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5152Alotobots · Dec 21, 2024 · 0a26f16 · 0a26f16
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diff --git a/docs/mkdocs/docs/library/commands/swerve/characterization.md b/docs/mkdocs/docs/library/commands/swerve/characterization.md
@@ -4,7 +4,7 @@
 The characterization commands provide system identification capabilities for the swerve drive subsystem. These commands enable precise measurement and calculation of critical system parameters.
 
 ## Required Subsystems
-- [SwerveDriveSubsystem](../../subsystems/swerve.md)
+- [SwerveDriveSubsystem](../../subsystems/swerve)
 
 ## Commands
 

diff --git a/docs/mkdocs/docs/library/commands/swerve/defaultdrive.md b/docs/mkdocs/docs/library/commands/swerve/defaultdrive.md
@@ -4,7 +4,7 @@
 The DefaultDrive command implements the default driving behavior for the [SwerveDrive subsystem](../../subsystems/swerve.md). This command provides real-time velocity control based on driver inputs through the DriveCalculator utility.
 
 ## Required Subsystems
-- [SwerveDriveSubsystem](../../subsystems/swerve.md)
+- [SwerveDriveSubsystem](../../subsystems/swerve)
 
 ## Constructor Parameters
 - `swerveDriveSubsystem`: The SwerveDrive subsystem instance this command will control

diff --git a/docs/mkdocs/docs/library/commands/swerve/drivefacingangle.md b/docs/mkdocs/docs/library/commands/swerve/drivefacingangle.md
@@ -4,7 +4,7 @@
 The DriveFacingAngle command implements sophisticated angle-controlled driving capabilities, allowing the robot to maintain a specific heading while moving. This command utilizes a ProfiledPIDController for precise angle management.
 
 ## Required Subsystems
-- [SwerveDriveSubsystem](../../subsystems/swerve.md)
+- [SwerveDriveSubsystem](../../subsystems/swerve)
 
 ## Constructor Parameters
 - `swerveDriveSubsystem`: The SwerveDrive subsystem instance this command will control

diff --git a/docs/mkdocs/docs/library/commands/swerve/drivefacingpose.md b/docs/mkdocs/docs/library/commands/swerve/drivefacingpose.md
@@ -4,7 +4,7 @@
 The DriveFacingPose command implements advanced pose-relative driving capabilities, automatically orienting the robot to face a target position while maintaining normal drive control. This command utilizes sophisticated geometry calculations and PID control for precise orientation management.
 
 ## Required Subsystems
-- [SwerveDriveSubsystem](../../subsystems/swerve.md)
+- [SwerveDriveSubsystem](../../subsystems/swerve)
 
 ## Constructor Parameters
 - `swerveDriveSubsystem`: The SwerveDrive subsystem instance this command will control

diff --git a/docs/mkdocs/docs/library/subsystems/swerve.md b/docs/mkdocs/docs/library/subsystems/swerve.md
@@ -4,10 +4,10 @@
 The SwerveDrive subsystem is a sophisticated drive system that enables omnidirectional movement of the robot. It manages four swerve modules (each containing drive and turn motors), handles odometry calculations, and provides autonomous path-following capabilities.
 
 ## Commands that use the subsystem
-- [DefaultDrive Command](/5152_Template/library/commands/swerve/defaultdrive.md): Provides standard teleoperated control
-- [DriveFacingAngle Command](/5152_Template/library/commands/swerve/drivefacingangle.md): Maintains a specific robot heading while driving
-- [DriveFacingPose Command](/5152_Template/library/commands/swerve/drivefacingpose.md): Orients the robot to face a target position while driving
-- [Characterization Commands](/5152_Template/library/commands/swerve/characterization.md): Used for system identification and calibration
+- [DefaultDrive Command](/5152_Template/library/commands/swerve/defaultdrive): Provides standard teleoperated control
+- [DriveFacingAngle Command](/5152_Template/library/commands/swerve/drivefacingangle): Maintains a specific robot heading while driving
+- [DriveFacingPose Command](/5152_Template/library/commands/swerve/drivefacingpose): Orients the robot to face a target position while driving
+- [Characterization Commands](/5152_Template/library/commands/swerve/characterization): Used for system identification and calibration
 
 ## Configuration Requirements
 
@@ -29,7 +29,7 @@ All configuration is handled through TunerConstants, including:
 - Wheel radius parameters
 - Absolute encoder offsets
 
-See the [JavaDoc Reference](/5152_Template/javadoc/frc/alotobots/library/subsystems/swervedrive/SwerveDriveSubsystem.html) for detailed configuration options.
+See the [JavaDoc Reference](/5152_Template/javadoc/frc/alotobots/library/subsystems/swervedrive/package-summary.html) for detailed configuration options.
 
 ### Additional Notes
 - Odometry updates run on a separate high-frequency thread