FIRST-Tech-Challenge · miriamsr · Jul 25, 2026 · Jul 25, 2026 · Jul 25, 2026 · Jul 25, 2026
diff --git a/.cspell/ftc-dictionary.txt b/.cspell/ftc-dictionary.txt
@@ -33,12 +33,18 @@ controlhub
 Deadaxle
 deadwheel
 driverhub
+drivetrain
+drivetrains
 durometer
 durometers
+feedforward
+Feedforward
 gamepads
 Gamepads
 gearmotor
 gearmotors
+handwheel
+handwheels
 hardstop
 holonomic
 hotend
@@ -47,6 +53,8 @@ hotends
 Hotends
 mecanum
 Mecanum
+microcontroller
+microcontrollers
 navx
 odometry
 Odometry

diff --git a/docs/source/_static/css/ftc-rtd.css b/docs/source/_static/css/ftc-rtd.css
@@ -1277,7 +1277,47 @@ div.ethical-footer {
 }
 
 /* --------------------------------------------------------------------------
-   16. Dark mode surfaces
+   16. Glossary
+   -------------------------------------------------------------------------- */
+
+/* Glossary entries that have more than one name.
+   An entry such as "IMU" / "Inertial Measurement Unit" has to be written as
+   consecutive terms in the glossary directive, so that each name gets its own
+   anchor and can be linked with :term:. (Writing them comma-separated on one
+   line would make the comma part of a single term name, and :term:`IMU` would
+   then fail to resolve.) Sphinx renders each name as its own <dt>, so join
+   them onto one line here, separated by a slash. */
+.rst-content dl.glossary > dt {
+	display: inline;
+}
+
+.rst-content dl.glossary > dt + dt::before {
+	content: "/";
+	margin: 0 0.45em; /* equal space either side of the slash */
+	font-weight: 400;
+	opacity: 0.55;
+}
+
+/* Each name carries a permalink that the theme leaves in the layout when it is
+   not hovered (opacity: 0, not display: none), so its glyph plus its 0.5em
+   margin would open a gap between the name and the slash. Drop the margin, and
+   keep the permalink itself only on the last name of an entry. */
+.rst-content dl.glossary > dt .headerlink {
+	margin-left: 0.25em;
+}
+
+.rst-content dl.glossary > dt:has(+ dt) .headerlink {
+	display: none;
+}
+
+/* The definition still needs to start on its own line. */
+.rst-content dl.glossary > dd {
+	display: block;
+	margin-top: 6px;
+}
+
+/* --------------------------------------------------------------------------
+   17. Dark mode surfaces
    -------------------------------------------------------------------------- */
 
 html[data-theme='dark'] body,
@@ -1384,7 +1424,7 @@ html[data-theme='dark'] .rst-content footer {
 }
 
 /* --------------------------------------------------------------------------
-   17. Responsive
+   18. Responsive
    -------------------------------------------------------------------------- */
 
 @media screen and (max-width: 1100px) {

diff --git a/docs/source/ai/innovation_corner/innovation-corner.rst b/docs/source/ai/innovation_corner/innovation-corner.rst
@@ -103,7 +103,7 @@ you'd like to see.
    to put this ability to good use in *FIRST* Tech Challenge?
 
    In *FIRST* Tech Challenge, one of the first tasks teams have to do is to read
-   and understand the *FIRST* Tech Challenge Competition Manual. This can be a
+   and understand the *FIRST* Tech Challenge :term:`Competition Manual`. This can be a
    very painstaking task, and even a skilled reader can miss subtle nuances
    provided by the manual. However, an AI can break down and analyze the manual
    in a matter of seconds, usually preserving the nuance provided in the
@@ -197,7 +197,7 @@ you'd like to see.
 
    Examples of difficult questions:
 
-   * What is the maximum score for an alliance?
+   * What is the maximum score for an :term:`alliance <Alliance>`?
    * Can ROBOTS pick up an opposing ALLIANCE'S SAMPLES?
    * How many matches does a team play at an event?
 

diff --git a/docs/source/apriltag/opmode_test_images/opmode-test-images.rst b/docs/source/apriltag/opmode_test_images/opmode-test-images.rst
@@ -6,7 +6,7 @@ Introduction
 
 In the 2023-2024 season, `FIRST Tech Challenge has introduced
 AprilTags <https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html>`__ into
-the season-unique competition. AprilTags were developed by the April
+the season-unique competition. :term:`AprilTags <AprilTag>` were developed by the April
 Robotics Laboratory at the University of Michigan and are a visual
 fiducial tagging system, built on a similar concept as QR codes, useful
 for a wide variety of tasks including augmented reality, robotics, and

diff --git a/...rstanding_apriltag_detection_values/understanding-apriltag-detection-values.rst b/...rstanding_apriltag_detection_values/understanding-apriltag-detection-values.rst
@@ -6,13 +6,13 @@ Understanding AprilTag Detection Values
 Introduction
 ------------
 
-When an AprilTag is detected by the new SDK vision processing system, the core
+When an :term:`AprilTag` is detected by the new SDK vision processing system, the core
 code returns a collection of raw data that is often not easily interpreted.
 However, the data can be further transformed into a familiar frame of reference
 to make it more easily utilized.
 
 In the *FIRST* Tech Challenge SDK, the AprilTag API will present the Team
-OpMode with a collection of translation and rotation values, called *ftcPose*,
+:term:`OpMode` with a collection of translation and rotation values, called *ftcPose*,
 that represent the Tag’s position in 3D space.
 
 To understand how to interpret these values, it’s easier to consider a simpler
@@ -98,7 +98,7 @@ horizontally (parallel to the ground).
 
 The AprilTag video preview image from the Camera Stream preview is shown below.
 The left tag has an ID of 0 and the right tag has an ID of 1. This video is
-being captured by a Logitech C920 Pro HD webcam, running at 648x480 resolution.
+being captured by a Logitech C920 Pro HD :term:`webcam <Webcam>`, running at 648x480 resolution.
 In this mode the camera has Field-Of-View (FOV) of 60 degrees. The physical
 tags are 3.4” square.
 

diff --git a/docs/source/apriltag/vision_portal/apriltag_advanced_use/apriltag-advanced-use.rst b/docs/source/apriltag/vision_portal/apriltag_advanced_use/apriltag-advanced-use.rst
@@ -5,13 +5,13 @@ Overview
 --------
 
 This page will offer tips for *FIRST* Tech Challenge teams seeking more info
-about specialized features of the new VisionPortal.
+about specialized features of the new :term:`VisionPortal`.
 
 Optional Metadata
 -----------------
 
-An AprilTag Library tag can store two optional **Metadata** fields (of
-these Blocks/Java types): 
+An :term:`AprilTag` Library tag can store two optional **Metadata** fields (of
+these :term:`Blocks`/Java types): 
 
 - ``fieldPosition``: tag location on the game field (``VectorF``) 
 - ``fieldOrientation``: tag orientation on the game field (``Quaternion``)
@@ -32,7 +32,7 @@ apply to **every game, every season**:
    Image Credit: Phil Malone
 
 With a tag’s **field position** and **orientation** specified in advance
-as Metadata, the tag’s pose data could be used by an advanced OpMode to
+as Metadata, the tag’s pose data could be used by an advanced :term:`OpMode` to
 calculate the robot’s position on the field. This conversion math, an
 exercise for the reader, can allow a robot to use the tag’s pose data
 in real-time to navigate to the desired location on the field.
@@ -41,10 +41,10 @@ Raw Pose Values
 ---------------
 
 The frame of reference described at the **AprilTag Reference Frame**
-page is provided **by default** in the new 8.2 SDK.
+page is provided **by default** in the new 8.2 :term:`SDK`.
 
 Advanced teams may prefer to perform their own pose calculations, based
-on **raw values** from the AprilTag/EasyOpenCV pipeline.
+on **raw values** from the AprilTag/:term:`EasyOpenCV` pipeline.
 
 Those raw values are available to Java and Blocks programmers. The Java
 version is shown here:
@@ -111,7 +111,7 @@ Other features of this Test OpMode include:
 - All controls are independent, to explore the combinations and their effect on
   frame rate (FPS).
 - The previews can be observed, and detections/recognitions can be monitored
-  via annotations and Telemetry.
+  via annotations and :term:`Telemetry`.
 - Frame rate is provided in LiveView and DS Telemetry.
 - The Telemetry functions include an alternate for getting **all** or **only
   fresh** detections/recognitions.
@@ -131,7 +131,7 @@ zoom in.
    VisionPortal Example OpMode
 
 The OpMode uses "Webcam 1", or change ``USE_WEBCAM`` for a built-in RC phone
-camera.  For Control Hub, set up an HDMI monitor or `scrcpy
+camera.  For :term:`Control Hub`, set up an HDMI monitor or `scrcpy
 <https://github.com/Genymobile/scrcpy>`__.  Follow the DS gamepad button guide.
 
 At that **VisionPortal CPU and Bandwidth** page, four tools mentioned were not

diff --git a/docs/source/apriltag/vision_portal/apriltag_id_code/apriltag-id-code.rst b/docs/source/apriltag/vision_portal/apriltag_id_code/apriltag-id-code.rst
@@ -1,8 +1,8 @@
 AprilTag ID Codes
 =================
 
-After the AprilTag Processor and VisionPortal have been **initialized**, your
-OpMode can begin tag detection.
+After the :term:`AprilTag` Processor and :term:`VisionPortal` have been **initialized**, your
+:term:`OpMode` can begin tag detection.
 
 Let's start with the simple task of retrieving the **ID code** of a detected
 AprilTag.  For tag family 36h11, the numeric ID code ranges from 0 to 586. The
@@ -88,7 +88,7 @@ detection, ending with only the **last tag's value**.
 By default, the FTC SDK recognizes the ID code of **any** 36h11 AprilTag, even
 if the OpMode did not place that tag in the AprilTag Library.  Some tags are
 placed in the Library automatically by the SDK: for example, ID codes 583-586
-used by Sample OpModes.
+used by :term:`Sample OpModes <Sample OpMode>`.
 
 An OpMode can also place other tags in a Library, to supplement or overwrite
 default tags.  This is covered further at the **Library** page.

diff --git a/docs/source/apriltag/vision_portal/apriltag_intro/apriltag-intro.rst b/docs/source/apriltag/vision_portal/apriltag_intro/apriltag-intro.rst
@@ -16,25 +16,25 @@ especially those programming in Java.
 
    Photo Credit: Mike Silversides
 
-Those POWERPLAY teams, including those using FTC Blocks, learned how to use
+Those POWERPLAY teams, including those using FTC :term:`Blocks`, learned how to use
 several resources: 
 
--  AprilTag: an open-source technology for evaluating
+-  :term:`AprilTag`: an open-source technology for evaluating
    formatted images 
--  EasyOpenCV: a *FIRST* Tech Challenge-optimized interface with OpenCV, an
+-  :term:`EasyOpenCV`: a *FIRST* Tech Challenge-optimized interface with :term:`OpenCV`, an
    image processing library 
--  myBlocks: custom Blocks created in OnBot Java (OBJ)
+-  myBlocks: custom Blocks created in :term:`OnBot Java` (OBJ)
 
 Now these three areas are provided, or bundled, in the *FIRST* **Tech Challenge
 Software Development Kit (SDK), starting with version 8.2**.
 
 Namely, key capabilities of **AprilTag** and **EasyOpenCV** are
-available to the Robot Controller (RC) and Driver Station (DS) apps,
+available to the :term:`Robot Controller` (RC) and :term:`Driver Station` (DS) apps,
 without special downloads. And AprilTag features are included in **FTC
 Blocks**, without needing custom myBlocks.
 
-The AprilTag features work on webcams and on Android RC phone cameras.
-A single OpMode can use AprilTag and Color Processing.
+The AprilTag features work on :term:`webcams <Webcam>` and on Android RC phone cameras.
+A single :term:`OpMode` can use AprilTag and Color Processing.
 
 In *FIRST* Tech Challenge, AprilTag is ready for the spotlight!
 
@@ -85,7 +85,7 @@ recognizes and overlays the ID code onto the image (small blue rectangle
    Stream output showing the detected tag ID 02 
 
 The above image shows a camera preview image, called LiveView, from a
-Robot Controller device (Control Hub or RC phone).
+Robot Controller device (:term:`Control Hub` or RC phone).
 
 The AprilTag family 36h11 has a capacity of 587 ID codes. To see them
 all, follow this link:
@@ -179,8 +179,8 @@ The SDK supports **multiple cameras**, switchable or simultaneous.  This
 can help if the robot changes direction, or you wish to navigate using another
 AprilTag (or Color Processing).
 
-Other sensors can also be used for navigation, such as drive motor encoders,
-REV Hub IMU, deadwheel encoders, color/distance sensors, ultrasonic sensors,
+Other :term:`sensors <Sensor>` can also be used for navigation, such as drive motor :term:`encoders <Encoder>`,
+REV Hub :term:`IMU`, deadwheel encoders, color/distance sensors, ultrasonic sensors,
 and more.
 
 It’s also possible to evaluate **non-AprilTag images** from the same camera
@@ -268,7 +268,7 @@ The SDK provides AprilTag **rotation** data as follows:
 
 - **Pitch** is the measure of rotation about the X axis 
 - **Roll** is the measure of rotation about the Y axis 
-- Heading, or **Yaw**, is the measure of rotation about the Z axis
+- :term:`Heading`, or **Yaw**, is the measure of rotation about the Z axis
 
 Rotation follows the traditional right-hand rule: with the thumb
 pointing along the positive axis, the fingers curl in the direction of

diff --git a/docs/source/apriltag/vision_portal/apriltag_library/apriltag-library.rst b/docs/source/apriltag/vision_portal/apriltag_library/apriltag-library.rst
@@ -1,7 +1,7 @@
 AprilTag Library
 ================
 
-For a *FIRST* Tech Challenge match, your OpMode has a known set of AprilTags to
+For a *FIRST* Tech Challenge :term:`match <Match>`, your :term:`OpMode` has a known set of :term:`AprilTags <AprilTag>` to
 detect.  They are preloaded by default or specified by you, with or without
 custom tags.
 
@@ -52,7 +52,7 @@ Default Libraries
 
 The SDK uses two core Libraries of predefined AprilTags:
 
--  tags used only in Sample OpModes
+-  tags used only in :term:`Sample OpModes <Sample OpMode>`
 -  tags used only in the Robot Game (competition)
 
 The first Library, called ``SampleTagLibrary``, is available now with
@@ -120,7 +120,7 @@ tags.
 
          Completing Builder 
 
-      These are the first and last Blocks in the ``AprilTagProcessor.Builder``
+      These are the first and last :term:`Blocks` in the ``AprilTagProcessor.Builder``
       toolbox. The remaining Blocks are used to set optional features of the
       Processor. Here we are setting only the Library.