diff --git a/Makefile b/Makefile
index 8a324e51c..8237f39cf 100644
--- a/Makefile
+++ b/Makefile
@@ -72,7 +72,7 @@ template: clean-template library
 	$Dcp $(ROOT)/template-Makefile $(TEMPLATE_DIR)/Makefile
 	$Dmv $(TEMPLATE_DIR)/template-gitignore $(TEMPLATE_DIR)/.gitignore
 	@echo "Creating template"
-	$Dprosv5 c create-template $(TEMPLATE_DIR) kernel $(shell cat $(ROOT)/version) $(CREATE_TEMPLATE_ARGS)
+	$Dpros c create-template $(TEMPLATE_DIR) kernel $(shell cat $(ROOT)/version) $(CREATE_TEMPLATE_ARGS)
 
 LIBV5RTS_EXTRACTION_DIR=$(BINDIR)/libv5rts
 $(LIBAR): $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)) $(EXTRA_LIB_DEPS)
diff --git a/STYLEGUIDE.md b/STYLEGUIDE.md
index f26c68a89..a61f7df38 100644
--- a/STYLEGUIDE.md
+++ b/STYLEGUIDE.md
@@ -49,7 +49,7 @@ These should be placed at the very start of a file.
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/azure-pipelines.yml b/azure-pipelines.yml
index 4c3d641e9..8b06cff09 100644
--- a/azure-pipelines.yml
+++ b/azure-pipelines.yml
@@ -20,7 +20,7 @@ jobs:
   - task: UsePythonVersion@0
     inputs:
       addToPath: true
-      versionSpec: '3'
+      versionSpec: '3.9'
   - task: PipAuthenticate@1
     inputs:
       artifactFeeds: 'pros-cli'
diff --git a/common.mk b/common.mk
index 84f7e2190..10ab5d388 100644
--- a/common.mk
+++ b/common.mk
@@ -201,7 +201,7 @@ library: $(LIBAR)
 
 .PHONY: template
 template: clean-template $(LIBAR)
-	$Dprosv5 c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
+	$Dpros c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
 endif
 
 # if project is a library source, compile the archive and link output.elf against the archive rather than source objects
@@ -280,7 +280,7 @@ $(VV)mkdir -p $(dir $(LDTIMEOBJ))
 @# The shell command $$(($$(date +%s)+($$(date +%-z)/100*3600))) fetches the current
 @# unix timestamp, and then adds the UTC timezone offset to account for time zones.
 
-$(call test_output_2,Adding timestamp ,echo 'const int _PROS_COMPILE_TIMESTAMP_INT = $(shell echo $$(($$(date +%s)+($$(date +%-z)/100*3600)))); char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
+$(call test_output_2,Adding timestamp ,echo 'const int _PROS_COMPILE_TIMESTAMP_INT = $(shell echo $$(($$(date +%s)+($$(date +%-z)/100*3600)))); char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(wildcard $(shell pwd | tail -c 23))";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
 endef
 
 # these rules are for build-compile-commands, which just print out sysroot information
diff --git a/include/api.h b/include/api.h
index 718030d13..7e9231994 100644
--- a/include/api.h
+++ b/include/api.h
@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -40,9 +40,9 @@
 #endif /* __cplusplus */
 
 #define PROS_VERSION_MAJOR 3
-#define PROS_VERSION_MINOR 7
-#define PROS_VERSION_PATCH 3
-#define PROS_VERSION_STRING "3.7.3"
+#define PROS_VERSION_MINOR 8
+#define PROS_VERSION_PATCH 0
+#define PROS_VERSION_STRING "3.8.0"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
diff --git a/include/common/cobs.h b/include/common/cobs.h
index b564e524c..7388cc182 100644
--- a/include/common/cobs.h
+++ b/include/common/cobs.h
@@ -5,7 +5,7 @@
  *
  * See common/cobs.c for discussion
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/common/gid.h b/include/common/gid.h
index 3eacfdf7f..adeac51ac 100644
--- a/include/common/gid.h
+++ b/include/common/gid.h
@@ -5,7 +5,7 @@
  *
  * See common/gid.c for discussion
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/common/linkedlist.h b/include/common/linkedlist.h
index 3793ba76e..098686a52 100644
--- a/include/common/linkedlist.h
+++ b/include/common/linkedlist.h
@@ -6,7 +6,7 @@
  * This file defines a linked list implementation that operates on the FreeRTOS
  * heap, and is able to generically store function pointers and data
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/common/set.h b/include/common/set.h
index 3a42faa50..a2497f0c4 100644
--- a/include/common/set.h
+++ b/include/common/set.h
@@ -5,7 +5,7 @@
  *
  * See common/set.c for discussion
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/common/string.h b/include/common/string.h
index 269a0aed6..55759d8c9 100644
--- a/include/common/string.h
+++ b/include/common/string.h
@@ -5,7 +5,7 @@
  *
  * See common/string.c for discussion
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/kapi.h b/include/kapi.h
index fdb068ef6..ccbde870d 100644
--- a/include/kapi.h
+++ b/include/kapi.h
@@ -8,7 +8,7 @@
  * creation of statically allocated FreeRTOS primitives like tasks, semaphores,
  * and queues.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/main.h b/include/main.h
index bc408a850..288056ef5 100644
--- a/include/main.h
+++ b/include/main.h
@@ -4,7 +4,7 @@
  * Contains common definitions and header files used throughout your PROS
  * project.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -22,7 +22,7 @@
  *
  * For instance, E_CONTROLLER_MASTER has a shorter name: CONTROLLER_MASTER.
  * E_CONTROLLER_MASTER is pedantically correct within the PROS styleguide, but
- * not convienent for most student programmers.
+ * not convenient for most student programmers.
  */
 #define PROS_USE_SIMPLE_NAMES
 
diff --git a/include/pros/adi.h b/include/pros/adi.h
index c06176adb..8f0f556f2 100644
--- a/include/pros/adi.h
+++ b/include/pros/adi.h
@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/adi.hpp b/include/pros/adi.hpp
index 6dc99ef5f..c2fd258d3 100644
--- a/include/pros/adi.hpp
+++ b/include/pros/adi.hpp
@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -494,10 +494,13 @@ class ADIEncoder : private ADIPort {
 	 * 		  sensor with the removable cover side up, and the "bottom" wire from
 	 * 		  the encoder sensor
 	 * \param reverse
-	 *        If "true", the sensor will count in theopposite direction
+	 *        If "true", the sensor will count in the opposite direction
 	 */
 	ADIEncoder(ext_adi_port_tuple_t port_tuple, bool reversed = false);
 
+	// Delete copy constructor to prevent a compilation error from the constructor above.
+	ADIEncoder(ADIEncoder &) = delete;
+	
 	/**
 	 * Sets the encoder value to zero.
 	 *
diff --git a/include/pros/api_legacy.h b/include/pros/api_legacy.h
index 068f7e8a5..deb7d2225 100644
--- a/include/pros/api_legacy.h
+++ b/include/pros/api_legacy.h
@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/pros/apix.h b/include/pros/apix.h
index 8e7d3068c..876a98c8c 100644
--- a/include/pros/apix.h
+++ b/include/pros/apix.h
@@ -12,7 +12,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/pros/distance.h b/include/pros/distance.h
index b7feda198..783da8fda 100644
--- a/include/pros/distance.h
+++ b/include/pros/distance.h
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/error.h b/include/pros/error.h
index 8485978a6..a7e4e54eb 100644
--- a/include/pros/error.h
+++ b/include/pros/error.h
@@ -6,7 +6,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/ext_adi.h b/include/pros/ext_adi.h
index 48e79096c..f75ee0512 100644
--- a/include/pros/ext_adi.h
+++ b/include/pros/ext_adi.h
@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/gps.h b/include/pros/gps.h
index 1af417bcf..1b2e7e7ba 100644
--- a/include/pros/gps.h
+++ b/include/pros/gps.h
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/gps.hpp b/include/pros/gps.hpp
index 0d8b731c1..fce40c2a4 100644
--- a/include/pros/gps.hpp
+++ b/include/pros/gps.hpp
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/imu.h b/include/pros/imu.h
index 59116eee2..f5a1cdc3d 100644
--- a/include/pros/imu.h
+++ b/include/pros/imu.h
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/imu.hpp b/include/pros/imu.hpp
index 84272b0a5..99b28c8df 100644
--- a/include/pros/imu.hpp
+++ b/include/pros/imu.hpp
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/link.h b/include/pros/link.h
index f370b7e36..212834cc9 100644
--- a/include/pros/link.h
+++ b/include/pros/link.h
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/link.hpp b/include/pros/link.hpp
index d44c6bd54..d6c18f3ae 100644
--- a/include/pros/link.hpp
+++ b/include/pros/link.hpp
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2021, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/llemu.h b/include/pros/llemu.h
index 4cb792b3b..8a6d75709 100644
--- a/include/pros/llemu.h
+++ b/include/pros/llemu.h
@@ -13,7 +13,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/llemu.hpp b/include/pros/llemu.hpp
index 8818eddbf..a4834e021 100644
--- a/include/pros/llemu.hpp
+++ b/include/pros/llemu.hpp
@@ -13,7 +13,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/misc.h b/include/pros/misc.h
index 0b6c923fb..16cba5508 100644
--- a/include/pros/misc.h
+++ b/include/pros/misc.h
@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reservered.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/pros/misc.hpp b/include/pros/misc.hpp
index 2415c2f12..7fcb4b545 100644
--- a/include/pros/misc.hpp
+++ b/include/pros/misc.hpp
@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reservered.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/pros/motors.h b/include/pros/motors.h
index 51ee02f4c..737109244 100644
--- a/include/pros/motors.h
+++ b/include/pros/motors.h
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/motors.hpp b/include/pros/motors.hpp
index da330a9c1..10925990f 100644
--- a/include/pros/motors.hpp
+++ b/include/pros/motors.hpp
@@ -461,6 +461,7 @@ class Motor {
 	 *
 	 * \return The motor's voltage in mV or PROS_ERR_F if the operation failed,
 	 * setting errno.
+	 * 
 	 */
 	virtual std::int32_t get_voltage(void) const;
 
@@ -859,8 +860,11 @@ class Motor {
 
 class Motor_Group {
 	public:
-	explicit Motor_Group(const std::initializer_list<Motor> motors);
-	explicit Motor_Group(const std::vector<std::int8_t> motor_ports);
+	Motor_Group(const std::initializer_list<Motor> motors);
+	explicit Motor_Group(const std::vector<pros::Motor>& motors);
+	explicit Motor_Group(const std::initializer_list<std::int8_t> motor_ports);
+	explicit Motor_Group(const std::vector<std::int8_t> motor_ports); // Pass by value to preserve ABI
+
 	/****************************************************************************/
 	/**                      Motor Group movement functions                    **/
 	/**                                                                        **/
@@ -1014,6 +1018,101 @@ class Motor_Group {
 	 * failed, setting errno.
 	 */
 	std::int32_t brake(void);
+
+	/* 
+	 * Gets the voltages delivered to the motors in millivolts.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 * EACCESS - The Motor group mutex can't be taken or given
+	 * 
+	 * \return The voltage of the motor in millivolts or PROS_ERR_F if the operation
+	 * failed, setting errno.
+	 * 
+	 * \b Example
+	 * \code
+	 * void opcontrol() {
+	 *   pros::Motor_Group motors({1, 2});
+	 *   std::vector<std::uint32_t> voltages;
+	 *   while (true) {
+	 * 	   voltages = motors.get_voltages();
+	 * 
+	 *     for (uint32_t i = 0; i < voltages.size(); i++) {
+	 * 	     printf("Voltages: %ld\n", voltages[i]);
+	 *     }
+	 *     pros::delay(20);
+	 *   }
+	 * }
+	 * \endcode
+	 * 
+	 */
+	std::vector<std::uint32_t> get_voltages(void);
+
+	/* 
+	 * Get the voltage limits of the motors set by the user.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 * EACCESS - The Motor group mutex can't be taken or given
+	 * 
+	 * \return The voltage limit of the motor in millivolts or PROS_ERR_F if the operation
+	 * failed, setting errno.
+	 * 
+	 * \b Example
+	 * \code
+	 * void opcontrol() {
+	 *   pros::Motor_Group motors({1, 2});
+	 *   std::vector<std::uint32_t> voltage_limits;
+	 *   while (true) {
+	 * 	   voltage_limits = motors.get_voltage_limits();
+	 * 
+	 *     for (uint32_t i = 0; i < voltage_limits.size(); i++) {
+	 * 	     printf("Voltage Limits: %ld\n", voltage_limits[i]);
+	 *     }
+	 *     pros::delay(20);
+	 *   }
+	 * }
+	 * \endcode
+	 */
+	std::vector<std::uint32_t> get_voltage_limits(void);
+
+	/* 
+	 * Gets the raw encoder positions of a motor group at a given timestamp.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 * EACCESS - The Motor group mutex can't be taken or given
+	 * 	
+	 * \return A vector of the raw encoder positions of the motors in the motor group
+	 * based on the timestamps passed in. If a timestamp is not found for a motor, the
+	 * value at that index will be PROS_ERR.
+	 * 
+	 * \b Example
+	 * \code
+	 * void opcontrol() {
+	 *   pros::Motor_Group motors({1, 2});
+	 *   std::vector<std::uint32_t*> timestamps;
+	 *   std::vector<std::int32_t> positions;
+	 * 	 std::uint32_t temp = 0;
+	 *   std::uint32_t temp2 = 0;
+	 *   timestamps.push_back(&temp);
+	 *   timestamps.push_back(&temp2);
+	 * 
+	 *   while (true) {
+	 *     positions = motors.get_raw_positions(timestamps);
+	 * 
+	 *     printf("Position: %ld, Time: %ln\n", positions[0], timestamps[0]);
+     *	   printf("Position: %ld, Time: %ln\n", positions[1], timestamps[1]);
+	 *
+	 *     pros::delay(20);
+	 *   }
+	 * }
+	 * \endcode
+	 */
+	std::vector<std::int32_t> get_raw_positions(std::vector<std::uint32_t*> &timestamps);
 	/****************************************************************************/
 	/**                      Motor configuration functions                     **/
 	/**                                                                        **/
@@ -1036,6 +1135,20 @@ class Motor_Group {
 	pros::Motor& operator[](int i);
 
 
+	/**
+	 * Indexes Motor in the Motor_Group.
+	 * 
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * Throws an std::out_of_range error when indexing out of range
+	 * 
+	 * \param i
+	 *        The index value in the motor group.
+	 *
+	 * \return the appropriate Motor reference.
+	 */ 	
+	pros::Motor& at(int i);
+
 	/**
 	 * Indexes Motor in the Motor_Group in the same way as an array.
 	 * 
@@ -1341,6 +1454,19 @@ class Motor_Group {
 	 * E_MOTOR_ENCODER_INVALID if the operation failed.
 	 */
 	std::vector<pros::motor_encoder_units_e_t> get_encoder_units(void);
+	
+	/**
+	 * Gets the encoder units that were set for each motor.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 * EACCESS - The Motor group mutex can't be taken or given
+	 *
+	 * \return The vector filled with motors' temperature in degrees Celsius or PROS_ERR_F if the
+ 	 * operation failed, setting errno.
+	 */
+	virtual std::vector<double> get_temperatures(void);
 
 	private:
 	std::vector<Motor> _motors;
diff --git a/include/pros/optical.h b/include/pros/optical.h
index c3cace989..9dd1c1b0d 100644
--- a/include/pros/optical.h
+++ b/include/pros/optical.h
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -265,6 +265,39 @@ int32_t optical_enable_gesture(uint8_t port);
  */
 int32_t optical_disable_gesture(uint8_t port);
 
+/**
+ * Get integration time (update rate) of the optical sensor in milliseconds, with
+ * minimum time being 
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Optical Sensor
+ *
+ * \param port
+ *        The V5 Optical Sensor port number from 1-21
+ * \return Integration time in milliseconds if the operation is successful 
+ * or PROS_ERR if the operation failed, setting errno.
+ */
+double optical_get_integration_time(uint8_t port);
+
+/**
+ * Set integration time (update rate) of the optical sensor in milliseconds.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Optical Sensor
+ *
+ * \param port
+ *        The V5 Optical Sensor port number from 1-21
+ * \param time
+ *        The desired integration time in milliseconds
+ * \return 1 if the operation is successful or PROS_ERR if the operation failed,
+ * setting errno.
+ */
+int32_t optical_set_integration_time(uint8_t port, double time);
+
 #ifdef __cplusplus
 }
 }
diff --git a/include/pros/optical.hpp b/include/pros/optical.hpp
index 783520d4f..006108d63 100644
--- a/include/pros/optical.hpp
+++ b/include/pros/optical.hpp
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -41,6 +41,8 @@ class Optical {
 	 */
 	explicit Optical(const std::uint8_t port);
 
+	explicit Optical(std::uint8_t port, double time);
+
 	/**
 	 * Get the detected color hue
 	 *
@@ -219,6 +221,36 @@ class Optical {
 	 */
 	virtual std::int32_t disable_gesture();
 
+	/**
+	 * Set integration time (update rate) of the optical sensor in milliseconds, with
+	 * minimum time being 3 ms and maximum time being 712 ms. Default is 100 ms, with the 
+	 * optical sensor communciating with the V5 brain every 20 ms. 
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Optical Sensor
+ 	 *
+	 * \return 1 if the operation is successful or PROS_ERR_F if the operation failed,
+	 * setting errno.
+	 */
+	double get_integration_time();
+
+	/**
+	 * Get integration time (update rate) of the optical sensor in milliseconds.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Optical Sensor
+	 *
+	 * \param time
+	 *        The desired integration time in milliseconds
+	 * \return Integration time in milliseconds if the operation is successful 
+	 *  or PROS_ERR if the operation failed, setting errno.
+	 */
+	std::int32_t set_integration_time(double time);
+
 	/**
 	 * Gets the port number of the Optical Sensor.
 	 *
diff --git a/include/pros/rotation.h b/include/pros/rotation.h
index 197936ac5..8daf2fd89 100644
--- a/include/pros/rotation.h
+++ b/include/pros/rotation.h
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/rotation.hpp b/include/pros/rotation.hpp
index c53ab7b1e..a063eda21 100644
--- a/include/pros/rotation.hpp
+++ b/include/pros/rotation.hpp
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/rtos.h b/include/pros/rtos.h
index 3afdb24a4..c07673427 100644
--- a/include/pros/rtos.h
+++ b/include/pros/rtos.h
@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/pros/rtos.hpp b/include/pros/rtos.hpp
index 0cd0d6c6e..2505f1d1c 100644
--- a/include/pros/rtos.hpp
+++ b/include/pros/rtos.hpp
@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/pros/screen.h b/include/pros/screen.h
index 4cffe76c1..8076daa94 100644
--- a/include/pros/screen.h
+++ b/include/pros/screen.h
@@ -5,7 +5,7 @@
  *
  * Contains user calls to the v5 screen for touching and displaying graphics.
  *
- * \copyright (c) 2017-2021, Purdue University ACM SIGBots.
+ * \copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/screen.hpp b/include/pros/screen.hpp
index 3aecd188f..d7f6c08e8 100644
--- a/include/pros/screen.hpp
+++ b/include/pros/screen.hpp
@@ -5,7 +5,7 @@
  *
  * Contains user calls to the v5 screen for touching and displaying graphics.
  *
- * \copyright (c) 2017, Purdue University ACM SIGBots.
+ * \copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/serial.h b/include/pros/serial.h
index 6db69cd08..357aa107c 100644
--- a/include/pros/serial.h
+++ b/include/pros/serial.h
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/pros/vision.h b/include/pros/vision.h
index 8464b6c3f..33918c785 100644
--- a/include/pros/vision.h
+++ b/include/pros/vision.h
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/pros/vision.hpp b/include/pros/vision.hpp
index eeb004629..e40af9b8c 100644
--- a/include/pros/vision.hpp
+++ b/include/pros/vision.hpp
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/system/dev/banners.h b/include/system/dev/banners.h
index 802abafae..e327cf9c1 100644
--- a/include/system/dev/banners.h
+++ b/include/system/dev/banners.h
@@ -7,7 +7,7 @@
  *
  * See system/dev/serial_daemon.c for discussion
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/system/dev/dev.h b/include/system/dev/dev.h
index 16bd76c8f..be6848375 100644
--- a/include/system/dev/dev.h
+++ b/include/system/dev/dev.h
@@ -3,7 +3,7 @@
  *
  * Generic Serial Device driver header
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/system/dev/ser.h b/include/system/dev/ser.h
index 56bc83108..2c5f4d384 100644
--- a/include/system/dev/ser.h
+++ b/include/system/dev/ser.h
@@ -5,7 +5,7 @@
  *
  * See system/dev/ser_driver.c and system/dev/ser_daemon.c for discussion
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/system/dev/usd.h b/include/system/dev/usd.h
index 3f39dd27c..d4b56a1ac 100644
--- a/include/system/dev/usd.h
+++ b/include/system/dev/usd.h
@@ -5,7 +5,7 @@
  *
  * See system/dev/usd_driver.c for discussion
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/system/dev/vfs.h b/include/system/dev/vfs.h
index b8582202a..ddf6b4993 100644
--- a/include/system/dev/vfs.h
+++ b/include/system/dev/vfs.h
@@ -5,7 +5,7 @@
  *
  * See system/dev/vfs.c for discussion
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/system/optimizers.h b/include/system/optimizers.h
index 123beaa4f..e98b2f046 100644
--- a/include/system/optimizers.h
+++ b/include/system/optimizers.h
@@ -5,7 +5,7 @@
  *
  * Probably shouldn't use anything from this header
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/include/vdml/port.h b/include/vdml/port.h
index fd2327e16..7f43be86c 100644
--- a/include/vdml/port.h
+++ b/include/vdml/port.h
@@ -1,3 +1,19 @@
+/**
+ * \file vdml/port.h
+ *
+ * This file contains the standard header info for port macros and bit masks, 
+ * used mostly for the adi expander.
+ *
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
+ * All rights reserved.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#ifndef _VDML_PORT_H_
+#define _VDML_PORT_H_
+
 #define SMART_PORT_BITS 16
 #define SMART_PORT_MASK ((1 << SMART_PORT_BITS) - 1)
 
@@ -14,4 +30,6 @@
 
 static inline uint32_t merge_adi_ports(uint8_t smart_port, uint8_t adi_port) {
 	return (adi_port << SMART_PORT_BITS) | smart_port;
-}
\ No newline at end of file
+}
+
+#endif
diff --git a/include/vdml/registry.h b/include/vdml/registry.h
index 0df19e266..7157e2ab2 100644
--- a/include/vdml/registry.h
+++ b/include/vdml/registry.h
@@ -4,7 +4,7 @@
  * This file contains the standard header info for the VDML (Vex Data Management
  * Layer) registry.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/include/vdml/vdml.h b/include/vdml/vdml.h
index 65848ac47..f9fb36089 100644
--- a/include/vdml/vdml.h
+++ b/include/vdml/vdml.h
@@ -4,7 +4,7 @@
  * This file contains all types and functions used throughout multiple VDML
  * (Vex Data Management Layer) files.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/common/cobs.c b/src/common/cobs.c
index 599f64cff..13742500a 100644
--- a/src/common/cobs.c
+++ b/src/common/cobs.c
@@ -6,7 +6,7 @@
  * Contains an implementation of Consistent Overhead Byte Stuffing, adapted from
  * https://github.com/jacquesf/COBS-Consistent-Overhead-Byte-Stuffing
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/common/gid.c b/src/common/gid.c
index 91d1da339..d22eea00f 100644
--- a/src/common/gid.c
+++ b/src/common/gid.c
@@ -6,7 +6,7 @@
  * Contains an implementation to efficiently assign globally unique IDs
  * e.g. to assign entries in a global table
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/common/linkedlist.c b/src/common/linkedlist.c
index 3b716834f..936702610 100644
--- a/src/common/linkedlist.c
+++ b/src/common/linkedlist.c
@@ -6,7 +6,7 @@
  * This file defines a linked list implementation that operates on the FreeRTOS
  * heap, and is able to generically store function pointers and data
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/common/set.c b/src/common/set.c
index f84c9684e..f2b622e52 100644
--- a/src/common/set.c
+++ b/src/common/set.c
@@ -5,7 +5,7 @@
  * It's used to check which streams are enabled in ser_driver for the moment,
  * but also has list_contains which may be useful in other contexts.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/common/string.c b/src/common/string.c
index d585e5dff..9a482848b 100644
--- a/src/common/string.c
+++ b/src/common/string.c
@@ -4,7 +4,7 @@
  * Contains extra string functions useful for PROS and kstrdup/kstrndup which
  * use the kernel heap instead of the user heap
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/devices/battery.c b/src/devices/battery.c
index 57b9f1e7b..22ca6a3b0 100644
--- a/src/devices/battery.c
+++ b/src/devices/battery.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 Battery.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/devices/battery.cpp b/src/devices/battery.cpp
index 09befbcce..8bff2b06e 100644
--- a/src/devices/battery.cpp
+++ b/src/devices/battery.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 Battery.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/devices/controller.c b/src/devices/controller.c
index 5da9b27e6..905c2a9ca 100644
--- a/src/devices/controller.c
+++ b/src/devices/controller.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 Controller.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/devices/controller.cpp b/src/devices/controller.cpp
index d396c58af..66cf15f96 100644
--- a/src/devices/controller.cpp
+++ b/src/devices/controller.cpp
@@ -4,7 +4,7 @@
  * Contains functions for interacting with the V5 Controller, as well as the
  * competition control functions.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/devices/registry.c b/src/devices/registry.c
index 181149ac9..634f23df6 100644
--- a/src/devices/registry.c
+++ b/src/devices/registry.c
@@ -5,7 +5,7 @@
  * what devices are in use on the V5. Therefore, in order to use V5 devices with
  * PROS, they must be registered and deregistered using the registry.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml.c b/src/devices/vdml.c
index 0bb5c9956..20e0208b5 100644
--- a/src/devices/vdml.c
+++ b/src/devices/vdml.c
@@ -6,7 +6,7 @@
  * VDML ensures thread saftey for operations on smart devices by maintaining
  * an array of RTOS Mutexes and implementing functions to take and give them.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_adi.c b/src/devices/vdml_adi.c
index 309efa879..1ce0ceb7f 100644
--- a/src/devices/vdml_adi.c
+++ b/src/devices/vdml_adi.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 ADI.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_adi.cpp b/src/devices/vdml_adi.cpp
index c1f4ccbe1..419adecb6 100644
--- a/src/devices/vdml_adi.cpp
+++ b/src/devices/vdml_adi.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 ADI.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_distance.c b/src/devices/vdml_distance.c
index 42c322938..27f860c8e 100644
--- a/src/devices/vdml_distance.c
+++ b/src/devices/vdml_distance.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX Distance sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -50,4 +50,4 @@ double distance_get_object_velocity(uint8_t port) {
 	ERROR_DISTANCE_BAD_PORT(device, PROS_ERR);
 	double rtn = vexDeviceDistanceObjectVelocityGet(device->device_info);
 	return_port(port - 1, rtn);
-}
\ No newline at end of file
+}
diff --git a/src/devices/vdml_distance.cpp b/src/devices/vdml_distance.cpp
index 3c2e5180d..72c1514a3 100644
--- a/src/devices/vdml_distance.cpp
+++ b/src/devices/vdml_distance.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX Distance sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_ext_adi.c b/src/devices/vdml_ext_adi.c
index 6a0731662..76de6db93 100644
--- a/src/devices/vdml_ext_adi.c
+++ b/src/devices/vdml_ext_adi.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 3-Wire Expander.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_gps.c b/src/devices/vdml_gps.c
index 4045439aa..93b155006 100644
--- a/src/devices/vdml_gps.c
+++ b/src/devices/vdml_gps.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX GPS.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_gps.cpp b/src/devices/vdml_gps.cpp
index a4dee3d3f..bc0d4e85a 100644
--- a/src/devices/vdml_gps.cpp
+++ b/src/devices/vdml_gps.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX GPS.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_imu.c b/src/devices/vdml_imu.c
index abdfe0655..b4cf27a9f 100644
--- a/src/devices/vdml_imu.c
+++ b/src/devices/vdml_imu.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX Inertial sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_imu.cpp b/src/devices/vdml_imu.cpp
index 46f3006f8..948c1294f 100644
--- a/src/devices/vdml_imu.cpp
+++ b/src/devices/vdml_imu.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX Inertial sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_link.c b/src/devices/vdml_link.c
index 927487f8a..648aa59af 100644
--- a/src/devices/vdml_link.c
+++ b/src/devices/vdml_link.c
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_link.cpp b/src/devices/vdml_link.cpp
index 598c5865d..b8f657279 100644
--- a/src/devices/vdml_link.cpp
+++ b/src/devices/vdml_link.cpp
@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  * 
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_motors.c b/src/devices/vdml_motors.c
index 8569dc358..0f75a8316 100644
--- a/src/devices/vdml_motors.c
+++ b/src/devices/vdml_motors.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 Motors.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -385,8 +385,7 @@ motor_pid_full_s_t motor_get_pos_pid(uint8_t port) {
 	rtn.limit = pid.limit;
 	rtn.threshold = pid.threshold;
 	rtn.loopspeed = pid.loopspeed;
-	port_mutex_give(port - 1);
-	return rtn;
+	return_port(port - 1, rtn);
 }
 
 motor_pid_full_s_t motor_get_vel_pid(uint8_t port) {
@@ -412,8 +411,7 @@ motor_pid_full_s_t motor_get_vel_pid(uint8_t port) {
 	rtn.limit = pid.limit;
 	rtn.threshold = pid.threshold;
 	rtn.loopspeed = pid.loopspeed;
-	port_mutex_give(port - 1);
-	return rtn;
+	return_port(port - 1, rtn);
 }
 
 int32_t motor_is_reversed(uint8_t port) {
@@ -425,5 +423,5 @@ int32_t motor_is_reversed(uint8_t port) {
 int32_t motor_get_voltage_limit(uint8_t port) {
 	claim_port_i(port - 1, E_DEVICE_MOTOR);
 	int32_t rtn = vexDeviceMotorVoltageLimitGet(device->device_info);
-	return_port(rtn, port - 1);
+	return_port(port - 1, rtn);
 }
diff --git a/src/devices/vdml_motors.cpp b/src/devices/vdml_motors.cpp
index 7c197d33d..a270cbc8b 100644
--- a/src/devices/vdml_motors.cpp
+++ b/src/devices/vdml_motors.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 Motors.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -339,11 +339,20 @@ Motor_Group::Motor_Group(const std::initializer_list<Motor> motors)
     assert(_motor_count > 0);
 }
 
+Motor_Group::Motor_Group(const std::vector<pros::Motor>& motors) 
+	: _motors(motors), _motor_group_mutex(pros::Mutex()), _motor_count(motors.size()) {}
+
+Motor_Group::Motor_Group(const std::initializer_list<std::int8_t> motor_ports) 
+	: _motor_group_mutex(pros::Mutex()), _motor_count(motor_ports.size()) {
+	for (auto& i : motor_ports) {
+		_motors.emplace_back(i);
+	}	
+}
+
 Motor_Group::Motor_Group(const std::vector<std::int8_t> motor_ports)
     : _motor_group_mutex(pros::Mutex()), _motor_count(motor_ports.size()) {
-    assert(_motor_count > 0);
-	for (std::uint8_t i = 0; i < _motor_count; ++i) {
-		_motors.push_back(Motor(motor_ports[i]));
+	for (auto& i: motor_ports) {
+		_motors.emplace_back(i);
 	}
 }
 
@@ -375,6 +384,13 @@ pros::Motor& Motor_Group::operator[](int i) {
 	return _motors.at(i);
 }
 
+pros::Motor& Motor_Group::at(int i) {
+	if (i >= _motor_count || _motors.empty()) {
+		throw std::out_of_range("Out of Range! Motor_Group for at() method is out of range");
+	}
+	return _motors[i];
+}
+
 std::int32_t Motor_Group::size() {
 	return _motor_count;
 }
@@ -444,6 +460,16 @@ std::int32_t Motor_Group::set_reversed(const bool reversed) {
 	return out;
 }
 
+std::vector<double> Motor_Group::get_temperatures(void) {
+	std::vector<double> out;
+	claim_mg_mutex_vector(PROS_ERR_F);
+	for (Motor motor : _motors) {
+		out.push_back(motor.get_temperature());
+	}
+	give_mg_mutex_vector(PROS_ERR_F);
+	return out;
+}
+
 std::int32_t Motor_Group::set_voltage_limit(const std::int32_t limit) {
 	claim_mg_mutex(PROS_ERR);
 	std::int32_t out = PROS_SUCCESS;
@@ -475,6 +501,50 @@ std::int32_t Motor_Group::tare_position(void) {
 	return out;
 }
 
+std::vector<std::uint32_t> Motor_Group::get_voltages(void) {
+	std::vector<std::uint32_t> out;
+	claim_mg_mutex_vector(PROS_ERR);
+	for (Motor motor : _motors) {
+		out.push_back(motor.get_voltage());
+	}
+	give_mg_mutex_vector(PROS_ERR);
+	return out;
+}
+
+std::vector<std::uint32_t> Motor_Group::get_voltage_limits(void) {
+	std::vector<std::uint32_t> out;
+	claim_mg_mutex_vector(PROS_ERR);
+	for (Motor &motor : _motors) {	
+		out.push_back(motor.get_voltage_limit());
+	}
+	give_mg_mutex_vector(PROS_ERR);
+	return out;
+}
+
+std::vector<std::int32_t> Motor_Group::get_raw_positions(std::vector<std::uint32_t*> &timestamps) {
+	// Create a vector size of the number of motors and fill it with PROS_ERR
+	std::vector<std::int32_t> out(_motors.size(), PROS_ERR);
+	claim_mg_mutex_vector(PROS_ERR);
+	if (timestamps.empty()) {
+		// If the timestamps vector is null, return a vector of PROS_ERR
+		give_mg_mutex_vector(PROS_ERR);
+		return out;
+	}
+	// Find the minimum between the number of motors and the number of timestamps
+	// Use this to know how many times to iterate through the loop
+	// To prevent a segfault if vector of timestamps smaller than the number of motors
+	// If the timestamps vector larger than motor, the extra timestamps will be ignored
+	int min_iter = std::min(_motors.size(), timestamps.size());
+	for (int i = 0; i < min_iter; i++) {
+		// Check timestamp is not nullptr before getting the raw position
+		if (timestamps[i] != nullptr) {
+			out[i] = _motors[i].get_raw_position(timestamps[i]);
+		}
+	}
+	give_mg_mutex_vector(PROS_ERR);
+	return out;
+}
+
 std::vector<double> Motor_Group::get_target_positions(void) {
 	std::vector<double> out;
 	claim_mg_mutex_vector(PROS_ERR_F);
diff --git a/src/devices/vdml_optical.c b/src/devices/vdml_optical.c
index 767f899b3..28dc47228 100644
--- a/src/devices/vdml_optical.c
+++ b/src/devices/vdml_optical.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX Optical sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -17,6 +17,11 @@
 #include "vdml/registry.h"
 #include "vdml/vdml.h"
 
+// Source for these figures: 
+// https://www.vexforum.com/t/v5-optical-sensor-refresh-rate/109632/9
+#define MIN_INTEGRATION_TIME 3 // ms
+#define MAX_INTEGRATION_TIME 712 // ms
+
 double optical_get_hue(uint8_t port) {
 	claim_port_i(port - 1, E_DEVICE_OPTICAL);
 	double rtn = vexDeviceOpticalHueGet(device->device_info);
@@ -134,3 +139,20 @@ int32_t optical_disable_gesture(uint8_t port) {
 	vexDeviceOpticalGestureDisable(device->device_info);
 	return_port(port - 1, PROS_SUCCESS);
 }
+
+double optical_get_integration_time(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_OPTICAL);
+	double rtv = vexDeviceOpticalIntegrationTimeGet(device->device_info);
+	return_port(port - 1, rtv);
+}
+
+int32_t optical_set_integration_time(uint8_t port, double time) {
+	claim_port_i(port - 1, E_DEVICE_OPTICAL);
+	// going to set the time to minimum of 3 ms, 3 ms is possible but impractical.
+	time = time < MIN_INTEGRATION_TIME ? MIN_INTEGRATION_TIME : time;
+	// also boundary limit max integration time too
+	time = time > MAX_INTEGRATION_TIME ? MAX_INTEGRATION_TIME : time;
+
+	vexDeviceOpticalIntegrationTimeSet(device->device_info, time);
+	return_port(port - 1, PROS_SUCCESS);
+}
diff --git a/src/devices/vdml_optical.cpp b/src/devices/vdml_optical.cpp
index 82b53c78f..8674495c5 100644
--- a/src/devices/vdml_optical.cpp
+++ b/src/devices/vdml_optical.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX Optical sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -17,6 +17,10 @@ using namespace pros::c;
 
 Optical::Optical(std::uint8_t port): _port(port){}
 
+Optical::Optical(std::uint8_t port, double time): _port(port){
+  set_integration_time(time);
+}
+
 double Optical::get_hue(){
   return optical_get_hue(_port);
 }
@@ -65,7 +69,16 @@ std::int32_t Optical::disable_gesture(){
   return optical_disable_gesture(_port);
 }
 
+double Optical::get_integration_time() {
+  return optical_get_integration_time(_port);
+}
+
+std::int32_t Optical::set_integration_time(double time) {
+  return optical_set_integration_time(_port, time);
+}
+
 std::uint8_t Optical::get_port(){
   return _port;
 }
-}
\ No newline at end of file
+
+} // namespace pros
diff --git a/src/devices/vdml_rotation.c b/src/devices/vdml_rotation.c
index 9fcc8e896..b0c256738 100644
--- a/src/devices/vdml_rotation.c
+++ b/src/devices/vdml_rotation.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX Rotation sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_rotation.cpp b/src/devices/vdml_rotation.cpp
index 54435f77f..74adf33bb 100644
--- a/src/devices/vdml_rotation.cpp
+++ b/src/devices/vdml_rotation.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the VEX Rotation sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_serial.c b/src/devices/vdml_serial.c
index a91a76c72..0e3e009d0 100644
--- a/src/devices/vdml_serial.c
+++ b/src/devices/vdml_serial.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with V5 Generic Serial devices.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_serial.cpp b/src/devices/vdml_serial.cpp
index 92f05351d..3335d6421 100644
--- a/src/devices/vdml_serial.cpp
+++ b/src/devices/vdml_serial.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with V5 Generic Serial devices.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_usd.c b/src/devices/vdml_usd.c
index c3307fd39..879f6525f 100644
--- a/src/devices/vdml_usd.c
+++ b/src/devices/vdml_usd.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the SD card.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/devices/vdml_usd.cpp b/src/devices/vdml_usd.cpp
index 59a742601..71318463c 100644
--- a/src/devices/vdml_usd.cpp
+++ b/src/devices/vdml_usd.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the SD card.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/devices/vdml_vision.c b/src/devices/vdml_vision.c
index 8d6d015d3..9c8cb4dd4 100644
--- a/src/devices/vdml_vision.c
+++ b/src/devices/vdml_vision.c
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 Vision Sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/devices/vdml_vision.cpp b/src/devices/vdml_vision.cpp
index 81bacbddc..9d25574a5 100644
--- a/src/devices/vdml_vision.cpp
+++ b/src/devices/vdml_vision.cpp
@@ -3,7 +3,7 @@
  *
  * Contains functions for interacting with the V5 Vision Sensor.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/display/display.c b/src/display/display.c
index ecdc2d9e7..4072f6527 100644
--- a/src/display/display.c
+++ b/src/display/display.c
@@ -3,7 +3,7 @@
  *
  * Main source code for interacting with the V5 Brain's LCD screen.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/display/error.c b/src/display/error.c
index 94fa95e2e..43268aa4c 100644
--- a/src/display/error.c
+++ b/src/display/error.c
@@ -4,7 +4,7 @@
  * Error display handling. Prints an error message to the screen when the kernel
  * is put in an error state.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/display/llemu.c b/src/display/llemu.c
index 0129f65d4..87ff5465f 100644
--- a/src/display/llemu.c
+++ b/src/display/llemu.c
@@ -7,7 +7,7 @@
  * VEX LCD, containing a set of functions that facilitate the use of a software-
  * emulated version of the classic VEX LCD module.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/display/llemu.cpp b/src/display/llemu.cpp
index 3123f37f2..edf009ab8 100644
--- a/src/display/llemu.cpp
+++ b/src/display/llemu.cpp
@@ -7,7 +7,7 @@
  * VEX LCD, containing a set of functions that facilitate the use of a software-
  * emulated version of the classic VEX LCD module.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
diff --git a/src/rtos/rtos.cpp b/src/rtos/rtos.cpp
index f59c13302..b2ca935a8 100644
--- a/src/rtos/rtos.cpp
+++ b/src/rtos/rtos.cpp
@@ -6,7 +6,7 @@
  *
  * See https://pros.cs.purdue.edu/v5/tutorials/multitasking.html to learn more.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/cpp_support.cpp b/src/system/cpp_support.cpp
index 481d0b64a..86e216a24 100644
--- a/src/system/cpp_support.cpp
+++ b/src/system/cpp_support.cpp
@@ -3,7 +3,7 @@
  *
  * C++ support hooks
  *
- * Copyright (c) 2017-2021, Purdue University ACM SIGBots
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/dev/dev_driver.c b/src/system/dev/dev_driver.c
index 01b69b18c..dbf4b79a0 100644
--- a/src/system/dev/dev_driver.c
+++ b/src/system/dev/dev_driver.c
@@ -6,7 +6,7 @@
  * Contains the driver for writing to any smart port with no regard to the
  * device on the other end.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/dev/file_system_stubs.c b/src/system/dev/file_system_stubs.c
index ed7679f04..db7cc4e14 100644
--- a/src/system/dev/file_system_stubs.c
+++ b/src/system/dev/file_system_stubs.c
@@ -6,7 +6,7 @@
  * Contains temporary stubs for the file system to allow compilation under gcc 9.2
  * This is temporary and should be removed as part of #184
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/dev/ser_daemon.c b/src/system/dev/ser_daemon.c
index 2a0d23239..d77fdee3f 100644
--- a/src/system/dev/ser_daemon.c
+++ b/src/system/dev/ser_daemon.c
@@ -7,7 +7,7 @@
  * characters and responding to any kernel commands (like printing the banner or
  * enabling COBS)
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/dev/ser_driver.c b/src/system/dev/ser_driver.c
index dd3c7226f..be948f8e3 100644
--- a/src/system/dev/ser_driver.c
+++ b/src/system/dev/ser_driver.c
@@ -6,7 +6,7 @@
  * Contains the driver for communicating over the serial line. The serial driver
  * is responsible for shipping out all data.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/dev/usd_driver.c b/src/system/dev/usd_driver.c
index 589e33142..8c703b1d7 100644
--- a/src/system/dev/usd_driver.c
+++ b/src/system/dev/usd_driver.c
@@ -3,7 +3,7 @@
  *
  * Contains the driver for writing files to the microSD card.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/dev/vfs.c b/src/system/dev/vfs.c
index c6d0d750b..6d893aca2 100644
--- a/src/system/dev/vfs.c
+++ b/src/system/dev/vfs.c
@@ -13,7 +13,7 @@
  * fileno. A file number maps to a driver and driver argument, which would be
  * whatever metadata the driver needs to open the file
  *
- * Copyright (c) 2017-2021, Purdue University ACM SIGBots
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/envlock.c b/src/system/envlock.c
index 35ca44984..dd2cb3020 100644
--- a/src/system/envlock.c
+++ b/src/system/envlock.c
@@ -5,7 +5,7 @@
  *
  * Contains implementations of environment-locking functions for newlib.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/mlock.c b/src/system/mlock.c
index ee4be90b1..a78a53334 100644
--- a/src/system/mlock.c
+++ b/src/system/mlock.c
@@ -5,7 +5,7 @@
  *
  * Contains implementations of memory-locking functions for newlib.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/newlib_stubs.c b/src/system/newlib_stubs.c
index 3845f450a..6594f78a2 100644
--- a/src/system/newlib_stubs.c
+++ b/src/system/newlib_stubs.c
@@ -6,7 +6,7 @@
  * Contains the various methods needed to enable standard C library support
  * through the use of the Arm-distributed implementation of newlib.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/rtos_hooks.c b/src/system/rtos_hooks.c
index 277e44d0d..9b547a029 100644
--- a/src/system/rtos_hooks.c
+++ b/src/system/rtos_hooks.c
@@ -6,7 +6,7 @@
  * FreeRTOS requires some porting to each platform to handle certain tasks. This
  * file contains the various methods required to be implemented for FreeRTOS.
  *
- * Copyright (c) 2017-2021, Purdue University ACM SIGBots
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/startup.c b/src/system/startup.c
index 2cf332d2d..0d9169bf4 100644
--- a/src/system/startup.c
+++ b/src/system/startup.c
@@ -5,7 +5,7 @@
  * code. Our main() initializes data structures and starts the FreeRTOS
  * scheduler.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/system_daemon.c b/src/system/system_daemon.c
index 969158255..3a6f35ca8 100644
--- a/src/system/system_daemon.c
+++ b/src/system/system_daemon.c
@@ -3,7 +3,7 @@
  *
  * Competition control daemon responsible for invoking the user tasks.
  *
- * Copyright (c) 2017-2021, Purdue University ACM SIGBots
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/system/unwind.c b/src/system/unwind.c
index 9ac6c180e..143f05a1a 100644
--- a/src/system/unwind.c
+++ b/src/system/unwind.c
@@ -5,7 +5,7 @@
  * be arbitrarily stopped, requiring us to call all the destructors of the task
  * to be killed.
  *
- * Copyright (c) 2017-2021, Purdue University ACM SIGBots
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/tests/adi.cpp b/src/tests/adi.cpp
index a630d4492..c17468959 100644
--- a/src/tests/adi.cpp
+++ b/src/tests/adi.cpp
@@ -6,7 +6,7 @@
  * NOTE: There should also be a call to the constructor for the gyroscope object
  * in initialize() for calibration to occur before the opcontrol code.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/tests/ext_adi.cpp b/src/tests/ext_adi.cpp
index 33476ddb9..df481caa4 100644
--- a/src/tests/ext_adi.cpp
+++ b/src/tests/ext_adi.cpp
@@ -3,7 +3,7 @@
  *
  * Test code for various External ADI things
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/tests/generic_serial.cpp b/src/tests/generic_serial.cpp
index b4b347b1d..4b34167fe 100644
--- a/src/tests/generic_serial.cpp
+++ b/src/tests/generic_serial.cpp
@@ -6,7 +6,7 @@
  * NOTE: There should be a cable plugged into ports 1 and 2, connecting
  * them together
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/tests/generic_serial_file.cpp b/src/tests/generic_serial_file.cpp
index a1c0a6dc3..60c032332 100644
--- a/src/tests/generic_serial_file.cpp
+++ b/src/tests/generic_serial_file.cpp
@@ -6,7 +6,7 @@
  * NOTE: There should be a cable plugged into ports 1 and 2, connecting
  * them together
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/tests/gyro.c b/src/tests/gyro.c
index 878ccec57..61ae023e4 100644
--- a/src/tests/gyro.c
+++ b/src/tests/gyro.c
@@ -6,7 +6,7 @@
  * NOTE: There should also be a call to the constructor for the gyroscope object
  * in initialize() for calibration to occur before the opcontrol code.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/tests/gyro.cpp b/src/tests/gyro.cpp
index e4f4ef15e..a94b21532 100644
--- a/src/tests/gyro.cpp
+++ b/src/tests/gyro.cpp
@@ -6,7 +6,7 @@
  * NOTE: There should also be a call to the constructor for the gyroscope object
  * in initialize() for calibration to occur before the opcontrol code.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/tests/rtos_function_linking.c b/src/tests/rtos_function_linking.c
index bb3217a1d..f82e1639c 100644
--- a/src/tests/rtos_function_linking.c
+++ b/src/tests/rtos_function_linking.c
@@ -5,7 +5,7 @@
  *
  * Do not actually run this test - just make sure it compiles
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/tests/simple_names.c b/src/tests/simple_names.c
index 1c17de41a..4cae64c86 100644
--- a/src/tests/simple_names.c
+++ b/src/tests/simple_names.c
@@ -5,7 +5,7 @@
  *
  * Do not actually run this test - just make sure it compiles
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/src/tests/simple_names.cpp b/src/tests/simple_names.cpp
index 57b0d5cc4..3b976658b 100644
--- a/src/tests/simple_names.cpp
+++ b/src/tests/simple_names.cpp
@@ -5,7 +5,7 @@
  *
  * Do not actually run this test - just make sure it compiles
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
diff --git a/version b/version
index c1e43e6d4..19811903a 100644
--- a/version
+++ b/version
@@ -1 +1 @@
-3.7.3
+3.8.0