diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetection.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetection.java
index 9270cc9ff09..a4bdd1fe123 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetection.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetection.java
@@ -95,7 +95,7 @@ public double getCenterY() {
 
   /**
    * Gets a corner of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag.
+   * around the tag. Index 0 is the bottom left corner.
    *
    * @param ndx Corner index (range is 0-3, inclusive)
    * @return Corner point X coordinate
@@ -106,7 +106,7 @@ public double getCornerX(int ndx) {
 
   /**
    * Gets a corner of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag.
+   * around the tag. Index 0 is the bottom left corner.
    *
    * @param ndx Corner index (range is 0-3, inclusive)
    * @return Corner point Y coordinate
@@ -117,7 +117,8 @@ public double getCornerY(int ndx) {
 
   /**
    * Gets the corners of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag.
+   * around the tag. The first set of corner coordinates are the coordinates for the bottom left
+   * corner.
    *
    * @return Corner point array (X and Y for each corner in order)
    */
diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
index dd1c1976462..c62edfa5076 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
@@ -270,6 +270,8 @@ public void clearFamilies() {
   /**
    * Detect tags from an 8-bit image.
    *
+   * <p>The image must be grayscale.
+   *
    * @param img 8-bit OpenCV Mat image
    * @return Results (array of AprilTagDetection)
    */
diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTagDetection.h b/apriltag/src/main/native/include/frc/apriltag/AprilTagDetection.h
index babcbd83092..74f8c64ceba 100644
--- a/apriltag/src/main/native/include/frc/apriltag/AprilTagDetection.h
+++ b/apriltag/src/main/native/include/frc/apriltag/AprilTagDetection.h
@@ -93,7 +93,7 @@ class WPILIB_DLLEXPORT AprilTagDetection final {
 
   /**
    * Gets a corner of the tag in image pixel coordinates. These always
-   * wrap counter-clock wise around the tag.
+   * wrap counter-clock wise around the tag. Index 0 is the bottom left corner.
    *
    * @param ndx Corner index (range is 0-3, inclusive)
    * @return Corner point
@@ -104,7 +104,8 @@ class WPILIB_DLLEXPORT AprilTagDetection final {
 
   /**
    * Gets the corners of the tag in image pixel coordinates. These always
-   * wrap counter-clock wise around the tag.
+   * wrap counter-clock wise around the tag. The first set of corner coordinates
+   * are the coordinates for the bottom left corner.
    *
    * @param cornersBuf Corner point array (X and Y for each corner in order)
    * @return Corner point array (copy of cornersBuf span)
diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTagDetector.h b/apriltag/src/main/native/include/frc/apriltag/AprilTagDetector.h
index ea634a54134..59dedf1a7f1 100644
--- a/apriltag/src/main/native/include/frc/apriltag/AprilTagDetector.h
+++ b/apriltag/src/main/native/include/frc/apriltag/AprilTagDetector.h
@@ -226,6 +226,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
 
   /**
    * Detect tags from an 8-bit image.
+   * The image must be grayscale.
    *
    * @param width width of the image
    * @param height height of the image
@@ -237,6 +238,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
 
   /**
    * Detect tags from an 8-bit image.
+   * The image must be grayscale.
    *
    * @param width width of the image
    * @param height height of the image
diff --git a/simulation/halsim_socketcan b/simulation/halsim_socketcan
new file mode 160000
index 00000000000..84705016bc7
--- /dev/null
+++ b/simulation/halsim_socketcan
@@ -0,0 +1 @@
+Subproject commit 84705016bc73356066faea41f7bcc3847c3b59c9