diff --git a/CANMotor_8h_source.html b/CANMotor_8h_source.html
index d0eaf67a..722b45f2 100644
--- a/CANMotor_8h_source.html
+++ b/CANMotor_8h_source.html
@@ -120,7 +120,7 @@
 <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
 <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacecan_1_1motor.html#aaeed0f12c1b4d0867d8731cf19dbf40e">setLimitSwitchLimits</a>(<a class="code hl_typedef" href="namespacecan.html#ad9e11e8dde365a609487743b3ebf7cd0">deviceserial_t</a> serial, <a class="code hl_typedefRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ad5ed0491058a71efd30a0f28ad1d3f05">int32_t</a> lo, <a class="code hl_typedefRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ad5ed0491058a71efd30a0f28ad1d3f05">int32_t</a> hi);</div>
 <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="namespacecan_1_1motor.html#a7831a61147dcf3f0a72e80878ae13bfa">   85</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacecan_1_1motor.html#a7831a61147dcf3f0a72e80878ae13bfa">initPotentiometer</a>(<a class="code hl_typedef" href="namespacecan.html#ad9e11e8dde365a609487743b3ebf7cd0">deviceserial_t</a> serial, <a class="code hl_typedefRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ad5ed0491058a71efd30a0f28ad1d3f05">int32_t</a> posLo, <a class="code hl_typedefRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ad5ed0491058a71efd30a0f28ad1d3f05">int32_t</a> posHi, <a class="code hl_typedefRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ab8f9e3c8d45fa2f89547aa6367185a6f">uint16_t</a> adcLo,</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacecan_1_1motor.html#a7831a61147dcf3f0a72e80878ae13bfa">initPotentiometer</a>(<a class="code hl_typedef" href="namespacecan.html#ad9e11e8dde365a609487743b3ebf7cd0">deviceserial_t</a> serial, <a class="code hl_typedefRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ad5ed0491058a71efd30a0f28ad1d3f05">int32_t</a> posLo, <a class="code hl_typedefRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ad5ed0491058a71efd30a0f28ad1d3f05">int32_t</a> posHi, <a class="code hl_typedefRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ab8f9e3c8d45fa2f89547aa6367185a6f">uint16_t</a> adcLo,</div>
 <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>                       <a class="code hl_typedefRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ab8f9e3c8d45fa2f89547aa6367185a6f">uint16_t</a> adcHi,</div>
 <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>                       std::optional&lt;std::chrono::milliseconds&gt; telemetryPeriod);</div>
 <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
@@ -153,21 +153,21 @@
 <div class="ttc" id="aa02895_html"><div class="ttname"><a href="https://gcc.gnu.org/onlinedocs/gcc-9.3.0/libstdc++/api/a02895.html">std::tuple</a></div></div>
 <div class="ttc" id="aclassrobot_1_1types_1_1DataPoint_html"><div class="ttname"><a href="classrobot_1_1types_1_1DataPoint.html">robot::types::DataPoint</a></div><div class="ttdoc">Represents data measured using a sensor at a given time.</div><div class="ttdef"><b>Definition</b> data.h:113</div></div>
 <div class="ttc" id="anamespacecan_1_1motor_html"><div class="ttname"><a href="namespacecan_1_1motor.html">can::motor</a></div><div class="ttdoc">Utilities for interacting with motor boards over a CAN interface.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:20</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_a26b1ed31074df37917d234af08c2aa67"><div class="ttname"><a href="namespacecan_1_1motor.html#a26b1ed31074df37917d234af08c2aa67">can::motor::pullMotorPosition</a></div><div class="ttdeci">void pullMotorPosition(deviceserial_t serial)</div><div class="ttdoc">Poll the position data from a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:98</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_a4b1bd661cbd859a8b6a169b2b0386e28"><div class="ttname"><a href="namespacecan_1_1motor.html#a4b1bd661cbd859a8b6a169b2b0386e28">can::motor::setMotorPower</a></div><div class="ttdeci">void setMotorPower(deviceserial_t serial, double power)</div><div class="ttdoc">Set the power output of a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:67</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_a566a73312d54f8c5e439e6c414fc7a5f"><div class="ttname"><a href="namespacecan_1_1motor.html#a566a73312d54f8c5e439e6c414fc7a5f">can::motor::getMotorPosition</a></div><div class="ttdeci">DataPoint&lt; int32_t &gt; getMotorPosition(deviceserial_t serial)</div><div class="ttdoc">Get the last reported position of a motor.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:93</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_a6a94bbe1a8abe8fd968d4c56658960a7"><div class="ttname"><a href="namespacecan_1_1motor.html#a6a94bbe1a8abe8fd968d4c56658960a7">can::motor::initEncoder</a></div><div class="ttdeci">void initEncoder(deviceserial_t serial, bool invertEncoder, bool zeroEncoder, int32_t pulsesPerJointRev, std::optional&lt; std::chrono::milliseconds &gt; telemetryPeriod)</div><div class="ttdoc">Initialize an encoder attached to the given motor.</div><div class="ttdef"><b>Definition</b> CANMotor_AVR.cpp:17</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_a26b1ed31074df37917d234af08c2aa67"><div class="ttname"><a href="namespacecan_1_1motor.html#a26b1ed31074df37917d234af08c2aa67">can::motor::pullMotorPosition</a></div><div class="ttdeci">void pullMotorPosition(deviceserial_t serial)</div><div class="ttdoc">Poll the position data from a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:131</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_a4b1bd661cbd859a8b6a169b2b0386e28"><div class="ttname"><a href="namespacecan_1_1motor.html#a4b1bd661cbd859a8b6a169b2b0386e28">can::motor::setMotorPower</a></div><div class="ttdeci">void setMotorPower(deviceserial_t serial, double power)</div><div class="ttdoc">Set the power output of a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:100</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_a566a73312d54f8c5e439e6c414fc7a5f"><div class="ttname"><a href="namespacecan_1_1motor.html#a566a73312d54f8c5e439e6c414fc7a5f">can::motor::getMotorPosition</a></div><div class="ttdeci">DataPoint&lt; int32_t &gt; getMotorPosition(deviceserial_t serial)</div><div class="ttdoc">Get the last reported position of a motor.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:126</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_a6a94bbe1a8abe8fd968d4c56658960a7"><div class="ttname"><a href="namespacecan_1_1motor.html#a6a94bbe1a8abe8fd968d4c56658960a7">can::motor::initEncoder</a></div><div class="ttdeci">void initEncoder(deviceserial_t serial, bool invertEncoder, bool zeroEncoder, int32_t pulsesPerJointRev, std::optional&lt; std::chrono::milliseconds &gt; telemetryPeriod)</div><div class="ttdoc">Initialize an encoder attached to the given motor.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:22</div></div>
 <div class="ttc" id="anamespacecan_1_1motor_html_a74e4e1121ce20fb929e82f4d5caed88b"><div class="ttname"><a href="namespacecan_1_1motor.html#a74e4e1121ce20fb929e82f4d5caed88b">can::motor::motormode_t</a></div><div class="ttdeci">motormode_t</div><div class="ttdoc">The possible motor modes.</div><div class="ttdef"><b>Definition</b> CANMotor.h:19</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_a7603e86ca01598b51e3d5c3b4d76fa7b"><div class="ttname"><a href="namespacecan_1_1motor.html#a7603e86ca01598b51e3d5c3b4d76fa7b">can::motor::addLimitSwitchCallback</a></div><div class="ttdeci">callbackid_t addLimitSwitchCallback(deviceserial_t serial, const std::function&lt; void(deviceserial_t serial, DataPoint&lt; LimitSwitchData &gt; limitSwitchData)&gt; &amp;callback)</div><div class="ttdoc">Add a callback that is invoked when the limit switch is triggered for a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:102</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_a77e1a69516ed47142f01d7e2394dc44c"><div class="ttname"><a href="namespacecan_1_1motor.html#a77e1a69516ed47142f01d7e2394dc44c">can::motor::setMotorPIDTarget</a></div><div class="ttdeci">void setMotorPIDTarget(deviceserial_t serial, int32_t target)</div><div class="ttdoc">Set the position PID target of a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:80</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_a7831a61147dcf3f0a72e80878ae13bfa"><div class="ttname"><a href="namespacecan_1_1motor.html#a7831a61147dcf3f0a72e80878ae13bfa">can::motor::initPotentiometer</a></div><div class="ttdeci">void initPotentiometer(deviceserial_t serial, int32_t posLo, int32_t posHi, uint16_t adcLo, uint16_t adcHi, std::optional&lt; std::chrono::milliseconds &gt; telemetryPeriod)</div><div class="ttdoc">Initialize a potentiometer attached to the given motor.</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_a7afd2bf689a9b364a2fb67216b940597"><div class="ttname"><a href="namespacecan_1_1motor.html#a7afd2bf689a9b364a2fb67216b940597">can::motor::removeLimitSwitchCallback</a></div><div class="ttdeci">void removeLimitSwitchCallback(callbackid_t id)</div><div class="ttdoc">Remove a previously registered limit switch callback.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:120</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_aa5c314d6964158f588099ae2cce5a161"><div class="ttname"><a href="namespacecan_1_1motor.html#aa5c314d6964158f588099ae2cce5a161">can::motor::setMotorMode</a></div><div class="ttdeci">void setMotorMode(deviceserial_t serial, motormode_t mode)</div><div class="ttdoc">Set the mode of a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:59</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_aaeed0f12c1b4d0867d8731cf19dbf40e"><div class="ttname"><a href="namespacecan_1_1motor.html#aaeed0f12c1b4d0867d8731cf19dbf40e">can::motor::setLimitSwitchLimits</a></div><div class="ttdeci">void setLimitSwitchLimits(deviceserial_t serial, int32_t lo, int32_t hi)</div><div class="ttdoc">Set the limits of the limit switch on a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:35</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_adc2d7e351335d09610a09780cbed9bde"><div class="ttname"><a href="namespacecan_1_1motor.html#adc2d7e351335d09610a09780cbed9bde">can::motor::emergencyStopMotors</a></div><div class="ttdeci">void emergencyStopMotors()</div><div class="ttdoc">Emergency stop all motors on the CAN bus.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:22</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_aed6d24cbbf89da0bb3eb1dc11bc8b72e"><div class="ttname"><a href="namespacecan_1_1motor.html#aed6d24cbbf89da0bb3eb1dc11bc8b72e">can::motor::initMotor</a></div><div class="ttdeci">void initMotor(deviceserial_t serial)</div><div class="ttdoc">Initialize a motor.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:30</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_af3d8be6908d1f8cf8e961face650b1d8"><div class="ttname"><a href="namespacecan_1_1motor.html#af3d8be6908d1f8cf8e961face650b1d8">can::motor::setServoPos</a></div><div class="ttdeci">void setServoPos(deviceserial_t serial, uint8_t servoNum, int32_t angle)</div><div class="ttdoc">Set the angle of the PCA servo.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:86</div></div>
-<div class="ttc" id="anamespacecan_1_1motor_html_af4cac5edf238d3d3dce9cd2b32015751"><div class="ttname"><a href="namespacecan_1_1motor.html#af4cac5edf238d3d3dce9cd2b32015751">can::motor::setMotorPIDConstants</a></div><div class="ttdeci">void setMotorPIDConstants(deviceserial_t serial, int32_t kP, int32_t kI, int32_t kD)</div><div class="ttdoc">Set the PID constants for a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:47</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_a7603e86ca01598b51e3d5c3b4d76fa7b"><div class="ttname"><a href="namespacecan_1_1motor.html#a7603e86ca01598b51e3d5c3b4d76fa7b">can::motor::addLimitSwitchCallback</a></div><div class="ttdeci">callbackid_t addLimitSwitchCallback(deviceserial_t serial, const std::function&lt; void(deviceserial_t serial, DataPoint&lt; LimitSwitchData &gt; limitSwitchData)&gt; &amp;callback)</div><div class="ttdoc">Add a callback that is invoked when the limit switch is triggered for a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:135</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_a77e1a69516ed47142f01d7e2394dc44c"><div class="ttname"><a href="namespacecan_1_1motor.html#a77e1a69516ed47142f01d7e2394dc44c">can::motor::setMotorPIDTarget</a></div><div class="ttdeci">void setMotorPIDTarget(deviceserial_t serial, int32_t target)</div><div class="ttdoc">Set the position PID target of a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:113</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_a7831a61147dcf3f0a72e80878ae13bfa"><div class="ttname"><a href="namespacecan_1_1motor.html#a7831a61147dcf3f0a72e80878ae13bfa">can::motor::initPotentiometer</a></div><div class="ttdeci">void initPotentiometer(deviceserial_t serial, int32_t posLo, int32_t posHi, uint16_t adcLo, uint16_t adcHi, std::optional&lt; std::chrono::milliseconds &gt; telemetryPeriod)</div><div class="ttdoc">Initialize a potentiometer attached to the given motor.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:40</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_a7afd2bf689a9b364a2fb67216b940597"><div class="ttname"><a href="namespacecan_1_1motor.html#a7afd2bf689a9b364a2fb67216b940597">can::motor::removeLimitSwitchCallback</a></div><div class="ttdeci">void removeLimitSwitchCallback(callbackid_t id)</div><div class="ttdoc">Remove a previously registered limit switch callback.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:153</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_aa5c314d6964158f588099ae2cce5a161"><div class="ttname"><a href="namespacecan_1_1motor.html#aa5c314d6964158f588099ae2cce5a161">can::motor::setMotorMode</a></div><div class="ttdeci">void setMotorMode(deviceserial_t serial, motormode_t mode)</div><div class="ttdoc">Set the mode of a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:92</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_aaeed0f12c1b4d0867d8731cf19dbf40e"><div class="ttname"><a href="namespacecan_1_1motor.html#aaeed0f12c1b4d0867d8731cf19dbf40e">can::motor::setLimitSwitchLimits</a></div><div class="ttdeci">void setLimitSwitchLimits(deviceserial_t serial, int32_t lo, int32_t hi)</div><div class="ttdoc">Set the limits of the limit switch on a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:68</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_adc2d7e351335d09610a09780cbed9bde"><div class="ttname"><a href="namespacecan_1_1motor.html#adc2d7e351335d09610a09780cbed9bde">can::motor::emergencyStopMotors</a></div><div class="ttdeci">void emergencyStopMotors()</div><div class="ttdoc">Emergency stop all motors on the CAN bus.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:55</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_aed6d24cbbf89da0bb3eb1dc11bc8b72e"><div class="ttname"><a href="namespacecan_1_1motor.html#aed6d24cbbf89da0bb3eb1dc11bc8b72e">can::motor::initMotor</a></div><div class="ttdeci">void initMotor(deviceserial_t serial)</div><div class="ttdoc">Initialize a motor.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:63</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_af3d8be6908d1f8cf8e961face650b1d8"><div class="ttname"><a href="namespacecan_1_1motor.html#af3d8be6908d1f8cf8e961face650b1d8">can::motor::setServoPos</a></div><div class="ttdeci">void setServoPos(deviceserial_t serial, uint8_t servoNum, int32_t angle)</div><div class="ttdoc">Set the angle of the PCA servo.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:119</div></div>
+<div class="ttc" id="anamespacecan_1_1motor_html_af4cac5edf238d3d3dce9cd2b32015751"><div class="ttname"><a href="namespacecan_1_1motor.html#af4cac5edf238d3d3dce9cd2b32015751">can::motor::setMotorPIDConstants</a></div><div class="ttdeci">void setMotorPIDConstants(deviceserial_t serial, int32_t kP, int32_t kI, int32_t kD)</div><div class="ttdoc">Set the PID constants for a motor board.</div><div class="ttdef"><b>Definition</b> CANMotor.cpp:80</div></div>
 <div class="ttc" id="anamespacecan_html_ad9e11e8dde365a609487743b3ebf7cd0"><div class="ttname"><a href="namespacecan.html#ad9e11e8dde365a609487743b3ebf7cd0">can::deviceserial_t</a></div><div class="ttdeci">uint8_t deviceserial_t</div><div class="ttdoc">The type of the device serial number.</div><div class="ttdef"><b>Definition</b> CANUtils.h:64</div></div>
 <div class="ttc" id="anamespacecv_html_a5637fae091197126a031b7594cccc9fe"><div class="ttname"><a href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#a5637fae091197126a031b7594cccc9fe">uint8_t</a></div><div class="ttdeci">::uint8_t uint8_t</div></div>
 <div class="ttc" id="anamespacecv_html_ab8f9e3c8d45fa2f89547aa6367185a6f"><div class="ttname"><a href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ab8f9e3c8d45fa2f89547aa6367185a6f">uint16_t</a></div><div class="ttdeci">::uint16_t uint16_t</div></div>
diff --git a/namespacecan_1_1motor.html b/namespacecan_1_1motor.html
index b07df1fd..abfcb68d 100644
--- a/namespacecan_1_1motor.html
+++ b/namespacecan_1_1motor.html
@@ -110,6 +110,12 @@
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
 Functions</h2></td></tr>
+<tr class="memitem:a6a94bbe1a8abe8fd968d4c56658960a7" id="r_a6a94bbe1a8abe8fd968d4c56658960a7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6a94bbe1a8abe8fd968d4c56658960a7">initEncoder</a> (<a class="el" href="namespacecan.html#ad9e11e8dde365a609487743b3ebf7cd0">deviceserial_t</a> serial, bool invertEncoder, bool zeroEncoder, <a class="elRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ad5ed0491058a71efd30a0f28ad1d3f05">int32_t</a> pulsesPerJointRev, std::optional&lt; <a class="elRef" href="https://gcc.gnu.org/onlinedocs/gcc-9.3.0/libstdc++/api/a01559.html#a979a98673e4244630e142461b1026d74">std::chrono::milliseconds</a> &gt; telemetryPeriod)</td></tr>
+<tr class="memdesc:a6a94bbe1a8abe8fd968d4c56658960a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize an encoder attached to the given motor.  <br /></td></tr>
+<tr class="separator:a6a94bbe1a8abe8fd968d4c56658960a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-void&#160;</td><td class="memItemRight" valign="bottom"><b>initEncoder</b> (<a class="el" href="namespacecan.html#ad9e11e8dde365a609487743b3ebf7cd0">deviceserial_t</a> serial, bool invertEncoder, bool zeroEncoder, <a class="elRef" href="https://docs.opencv.org/4.2.0/d2/d75/namespacecv.html#ad5ed0491058a71efd30a0f28ad1d3f05">int32_t</a> pulsesPerJointRev, std::optional&lt; <a class="elRef" href="https://gcc.gnu.org/onlinedocs/gcc-9.3.0/libstdc++/api/a01559.html#a979a98673e4244630e142461b1026d74">std::chrono::milliseconds</a> &gt; telemetryPeriod)</td></tr>
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 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><p>Utilities for interacting with motor boards over a CAN interface. </p>
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