pros::Motor motor (1);
-	 *   motor.set_gearing_all(E_MOTOR_GEARSET_06);
+	 *   motor.set_gearing_all(pros::E_MOTOR_GEARSET_06);
 	 *   std::cout << "Gearset: " << motor.get_gearing();
 	 * }
 	 * \endcode
@@ -2309,7 +2309,7 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void initialize() {
 	 *   pros::Motor motor (1);
-	 *   motor.set_gearing_all(E_MOTOR_GEARSET_06);
+	 *   motor.set_gearing_all(pros::E_MOTOR_GEARSET_06);
 	 *   std::cout << "Gearset: " << motor.get_gearing();
 	 * }
 	 * \endcode
@@ -2366,11 +2366,11 @@ class Motor : public AbstractMotor, public Device {
 	 * \code
 	 * void autonomous() {
 	 *   pros::Motor motor (1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *
 	 *   motor.set_voltage_limit_all(10000);
 	 *   while (true) {
-	 *     motor = master.get_analog(E_CONTROLLER_ANALOG_LEFT_Y);
+	 *     motor.move(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
 	 *     // The motor will not output more than 10 V
 	 *     pros::delay(2);
 	 *   }
@@ -2466,7 +2466,7 @@ const pros::Motor operator"" _mtr(const unsigned long long int m);
  * \code
  * using namespace pros::literals;
  * void opcontrol() {
- *	pros::motor motor = 2_rmtr; //Makes an reversed Motor object on port 2
+ *	pros::Motor motor = 2_rmtr; //Makes an reversed Motor object on port 2
  * }
  * \endcode
  */
diff --git a/include/pros/optical.hpp b/include/pros/optical.hpp
index 3cb55d91..16b41986 100644
--- a/include/pros/optical.hpp
+++ b/include/pros/optical.hpp
@@ -67,7 +67,7 @@ class Optical : public Device {
 	 * \b Example
  	 * \code
 	 * void opcontrol() {
-	 *   std::vector<Optical> optical_all = pros::Optical::get_all_devices();  // All optical sensors that are connected
+	 *   std::vector<pros::Optical> optical_all = pros::Optical::get_all_devices();  // All optical sensors that are connected
 	 * }
  	 * \endcode
 	 */
diff --git a/include/pros/rotation.h b/include/pros/rotation.h
index 5a904414..e6708bec 100644
--- a/include/pros/rotation.h
+++ b/include/pros/rotation.h
@@ -95,7 +95,6 @@ int32_t rotation_reset(uint8_t port);
  * #define ROTATION_PORT 1
  * 
  * void initialize() {
- *   pros::Rotation rotation_sensor(ROTATION_PORT);
  *   rotation_set_data_rate(ROTATION_PORT, 5);
  * }
  * \endcode
@@ -267,10 +266,8 @@ int32_t rotation_get_angle(uint8_t port);
  * #define ROTATION_PORT 1
  * 
  * void opcontrol() {
- *   Rotation rotation_sensor(ROTATION_PORT);
  *   while (true) {
- * 
- *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
+ *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)) {
  *       rotation_set_reversed(ROTATION_PORT, true); // Reverses the Rotation Sensor on ROTATION_PORT
  *     }
  *     delay(20);
@@ -299,10 +296,8 @@ int32_t rotation_set_reversed(uint8_t port, bool value);
  * #define ROTATION_PORT 1
  * 
  * void opcontrol() {
- *   Rotation rotation_sensor(ROTATION_PORT);
- *   while (true) {
- * 
- *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
+ *   while (true) { 
+ *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)) {
  *       rotation_reverse(ROTATION_PORT);
  *     }
  *     delay(20);
@@ -333,10 +328,8 @@ int32_t rotation_reverse(uint8_t port);
  * #define ROTATION_PORT 1
  * 
  * void opcontrol() {
- *   Rotation rotation_sensor(ROTATION_PORT);
  *   bool reverse_flag = true;
- *   while (true) {
- * 
+ *   while (true) { 
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       rotation_init_reverse(ROTATION_PORT, reverse_flag);
  *     }
@@ -366,9 +359,7 @@ int32_t rotation_init_reverse(uint8_t port, bool reverse_flag);
  * #define ROTATION_PORT 1
  * 
  * void opcontrol() {
- *   Rotation rotation_sensor(ROTATION_PORT);
- *   while (true) {
- * 
+ *   while (true) { 
  *     if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
  *       rotation_get_reversed(ROTATION_PORT);
  *     }
diff --git a/include/pros/rotation.hpp b/include/pros/rotation.hpp
index 1e6dda9d..d28c45a4 100644
--- a/include/pros/rotation.hpp
+++ b/include/pros/rotation.hpp
@@ -76,9 +76,9 @@ class Rotation : public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Rotation rotation_sensor(1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     if(master.get_analog(E_CONTROLLER_DIGITAL_X) {
+	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
 	 * 	     rotation_sensor.reset();
 	 *     }
 	 *     pros::delay(20);
@@ -136,9 +136,9 @@ class Rotation : public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Rotation rotation_sensor(1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     if(master.get_analog(E_CONTROLLER_DIGITAL_X) {
+	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
 	 * 	     rotation_sensor.set_position(600);
 	 *     }
 	 *     pros::delay(20);
@@ -165,9 +165,9 @@ class Rotation : public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Rotation rotation_sensor(1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     if(master.get_analog(E_CONTROLLER_DIGITAL_X) {
+	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
 	 * 	     rotation_sensor.reset_position();
 	 *     }
 	 *     pros::delay(20);
@@ -185,7 +185,7 @@ class Rotation : public Device {
 	 * \b Example
  	 * \code
 	 * void opcontrol() {
-	 *   std::vector<Rotation> rotation_all = pros::Rotation::get_all_devices();  // All rotation sensors that are connected
+	 *   std::vector<pros::Rotation> rotation_all = pros::Rotation::get_all_devices();  // All rotation sensors that are connected
 	 * }
  	 * \endcode
 	 */
@@ -208,7 +208,7 @@ class Rotation : public Device {
 	 * 	 pros::Rotation rotation_sensor(1);
 	 *   while (true) {
 	 *     printf("Position: %d Ticks \n", rotation_sensor.get_position());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -233,8 +233,8 @@ class Rotation : public Device {
 	 * void opcontrol() {
 	 * 	 pros::Rotation rotation_sensor(1);
 	 *   while (true) {
-	 *     printf("Velocity: %d centidegrees per second \n", rotation_sensor.get_velocity));
-	 *     delay(20);
+	 *     printf("Velocity: %d centidegrees per second \n", rotation_sensor.get_velocity());
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -258,7 +258,7 @@ class Rotation : public Device {
 	 * 	 pros::Rotation rotation_sensor(1);
 	 *   while (true) {
 	 *     printf("Angle: %d centidegrees \n", rotation_sensor.get_angle());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
@@ -284,9 +284,9 @@ class Rotation : public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Rotation rotation_sensor(1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     if(master.get_analog(E_CONTROLLER_DIGITAL_X) {
+	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
 	 * 	     rotation_sensor.set_reversed(true); // Reverses the Rotation Sensor
 	 *     }
 	 *     pros::delay(20);
@@ -311,9 +311,9 @@ class Rotation : public Device {
 	 * \code
 	 * void opcontrol() {
 	 *   pros::Rotation rotation_sensor(1);
-	 *   pros::Controller master (E_CONTROLLER_MASTER);
+	 *   pros::Controller master (pros::E_CONTROLLER_MASTER);
 	 *   while (true) {
-	 *     if(master.get_analog(E_CONTROLLER_DIGITAL_X) {
+	 *     if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
 	 * 	     rotation_sensor.reverse();
 	 *     }
 	 *     pros::delay(20);
@@ -340,7 +340,7 @@ class Rotation : public Device {
 	 * 	 pros::Rotation rotation_sensor(1);
 	 *   while (true) {
 	 *     printf("Reversed: %d \n", rotation_sensor.get_reversed());
-	 *     delay(20);
+	 *     pros::delay(20);
 	 *   }
 	 * }
 	 * \endcode
diff --git a/include/pros/rtos.h b/include/pros/rtos.h
index b5ae33bf..7608bcf5 100644
--- a/include/pros/rtos.h
+++ b/include/pros/rtos.h
@@ -230,7 +230,7 @@ uint32_t millis(void);
  * \b Example
  * \code
  * void opcontrol() {
- *   uint64_t now = micros();
+ *   uint32_t now = micros() / 1000;
  *   while (true) {
  *     // Do opcontrol things
  *     task_delay_until(&now, 2000);
@@ -472,7 +472,7 @@ task_state_e_t task_get_state(task_t task);
  *     mutex_take(counter_mutex, TIMEOUT_MAX);// Mutexes are used for protecting shared resources
  *     counter++;
  *     mutex_give(counter_mutex);
- *     pros::delay(10);
+ *     delay(10);
  *   }
  * }
  * 
@@ -485,7 +485,7 @@ task_state_e_t task_get_state(task_t task);
  *       task_suspepend(task);
  * 	   }
  *     mutex_give(counter_mutex);
- *     pros::delay(10);
+ *     delay(10);
  *   }
  * }
  * \endcode
diff --git a/include/pros/rtos.hpp b/include/pros/rtos.hpp
index d6c2d890..4fdbe559 100644
--- a/include/pros/rtos.hpp
+++ b/include/pros/rtos.hpp
@@ -142,7 +142,7 @@ class Task {
 	 * }
 	 * 
 	 * void initialize() {
-	 *   pros::c::task_t my_task = pros::Task::create(my_task_fn, (void*)"PROS");
+	 *   pros::task_t my_task = pros::Task::create(my_task_fn, (void*)"PROS");
 	 * }
 	 * \endcode
 	 */
@@ -179,7 +179,7 @@ class Task {
 	 * }
 	 * 
 	 * void initialize() {
-	 *   pros::c::task_t my_task = pros::Task::create(my_task_fn, "My Task");
+	 *   pros::task_t my_task = pros::Task::create(my_task_fn, "My Task");
 	 * }
 	 * \endcode
 	 */
@@ -281,7 +281,7 @@ class Task {
 	 * }
 	 * 
 	 * void initialize() {
-	 *   pros::c::task_t my_task = pros::Task::create(my_task_fn, "My Task");
+	 *   pros::task_t my_task = pros::Task::create(my_task_fn, "My Task");
 	 * 
 	 *   pros::Task my_task_cpp(my_task);
 	 * }
@@ -321,7 +321,7 @@ class Task {
 	 * }
 	 * 
 	 * void initialize() {
-	 *   pros::c::task_t my_task = pros::Task::create(my_task_fn, "My Task");
+	 *   pros::task_t my_task = pros::Task::create(my_task_fn, "My Task");
 	 * 
 	 *   pros::Task my_task_cpp = my_task;
 	 * }
@@ -393,7 +393,7 @@ class Task {
      * void initialize() {
 	 *   pros::Task my_task(my_task_fn, "My Task");
 	 * 
-	 *   Task.set_priority(pros::DEFAULT_PRIORITY + 1);
+	 *   my_task.set_priority(pros::DEFAULT_PRIORITY + 1);
      * }
      * \endcode
 	 */
@@ -521,7 +521,7 @@ class Task {
      * void initialize() {
 	 *   pros::Task my_task(my_task_fn, "My Task");
 	 * 
-	 *   pros::c::task_t my_task_c = (pros::c::task_t)my_task;
+	 *   pros::task_t my_task_c = (pros::task_t)my_task;
      * }
      * \endcode
 	 */
@@ -622,7 +622,7 @@ class Task {
      *       // Reset the notification counter
      *       task.notify_clear();
      *     }
-     *     delay(10);
+     *     pros::delay(10);
      * 	 }
      * }
      * 
@@ -636,7 +636,7 @@ class Task {
      *       task.notify_ext(1, NOTIFY_ACTION_INCREMENT, &count);
      *     }
      *     
-     *     delay(20);
+     *     pros::delay(20);
      *   }
      * }
      * \endcode
@@ -696,7 +696,7 @@ class Task {
      * 	   printf("Got a notification: %d\n", task.notify_take(false, TIMEOUT_MAX));
      * 
      * 	   tasK_notify(task);
-     *     delay(10):
+     *     pros::delay(10):
      *   }
      * }
      * 
@@ -706,7 +706,7 @@ class Task {
      *     if(controller_get_digital(CONTROLLER_MASTER, DIGITAL_L1)) {
      *       task.notify();
      *     }
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * \endcode
@@ -889,7 +889,7 @@ class Mutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.give();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -907,7 +907,7 @@ class Mutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -977,7 +977,7 @@ class Mutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.give();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -995,7 +995,7 @@ class Mutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1059,7 +1059,7 @@ class Mutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.give();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1077,7 +1077,7 @@ class Mutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1145,7 +1145,7 @@ class Mutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.unlock();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1163,7 +1163,7 @@ class Mutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1227,7 +1227,7 @@ class Mutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.unlock();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1245,7 +1245,7 @@ class Mutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1423,7 +1423,7 @@ class RecursiveMutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.give();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1441,7 +1441,7 @@ class RecursiveMutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1511,7 +1511,7 @@ class RecursiveMutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.give();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1529,7 +1529,7 @@ class RecursiveMutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1593,7 +1593,7 @@ class RecursiveMutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.give();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1611,7 +1611,7 @@ class RecursiveMutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1679,7 +1679,7 @@ class RecursiveMutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.unlock();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1697,7 +1697,7 @@ class RecursiveMutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1761,7 +1761,7 @@ class RecursiveMutex {
      *     odom_heading = heading_new;
 	 *     odom_mutex.unlock();
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1779,7 +1779,7 @@ class RecursiveMutex {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
@@ -1961,7 +1961,7 @@ class MutexVar {
 	 * 
 	 *     *odom_pose.take() = new_pose;
 	 *     
-	 *     delay(10);
+	 *     pros::delay(10);
 	 *   }
 	 * }
      * 
@@ -1972,7 +1972,7 @@ class MutexVar {
      *     
      *     // ---- Move the robot using the current locations goes here ----
      *     
-     *     delay(10);
+     *     pros::delay(10);
      *   }
      * }
      * 
diff --git a/include/pros/screen.hpp b/include/pros/screen.hpp
index cbfe2fcf..53f0a53b 100644
--- a/include/pros/screen.hpp
+++ b/include/pros/screen.hpp
@@ -72,7 +72,7 @@ const char* convert_args(const std::string& arg) {
      * \b Example
      * \code
      * void initialize() {
-     *   pros::screen::set_pen(red);
+     *   pros::screen::set_pen(pros::Color::red);
      * }
      * 
      * void opcontrol() {
@@ -135,7 +135,7 @@ const char* convert_args(const std::string& arg) {
      * \code
      * void initialize() {
      *   //set eraser color to red
-     *   set_eraser(red);
+     *   pros::screen::set_eraser(pros::Color::red);
      * }
      * 
      * void opcontrol() {
@@ -193,7 +193,7 @@ const char* convert_args(const std::string& arg) {
      * \b Example
      * \code
      * void initialize() {
-     *   pros::screen::set_pen(red);
+     *   pros::screen::set_pen(pros::Color::red);
      * }
      *
      * void opcontrol() {
@@ -220,7 +220,7 @@ const char* convert_args(const std::string& arg) {
      * \b Example
      * \code
      * void initialize() {
-     *   pros::screen::set_eraser(red);
+     *   pros::screen::set_eraser(pros::Color::red);
      * }
      *
      * void opcontrol() {
@@ -246,7 +246,7 @@ const char* convert_args(const std::string& arg) {
      *  * \b Example
      * \code
      * void initialize() {
-     *   pros::screen::set_eraser(red);
+     *   pros::screen::set_eraser(pros::Color::red);
      * }
      *
      * void opcontrol() {
@@ -388,7 +388,7 @@ const char* convert_args(const std::string& arg) {
      * \code
      * void opcontrol() {
      *   // Color the Screen in Red
-     *   pros::screen::set_pen(red);
+     *   pros::screen::set_pen(pros::Color::red);
      *   pros::screen::fill_rect(0,0,400,200);
      *   int i = 0;
      *   while(i < 200){
@@ -417,7 +417,7 @@ const char* convert_args(const std::string& arg) {
      * \b Example
      * \code
      * void opcontrol() {
-     * 	 pros::screen::set_pen(red);
+     * 	 pros::screen::set_pen(pros::Color::red);
      *   // Draw line down the screen at x = 100
      *   pros::screen::draw_line(100,0,100,200);
      * }
@@ -442,7 +442,7 @@ const char* convert_args(const std::string& arg) {
      * \code
      * void opcontrol() {
      *   // Color the Screen in Red
-     *   pros::screen::set_pen(red);
+     *   pros::screen::set_pen(pros::Color::red);
      *   pros::screen::fill_rect(0,0,400,200);
      *   // Erase line down the screen at x = 100
      *   pros::screen::erase_line(100,0,100,200);
@@ -467,7 +467,7 @@ const char* convert_args(const std::string& arg) {
      * \b Example
      * \code
      * void opcontrol() {
-     *   pros::screen::set_pen(red);
+     *   pros::screen::set_pen(pros::Color::red);
      *   pros::screen::draw_rect(1,1,480,200);
      * }
      * \endcode
@@ -491,7 +491,7 @@ const char* convert_args(const std::string& arg) {
      * \code
      * void opcontrol() {
      *   // Draw Box Around Half the Screen in Red
-     *   pros::screen::set_eraser(red);
+     *   pros::screen::set_eraser(pros::Color::red);
      *   pros::screen::erase_rect(5,5,240,200);
      * }
      * \endcode
@@ -516,7 +516,7 @@ const char* convert_args(const std::string& arg) {
      * \code
      * void opcontrol() {
      *   // Fill Around Half the Screen in Red
-     *   pros::screen::set_pen(red);
+     *   pros::screen::set_pen(pros::Color::red);
      *   pros::screen::fill_rect(5,5,240,200);
      * }
      * \endcode
@@ -540,7 +540,7 @@ const char* convert_args(const std::string& arg) {
      * \code
      * void opcontrol() {
      *   // Draw a circle with radius of 100 in red
-     *   pros::screen::set_pen(red);
+     *   pros::screen::set_pen(pros::Color::red);
      *   pros::screen::draw_circle(240, 200, 100);
      * }
      * \endcode
@@ -563,10 +563,10 @@ const char* convert_args(const std::string& arg) {
      * \b Example
      * \code
      * void opcontrol() {
-     *   pros::screen::set_pen(red);
+     *   pros::screen::set_pen(pros::Color::red);
      *   pros::screen::fill_rect(5,5,240,200);
      *   // Erase a circle with radius of 100 in blue
-     *   pros::screen::set_pen(blue);
+     *   pros::screen::set_pen(pros::Color::blue);
      *   pros::screen::erase_circle(240, 200, 100);
      * }
      * \endcode
@@ -590,10 +590,10 @@ const char* convert_args(const std::string& arg) {
      * \b Example
      * \code
     * void opcontrol() {
-     *   pros::screen::set_pen(red);
+     *   pros::screen::set_pen(pros::Color::red);
      *   pros::screen::fill_rect(5,5,240,200);
      *   // Fill a circlular area with radius of 100 in blue
-     *   pros::screen::set_pen(blue);
+     *   pros::screen::set_pen(pros::Color::blue);
      *   pros::screen::fill_circle(240, 200, 100);
      * }
      * \endcode
@@ -622,13 +622,14 @@ const char* convert_args(const std::string& arg) {
      * \code
      * void opcontrol() {
      *    int i = 0;
-     *    pros::screen::set_pen(blue);
+     *    pros::screen::set_pen(pros::Color::blue);
      *    while(1){
      *       // Will print seconds started since program started on line 3
-     *       pros::screen::print(pros::TEXT_MEDIUM, 3, "Seconds Passed: %3d", i++);
+     *       pros::screen::print(TEXT_MEDIUM, 3, "Seconds Passed: %3d", i++);
      *       pros::delay(1000);
      *    }
      * }
+     * \endcode
      */
     template <typename... Params>
     void print(pros::text_format_e_t txt_fmt, const std::int16_t line, const char* text, Params... args){
@@ -650,10 +651,10 @@ const char* convert_args(const std::string& arg) {
    /**
      * Gets the touch status of the last touch of the screen.
      * 
-     * \return The last_touch_e_t enum specifier that indicates the last touch status of the screen (E_TOUCH_EVENT_RELEASE, E_TOUCH_EVENT_PRESS, or E_TOUCH_EVENT_PRESS_AND_HOLD).
+     * \return The last_touch_e_t enum specifier that indicates the last touch status of the screen (E_TOUCH_EVENT_RELEASE, pros::E_TOUCH_EVENT_PRESS, or pros::E_TOUCH_EVENT_PRESS_AND_HOLD).
      * This will be released by default if no action was taken. 
      * If an error occured, the screen_touch_status_s_t will have its 
-     * last_touch_e_t enum specifier set to E_TOUCH_ERR, and other values set to -1.
+     * last_touch_e_t enum specifier set to pros::E_TOUCH_ERR, and other values set to -1.
      * 
      * \b Example
      * \code
diff --git a/include/pros/vision.h b/include/pros/vision.h
index 6b3f104c..06f6a300 100644
--- a/include/pros/vision.h
+++ b/include/pros/vision.h
@@ -208,7 +208,7 @@ int32_t vision_clear_led(uint8_t port);
  *   vision_signature_from_utility(EXAMPLE_SIG, 8973, 11143, 10058, -2119, -1053, -1586, 5.4, 0);
  * vision_set_signature(VISION_PORT, EXAMPLE_SIG, &RED_SIG);
  * while (true) {
- *   vision_signature_s_t rtn = vision_get_by_sig(VISION_PORT, 0, EXAMPLE_SIG);
+ *   vision_object_s_t rtn = vision_get_by_sig(VISION_PORT, 0, EXAMPLE_SIG);
  *   // Gets the largest object of the EXAMPLE_SIG signature
  *   printf("sig: %d", rtn.signature);
  *   // Prints "sig: 1"
@@ -253,7 +253,7 @@ vision_signature_s_t vision_signature_from_utility(const int32_t id, const int32
  * #define OTHER_SIG 2
  * 
  * void opcontrol() {
- *   vision_color_code_t code1 = vision_create_color_code(VISION_PORT, EXAMPLE_SIG, OTHER_SIG);
+ *   vision_color_code_t code1 = vision_create_color_code(VISION_PORT, EXAMPLE_SIG, OTHER_SIG, 0, 0, 0);
  * }
  * \endcode
  */
@@ -362,7 +362,7 @@ vision_object_s_t vision_get_by_sig(uint8_t port, const uint32_t size_id, const
  * #define OTHER_SIG 2
  * 
  * void opcontrol() {
- *   vision_color_code_t code1 = vision_create_color_code(VISION_PORT, EXAMPLE_SIG, OTHER_SIG);
+ *   vision_color_code_t code1 = vision_create_color_code(VISION_PORT, EXAMPLE_SIG, OTHER_SIG, 0, 0, 0);
  *   while (true) {
  *     vision_object_s_t rtn = vision_get_by_code(VISION_PORT, 0, code1);
  *     // Gets the largest object
diff --git a/include/pros/vision.hpp b/include/pros/vision.hpp
index 0a845f6b..95b84ae5 100644
--- a/include/pros/vision.hpp
+++ b/include/pros/vision.hpp
@@ -57,7 +57,7 @@ class Vision : public Device {
 	 * }
 	 * \endcode
 	 */
-	Vision(std::uint8_t port, vision_zero_e_t zero_point = E_VISION_ZERO_TOPLEFT);
+	Vision(std::uint8_t port, vision_zero_e_t zero_point = pros::E_VISION_ZERO_TOPLEFT);
 
 	Vision(const Device& device) : Vision(device.get_port()){};
 
@@ -114,15 +114,15 @@ class Vision : public Device {
 	 * void opcontrol() {
 	 * pros::Vision vision_sensor(VISION_PORT);
 	 * // values acquired from the vision utility
-	 * vision_signature_s_t RED_SIG =
-	 *   vision_signature_from_utility(EXAMPLE_SIG, 8973, 11143, 10058, -2119, -1053, -1586, 5.4, 0);
+	 * pros::vision_signature_s_t RED_SIG =
+	 *   pros::vision_signature_from_utility(EXAMPLE_SIG, 8973, 11143, 10058, -2119, -1053, -1586, 5.4, 0);
 	 * vision_sensor.set_signature(EXAMPLE_SIG, &RED_SIG);
 	 * while (true) {
-	 *   vision_signature_s_t rtn = vision_sensor.get_by_sig(VISION_PORT, 0, EXAMPLE_SIG);
+	 *   pros::vision_object_s_t rtn = vision_sensor.get_by_sig(VISION_PORT, 0, EXAMPLE_SIG);
 	 *   // Gets the largest object of the EXAMPLE_SIG signature
 	 *   printf("sig: %d", rtn.signature);
 	 *   // Prints "sig: 1"
-	 *   delay(2);
+	 *   pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -179,7 +179,7 @@ class Vision : public Device {
 	 * \b Example
 	 * \code
 	 * void opcontrol() {
-	 *   std::vector<Vision> vision_all = pros::Vision::get_all_devices();  // All vision sensors that are connected
+	 *   std::vector<pros::Vision> vision_all = pros::Vision::get_all_devices();  // All vision sensors that are connected
 	 * }
 	 * \endcode
 	 */
@@ -208,10 +208,10 @@ class Vision : public Device {
 	 * void opcontrol() {
 	 * pros::Vision vision_sensor(VISION_PORT);
 	 * while (true) {
-	 *   vision_object_s_t rtn = vision_sensor.get_by_size(0);
+	 *   pros::vision_object_s_t rtn = vision_sensor.get_by_size(0);
 	 *   // Gets the largest object
 	 *   printf("sig: %d", rtn.signature);
-	 *   delay(2);
+	 *   pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -246,11 +246,11 @@ class Vision : public Device {
 	 * void opcontrol() {
 	 * pros::Vision vision_sensor(VISION_PORT);
 	 * while (true) {
-	 *   vision_object_s_t rtn = vision_sensor.get_by_sig(0, EXAMPLE_SIG);
+	 *   pros::vision_object_s_t rtn = vision_sensor.get_by_sig(0, EXAMPLE_SIG);
 	 *   // Gets the largest object of the EXAMPLE_SIG signature
 	 *   printf("sig: %d", rtn.signature);
 	 *   // Prints "sig: 1"
-	 *   delay(2);
+	 *   pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -284,10 +284,10 @@ class Vision : public Device {
 	 * 	 pros::Vision vision_sensor(VISION_PORT);
 	 *   vision_color_code_t code1 = vision_sensor.create_color_code(EXAMPLE_SIG, OTHER_SIG);
 	 *   while (true) {
-	 *     vision_object_s_t rtn = vision_sensor.get_by_code(0, code1);
+	 *     pros::vision_object_s_t rtn = vision_sensor.get_by_code(0, code1);
 	 *     // Gets the largest object
 	 *     printf("sig: %d", rtn.signature);
-	 *     delay(2);
+	 *     pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -335,7 +335,7 @@ class Vision : public Device {
 	 *   pros::Vision vision_sensor(VISION_PORT);
 	 *   while (true) {
 	 *     printf("Number of Objects Detected: %d\n", vision_sensor.get_object_count());
-	 *     delay(2);
+	 *     pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -421,12 +421,12 @@ class Vision : public Device {
 	 *
 	 * void opcontrol() {
 	 *   pros::Vision vision_sensor(VISION_PORT);
-	 *   vision_object_s_t object_arr[NUM_VISION_OBJECTS];
+	 *   pros::vision_object_s_t object_arr[NUM_VISION_OBJECTS];
 	 *   while (true) {
 	 *     vision_sensor.read_by_size(0, NUM_VISION_OBJECTS, object_arr);
 	 *     printf("sig: %d", object_arr[0].signature);
 	 *     // Prints the signature of the largest object found
-	 *     delay(2);
+	 *     pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -469,12 +469,12 @@ class Vision : public Device {
 	 *
 	 * void opcontrol() {
 	 *   pros::Vision vision_sensor(VISION_PORT);
-	 *   vision_object_s_t object_arr[NUM_VISION_OBJECTS];
+	 *   pros::vision_object_s_t object_arr[NUM_VISION_OBJECTS];
 	 *   while (true) {
 	 *     vision_sensor.read_by_sig(0, EXAMPLE_SIG, NUM_VISION_OBJECTS, object_arr);
 	 *     printf("sig: %d", object_arr[0].signature);
 	 *     // Prints "sig: 1"
-	 *     delay(2);
+	 *     pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -516,13 +516,13 @@ class Vision : public Device {
 	 *
 	 * void opcontrol() {
 	 *   pros::Vision vision_sensor(VISION_PORT);
-	 *   vision_object_s_t object_arr[NUM_VISION_OBJECTS];
-	 *   vision_color_code_t code1 = vision_sensor.create_color_code(EXAMPLE_SIG, OTHER_SIG, 0, 0, 0);
+	 *   pros::vision_object_s_t object_arr[NUM_VISION_OBJECTS];
+	 *   pros::vision_color_code_t code1 = vision_sensor.create_color_code(EXAMPLE_SIG, OTHER_SIG, 0, 0, 0);
 	 *   while (true) {
 	 *     vision_sensor.read_by_code(0, code1, NUM_VISION_OBJECTS, object_arr);
 	 *     printf("sig: %d", object_arr[0].signature);
 	 *     // Prints the signature of the largest object found
-	 *     delay(2);
+	 *     pros::delay(2);
 	 *   }
 	 * }
 	 * \endcode
@@ -710,7 +710,7 @@ class Vision : public Device {
 	 *
 	 * void initialize() {
 	 * 	 pros::Vision vision_sensor(VISION_PORT);
-	 *   vision_sensor.set_zero_point(E_VISION_ZERO_CENTER);
+	 *   vision_sensor.set_zero_point(pros::E_VISION_ZERO_CENTER);
 	 * }
 	 * \endcode
 	 */