diff --git a/README.md b/README.md
index edc85ff1..41999947 100644
--- a/README.md
+++ b/README.md
@@ -60,7 +60,7 @@ To upgrade the version of the lib2813 libraries you are using, simply update the
 - `com.team2813.lib2813:vendor-rev`:
   - `REVLib.json`
 - `com.team2813.lib2813:limelight`:
-  - `Phoenix6.json`
+  - none
 - `com.team2813.lib2813:vision`:
   - `photonlib.json`
 - `com.team2813.lib2813:testing`:
diff --git a/settings.gradle b/settings.gradle
index 9470d2f0..1fc9495f 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -8,6 +8,6 @@
  */
 
 rootProject.name = 'lib2813'
-gradle.ext.lib_version = "2.0.0"
+gradle.ext.lib_version = "2.1.0"
 include 'core', 'limelight', 'vision', 'testing'
 include 'vendor:ctre', 'vendor:rev'
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/truth/MeasureSubject.java b/testing/src/main/java/com/team2813/lib2813/testing/truth/MeasureSubject.java
index ece7dbef..6470672a 100644
--- a/testing/src/main/java/com/team2813/lib2813/testing/truth/MeasureSubject.java
+++ b/testing/src/main/java/com/team2813/lib2813/testing/truth/MeasureSubject.java
@@ -51,6 +51,13 @@ private MeasureSubject(FailureMetadata failureMetadata, @Nullable Measure<U> sub
     this.actual = subject;
   }
 
+  /**
+   * Prepares for a check that the actual value is within the given tolerance of an expected value
+   * that will be provided in the next call in the fluent chain.
+   *
+   * @param tolerance an inclusive upper bound on the difference between the actual value and
+   *     expected value allowed by the check, which must be a non-negative value.
+   */
   public TolerantComparison<Measure<U>> isWithin(Measure<U> tolerance) {
     return new TolerantComparison<Measure<U>>() {
       @Override
@@ -67,6 +74,13 @@ public void of(Measure<U> expected) {
     };
   }
 
+  /**
+   * Prepares for a check that the actual value is not within the given tolerance of an expected
+   * value that will be provided in the next call in the fluent chain.
+   *
+   * @param tolerance an exclusive lower bound on the difference between the actual value and
+   *     expected value allowed by the check, which must be a non-negative value.
+   */
   public TolerantComparison<Measure<U>> isNotWithin(Measure<U> tolerance) {
     return new TolerantComparison<Measure<U>>() {
       @Override
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/truth/Rotation2dSubject.java b/testing/src/main/java/com/team2813/lib2813/testing/truth/Rotation2dSubject.java
index 74b7c607..e29b7c9d 100644
--- a/testing/src/main/java/com/team2813/lib2813/testing/truth/Rotation2dSubject.java
+++ b/testing/src/main/java/com/team2813/lib2813/testing/truth/Rotation2dSubject.java
@@ -51,6 +51,14 @@ private Rotation2dSubject(FailureMetadata failureMetadata, @Nullable Rotation2d
 
   // User-defined test assertion SPI below this point
 
+  /**
+   * Prepares for a check that the actual value is within the given tolerance of an expected value
+   * that will be provided in the next call in the fluent chain.
+   *
+   * @param tolerance an inclusive upper bound on the difference between the actual value and
+   *     expected value allowed by the check, which must be a non-negative value.
+   * @since 2.1.0
+   */
   public TolerantComparison<Rotation2d> isWithin(double tolerance) {
     return new TolerantComparison<>() {
       @Override
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/truth/Translation2dSubject.java b/testing/src/main/java/com/team2813/lib2813/testing/truth/Translation2dSubject.java
index e8e6e481..db508b80 100644
--- a/testing/src/main/java/com/team2813/lib2813/testing/truth/Translation2dSubject.java
+++ b/testing/src/main/java/com/team2813/lib2813/testing/truth/Translation2dSubject.java
@@ -52,6 +52,13 @@ private Translation2dSubject(FailureMetadata failureMetadata, @Nullable Translat
 
   // User-defined test assertion SPI below this point
 
+  /**
+   * Prepares for a check that the actual value is within the given tolerance of an expected value
+   * that will be provided in the next call in the fluent chain.
+   *
+   * @param tolerance an inclusive upper bound on the difference between the actual value and
+   *     expected value allowed by the check, which must be a non-negative value.
+   */
   public TolerantComparison<Translation2d> isWithin(double tolerance) {
     return new TolerantComparison<>() {
       @Override
@@ -70,6 +77,14 @@ public void of(Translation2d expected) {
     };
   }
 
+  /**
+   * Prepares for a check that the actual value is not within the given tolerance of an expected
+   * value that will be provided in the next call in the fluent chain.
+   *
+   * @param tolerance an exclusive lower bound on the difference between the actual value and
+   *     expected value allowed by the check, which must be a non-negative value.
+   * @since 2.1.0
+   */
   public TolerantComparison<Translation2d> isNotWithin(double tolerance) {
     return new TolerantComparison<>() {
       @Override
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/truth/Translation3dSubject.java b/testing/src/main/java/com/team2813/lib2813/testing/truth/Translation3dSubject.java
index 91625520..73779441 100644
--- a/testing/src/main/java/com/team2813/lib2813/testing/truth/Translation3dSubject.java
+++ b/testing/src/main/java/com/team2813/lib2813/testing/truth/Translation3dSubject.java
@@ -52,6 +52,13 @@ private Translation3dSubject(FailureMetadata failureMetadata, @Nullable Translat
 
   // User-defined test assertion SPI below this point
 
+  /**
+   * Prepares for a check that the actual value is within the given tolerance of an expected value
+   * that will be provided in the next call in the fluent chain.
+   *
+   * @param tolerance an inclusive upper bound on the difference between the actual value and
+   *     expected value allowed by the check, which must be a non-negative value.
+   */
   public TolerantComparison<Translation3d> isWithin(double tolerance) {
     return new TolerantComparison<>() {
       @Override
@@ -70,6 +77,14 @@ public void of(Translation3d expected) {
     };
   }
 
+  /**
+   * Prepares for a check that the actual value is not within the given tolerance of an expected
+   * value that will be provided in the next call in the fluent chain.
+   *
+   * @param tolerance an exclusive lower bound on the difference between the actual value and
+   *     expected value allowed by the check, which must be a non-negative value.
+   * @since 2.1.0
+   */
   public TolerantComparison<Translation3d> isNotWithin(double tolerance) {
     return new TolerantComparison<>() {
       @Override